Autonomous cleaning robot equipped with a wet cleaning device

Abstract

The autonomous cleaning robot (2) includes a main body (3) including a lower surface (4) and a suction port (5) opening to the lower surface (4), two mop supports (15) each attached to the main body (3) so as to be movable in a translational direction (T), a wet cleaning device (14) including two mops attached to the two mop supports (15), respectively, and two drive wheels (7) configured to roll on a surface to be cleaned and rotatably attached to the main body (3) about two substantially parallel rotation axes. The two mop supports (15) are located behind the rotation axes of the drive wheels (7), and the translational direction (T) extends substantially parallel to the rotation axes of the two drive wheels (7).

Description

[Technical field]

[0001] The present invention relates to the field of autonomous cleaning devices with wet cleaning devices, and more particularly to the field of robotic vacuum cleaners that can be displaced alone onto a surface to be cleaned, for example a tiled, parquet, laminated flooring, carpet or rug, and suck up dust and waste present on the surface to be cleaned, possibly cleaning the surface to be cleaned simultaneously with the suction action. [Background technology]

[0002] Autonomous cleaning robots have recently become commonplace, and these robots are capable of cleaning all floor surfaces of a residence without the assistance of the user, as long as the floor surfaces are flat, i.e., on the same level, thereby saving the user a great deal of time for other activities.

[0003] European Patent Application Publication No. 3257416 discloses an autonomous cleaning robot having the following configuration. - a main body including a bottom surface configured to face a surface to be cleaned; and a suction port provided at a front part of the main body and opening to the bottom surface of the main body; - a wet cleaning device comprising two mop supports, each of which is mounted so as to be movable in a translational direction relative to the body, and two mops, each of which is removably mounted on the two mop supports, the mops being configured to come into contact with a surface to be cleaned; -An autonomous cleaning robot configured to roll on a surface to be cleaned, comprising: two drive wheels rotatably mounted on a body, each of the drive wheels being configured to roll on a surface to be cleaned, and each of the drive wheels being ... According to EP 3257416, the two mop supports are respectively mounted at the front and rear of the body and arranged on either side of the rotation axis of the drive wheels. Moreover, according to EP 3257416, the translation direction of the mop supports runs parallel to the main displacement direction of the autonomous cleaning robot, i.e. according to the longitudinal direction of the autonomous cleaning robot.

[0004] The fact that the mop support is displaced parallel to the main displacement direction of the wet cleaning device significantly increases the risk of the drive wheels slipping on the surface to be cleaned if the mops do not exert the same frictional force on the surface to be cleaned (e.g. due to one mop being differently worn or dirty compared to the other mop, or due to the displacement of two mops on two different surfaces to be cleaned).

[0005] However, such slippage is likely to adversely affect the autonomous navigation of the autonomous cleaning robot, which requires the autonomous cleaning robot to stop its ongoing cleaning operation, communicate with the docking station, and reposition itself in space (which increases the floor cleaning time and reduces the cleaning performance of the autonomous cleaning robot). To overcome such drawbacks, it is conceivable to equip the autonomous cleaning robot with a more complex and expensive control unit (which can take the aforementioned slippage into account to control the navigation of the autonomous cleaning robot), but this would significantly increase the manufacturing cost of the autonomous cleaning robot. Furthermore, since the mop supports are arranged in front of and behind the drive wheels, the supporting forces exerted by each mop on the surface to be cleaned are low, and these supporting forces are mainly received by the lateral wheels arranged between the two mop supports, limiting the cleaning performance of the cleaning robot described in EP 3257416 A1. Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention aims to remedy these drawbacks. [Means for solving the problem]

[0007] The technical problem underlying the present invention is, inter alia, to provide an autonomous cleaning robot which has high cleaning performance but which is simple, economical and compact in construction.

[0008] To this end, the subject of the present invention is an autonomous cleaning robot, a main body including a bottom surface configured to face a surface to be cleaned and a suction port provided at a front portion of the main body and opening into the bottom surface of the main body; a suction unit at least partially housed within the body and configured to generate an air flow through a suction opening; - a wet cleaning device comprising two mop supports, each of which is mounted so as to be movable in a translational direction relative to the body, and two mops, each of which is removably mounted on the two mop supports, the mops being configured to come into contact with a surface to be cleaned; -An autonomous cleaning robot configured to roll on a surