Method for controlling an autonomous cleaning system equipped with a docking station fitted with scraping devices

Abstract

The method comprises providing an autonomous cleaning system including 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 elements (27) provided on the docking station (3); moving the mop holder (17) in a horizontal plane of movement; scraping the mop (18) by the scraping elements (27); and moving the mobile unit (15) to a raised position. Figure 12

Description

Title of the invention: Method for controlling an autonomous cleaning system equipped with a docking station fitted with scraping mechanisms technical field

[0001] The present invention relates to the field of autonomous cleaning devices, and more particularly to the field of robot vacuum cleaners that can move autonomously 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 or following 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 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 in the main direction of movement of the autonomous cleaning robot, and

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

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

[0007] However, such washing of at least one mop requires numerous manipulations of the autonomous cleaning robot by the user. Furthermore, the cleaning performance of such an autonomous cleaning robot can be 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 specifically comprises a cleaning tray, and the mop holder is movable vertically between a lowered and a raised configuration, such that the mop is able to be at least partially immersed in the cleaning liquid contained in the cleaning tray when the autonomous cleaning robot is received at the docking station. Advantageously, during each cleaning operation of the mop in the cleaning tray, said mop is rotated around its axis of rotation.

[0012] Such a configuration of the aforementioned autonomous cleaning system ensures automatic cleaning of the mop, and therefore gives 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 of providing a control method for 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] - supply of an autonomous cleaning system comprising a cleaning robot autonomous 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 that is substantially horizontal when the cleaning robot autonomous rests on a horizontal surface, and at least one mop mounted, for example in a removable manner, on at least one mop holder, the mobile unit being movable, and more particularly movable vertically, between a lowered position in which at least one mop is configured to be in contact with the surface to be cleaned and a raised position in which at least one mop is configured to be located at a distance from the surface to be cleaned, the docking station having scraping elements protruding upwards,

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

[0019] - displacement of the mobile unit towards the lowered position until the at least a mop makes contact, that is to say, comes into contact with, the scraping mechanisms provided on the docking station,

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

[0021] - scraping at least one mop, and for example one underside of the at least one mop, by the scraping mechanisms, so as to clean at least one mop, and

[0022] - displacement of the mobile unit towards the raised position such that the at least a mop should be placed away from the scratching organs.

[0023] Such a control method, and in particular the fact that the mobile unit is moved to the lowered position so that at least one mop is in contact with the scraping elements provided on the docking station and that at least one mop support is moved in a horizontal plane, ensures that at least one mop is scraped during a cleaning operation. This scraping of at least one mop ensures optimal cleaning of at least one mop (and thus provides increased cleaning performance to the autonomous cleaning system), without user intervention and in particular without the user handling the autonomous cleaning robot.

[0024] 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.

[0025] The process may also 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 moving unit includes a displacement mechanism configured to move at least one mop support in the plane of movement. The fact that the displacement mechanism is located on the moving unit increases the mass of the moving unit, and therefore increases the pressure exerted by at least one mop on the scraping elements during a scraping operation of at least one mop, which further improves the cleaning quality of at least one mop.

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

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

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

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

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

[0033] According to one embodiment of the invention, the scraping members are arranged such that each pair of adjacent scraping members is separated from each other by a distance that is substantially equal to or less than the amplitude of displacement of 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 at least one mop, and thus further enhances the cleaning performance of the docking station.

[0034] According to one embodiment of the invention, the autonomous cleaning robot It includes a translational drive mechanism configured to move the moving unit, and more specifically the support housing, in translation along a direction of translation and between the lowered and raised positions. Advantageously, the translational drive mechanism is located 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 straight.

[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 saw-like shape.

[0038] According to one embodiment of the invention, the scraping members extend substantially parallel to each other. For example, the scraping members may be straight and extend parallel to each other, or be curved and also extend parallel to each other.

[0039] According to one embodiment of the invention, the docking station is configured such that, when the autonomous cleaning robot is received in the docking station, the scraping organs 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 with respect to the scraping members belonging to the first series.

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

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

[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 element is formed by raised features, such as small bumps, spaced apart and arranged in a line, that is, along an alignment direction. In other words, each scraping element is formed by an alignment of raised features, such as small bumps, spaced apart. 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 relief line can be straight, curved or sawtooth.

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

[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 lines of relief.

[0050] According to one embodiment of the invention, the scraping elements are regularly spaced from each other. Such a configuration of the scraping elements ensures homogeneous scraping of the underside of at least one mop, and further facilitates the cleaning of the latter.

[0051] According to one embodiment of the invention, the tips of the scraping elements extend in an extension plane that is configured to be substantially horizontal when the docking station is in its operating configuration. Such a configuration of the scraping elements ensures optimal scraping of the underside of at least one mop, and further facilitates the cleaning of the latter.

[0052] According to one embodiment of the invention, the docking station comprises a cleaning tray configured to contain cleaning fluid, such as water, with scraping elements provided on a bottom wall of the cleaning tray and at least one mop configured to be placed in the cleaning tray and to be at least partially immersed in the cleaning fluid when at least one mop is in contact with the scraping elements. The presence of such a cleaning tray further enhances 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 plane of movement and two mops mounted, for example in a removable manner, respectively on the two mop supports.

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

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

[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 mobilitiously around a brush rotation axis.

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

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

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

[0060] According to one embodiment of the invention, the docking station includes a suction device configured to suction the cleaning liquid contained in the cleaning tray and to convey the suctioned cleaning liquid into the liquid collection tank.

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

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

[0063] According to one embodiment of the invention, the autonomous cleaning robot includes a cleaning fluid reservoir, and the mobile unit includes a plurality of fluid outlet ports which are configured to be fluidly connected to the cleaning fluid reservoir and which are configured to supply cleaning fluid to at least one mop mounted on at least one mop holder.

[0064] According to one embodiment of the invention, the docking station is configured to fill the cleaning fluid reservoir belonging to the autonomous cleaning robot with cleaning fluid from the fluid storage reservoir cleaning belonging to the docking station when the autonomous cleaning robot is received at 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 includes a suction unit housed in the main body and configured to generate an airflow through the suction mouth.

[0067] 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.

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

[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 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:

[0071] Fig. 1 is a top perspective view of an autonomous cleaning robot according to the present invention.

[0072] Fig. 2 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing mops equipping the autonomous cleaning robot in a close-up configuration.

[0073] Fig. 3 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing the mops in a distant configuration.

[0074] Fig. 4 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the close-up configuration.

[0075] Fig. 5 is a bottom view of the autonomous cleaning robot of Fig. 1, showing the mops in the remote configuration.

[0076] Fig. 6 is a side view of the autonomous cleaning robot of Fig. 1.

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

[0078] Figure 8 is a perspective view from below of the autonomous cleaning robot of Figure 1, showing the mop holders fitted to the autonomous cleaning robot. in a close-up configuration.

[0079] Fig. 9 is a perspective view from below of the autonomous cleaning robot of Fig. 1, showing the mop supports in a distant configuration.

[0080] Fig. 10 is a top perspective view of the autonomous 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 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 cross-sectional view of the docking station.

[0085] Fig. 15 is a diagram representing the steps of a method for 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 the drawings, the same elements bear the same reference numerals from one figure to another.

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

[0088] 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.

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

[0090] Unless otherwise stipulated, the term "substantially" means, in this document, "exactly or to within 10% or to within 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 over 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 perpendicularly to a main direction of movement DI of the autonomous cleaning robot 2. Advantageously, the suction mouth 6 has an overall 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, 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 4 could have a completely different shape, and for example, 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 freely around a brush rotation axis Al which extends perpendicularly to the main direction of movement DI. Advantageously, the brush rotation axis Al is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0096] The autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figures) which is configured to drive the rotating cleaning brush 8 in rotation 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 configured to roll on the surface to be cleaned. The two drive wheels 9 are mounted to rotate freely relative to the main body 4 and have axes of rotation that are parallel, and advantageously coaxial, and that extend perpendicularly to the main direction of travel 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 at mid-length 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 each other. Thus, the autonomous cleaning robot 2 comprises two rotation drive mechanisms 10 housed in the main body 4 and each configured to rotate one respective drive wheel 9 among the two drive wheels 9. Each rotational drive mechanism 10 includes a drive motor coupled in rotation to the respective drive wheel 9 and disposed for example in a respective lateral part of the main body 4. According to 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 backward.

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

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

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

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

[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 disposed in a rear part 4.2 of the main body 4. Advantageously, the mobile unit 15 is disposed opposite the rotating cleaning brush 8 with respect to the axes of rotation of the drive wheels 9.

[0104] The mobile unit 15 can for example be moved 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 away from the surface to be cleaned.

[0105] The mobile unit 15 includes, in particular, a support housing 16 (see [Fig. 7]), one or more mop holders 17 mounted on the support housing 16, and furthermore one or more mop(s) 18 each fixed, for example removably, to a respective mop holder 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 portion of the autonomous cleaning robot 2 rests directly on said surface via the mop(s). This configuration of the autonomous cleaning robot 2 allows the mop(s) to directly bear at least part of the mass of the autonomous cleaning robot 2, and thus further increases the pressure exerted by the mop(s) on the floor to be cleaned. Therefore, this configuration of the autonomous cleaning robot 2 further improves 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 holders 17 which are arranged side by side, and two mops 18 mounted, for example in a removable manner, respectively on the two mop holders 17. However, according to an alternative embodiment, the mobile unit 15 could comprise a single mop holder 17, and a single mop 18 having a width corresponding substantially to the width of the main body 4.

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

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

[0110] The mobile unit 15 also includes a displacement mechanism 19 configured to move the mop supports 17 in translation along the direction of support movement D2 and alternately between the close and distant configurations. Thus, the displacement mechanism 19 is configured to move the two mop supports 17 in translation in opposite phases.

[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 rotationally coupled to the drive motor 19.1 and configured to be driven in rotation 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 housing 16 defines an internal housing in which the displacement mechanism 19 is disposed.

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

[0114] The translational drive mechanism 20 includes, in particular:

[0115] - a drive element 210 having a central axis extending substantially parallel to the direction of translation T, the drive element 210 is provided with a first threaded drive part and is mounted to rotate freely relative to the main body 4 around its central axis, and

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

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

[0118] The translational drive mechanism 20 also includes an electric motor 230 disposed in the main body 4 and provided with an output shaft, and a motion transmission mechanism 240 mechanically coupled on one side to the output shaft of the electric motor 230 and on the other side to the drive element 210.

[0119] According to the embodiment shown in the figures, the transmission mechanism The drive element 240 comprises a worm gear that is rotationally coupled to the output shaft of the electric motor 230 and is coaxial with the output shaft, and the drive element 210 comprises peripheral teeth that are coaxial with the aforementioned central axis and are rotationally coupled to the worm gear. Thus, the drive element 210 comprises a gear including the aforementioned tapped axial bore and the peripheral teeth.

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

[0121] Now, given the configuration of the first and second threaded drive parts mentioned above, the mobile unit 15 is configured to be moved to the lowered position when the drive element 210 is driven in rotation in the first direction of rotation by the motion transmission mechanism 240, and to be moved to the raised position when the drive element 210 is driven in rotation in the second direction of rotation by the motion transmission mechanism 240.

[0122] The autonomous cleaning robot 2 also includes a cleaning fluid reservoir 21 which is configured to supply cleaning fluid to the two mop heads 18. The cleaning fluid reservoir 21 is mounted, for example in a removable manner, on the main body 4, and can for example be located 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 fluidly connected to the cleaning fluid reservoir 21 and which are configured to supply cleaning fluid to the mops 18 mounted on the mop holders 17. According to the embodiment shown in the figures, the liquid outlets 22 are aligned along an alignment direction that extends perpendicularly to the main direction of travel D1, and are configured to be oriented towards the surface to be cleaned. Advantageously, the 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 includes 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 positioned at the rear of the autonomous cleaning robot 2, behind the two drive wheels 9, in order 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 includes 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 configured, in particular, to control the aforementioned rotating drive mechanisms 10 (which are configured to rotate the drive wheels 9) based on data received from various sensors located on the main body 4, such as proximity sensors, contact sensors, and / or drop sensors. The control unit 24 may, for example, include an electronic board configured to receive and process this data.

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

[0128] The docking station 3 further comprises a cleaning tray 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 placed in the cleaning tray 26, and advantageously to be at least partially immersed in the cleaning liquid contained in the cleaning tray 26, when the autonomous cleaning robot 2 is received at the docking station 3. Thus, the cleaning tray 26 is configured to allow cleaning of the mop(s) 18 when the autonomous cleaning robot 2 is received at the receiving location 25.

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

[0130] In order to perform a cleaning of the mop(s) 18 of the autonomous cleaning robot 2, for example after a cleaning operation on a surface to be cleaned, a control method for the autonomous cleaning system 1 may, for example, include (see [Fig. 15]):

[0131] - a supply step S1 consisting of supplying the autonomous cleaning system 1,

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

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

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

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

[0136] - a displacement 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 straight and extend parallel to each other, and are configured to extend perpendicularly to the direction of movement of support D2 when the autonomous cleaning robot 2 is received in the receiving location 25. However, according to an alternative embodiment of the invention, the scraping members 27 could be curvilinear, while being parallel to each other, or without being parallel to each other.

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

[0139] According to the embodiment shown in the figures, the scraping elements 27 have identical heights and are configured to extend horizontally. Advantageously, the apexes of the scraping elements 27 extend in an extension plane that is configured to be horizontal when the docking station 3 is in its operating configuration.

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

[0141] As shown in [Fig. 11], the docking station 3 has a raised portion 28 located at the front of the cleaning tray 26 and configured to retain the cleaning fluid in the cleaning tray 26, and two receiving recesses 29 formed in an upper face 28.1 of the raised portion 28 and configured to receive respectively the two drive wheels 8 of the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the receiving location 25. The presence of the receiving impressions 29 allows the main body 4 of the autonomous cleaning robot 2 to be lowered when it 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 includes an access ramp 31 which is located at the front of the raised part 28 and which is configured to allow the drive wheels 8 to cross the raised part 28 and reach the receiving footprints 29 when the autonomous cleaning robot 2 is received in the receiving location 25.

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

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

[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 suction the waste contained in the waste collection container 13.1 belonging to the autonomous cleaning robot 2 when the autonomous cleaning robot 2 is received in the docking station 3, and to convey said suctioned waste into the waste collection tank 35 belonging to the docking station 3.

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

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

[0148] Each line of reliefs could be straight, curved or sawtooth, and the reliefs belonging to the same line could be arranged in a staggered pattern with respect to 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 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. 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) having at least one mop holder (17) movable in a plane of movement that 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 holder (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) having upward-projecting scraping elements (27), - docking of the autonomous cleaning robot (2) in the docking station (3), - movement of the mobile unit (15) to the lowered position until at least one mop (18) contacts the scraping elements (27) provided on the docking station (3), - movement of at least one mop support (17) in the plane of movement, - scraping of at least one mop (18) by the scraping elements (27), so as to clean at least one mop (18), and - movement of the mobile unit (15) to the raised position such that at least one mop (18) is placed at a distance from the scraping elements (27).

2. A method according to claim 1, wherein the moving unit (15) includes a displacement mechanism (19) configured to move at least one mop holder (17) in the displacement plane.

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

4. A method according to any one of claims 1 to 3, wherein at least one mop support (17) is mounted movable in translation along a support displacement direction (D2) extending in the displacement plane, the displacement step of at least one mop support (17) in the displacement plane comprising a displacement of at least one mop support (17) along the support displacement direction (D2).

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

6. A method according to claim 4 or 5, wherein the scraping members (27) are configured to extend substantially perpendicularly to the direction of movement of support (D2) when the autonomous cleaning robot (2) is received 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 that is substantially the same as or less than a displacement amplitude of at least one mop support (17) along the support displacement direction (D2).

8. A method according to any one of claims 1 to 7, wherein the mobile unit (15) comprises two mop supports (17) movable in the plane of travel, 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 movable relative to each other between a close configuration in which the two mop supports (17) are close to each other and a far configuration in which the two mop supports (17) are far from each other, the step of moving 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 far 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 tray (26) configured to contain cleaning fluid, the scraping members (27) being provided on a bottom wall (26.1) of the cleaning tray (26) and at least one mop (18) being configured to be disposed in the cleaning tray (26) when at least one mop (18) is in contact with the scraping members (27).

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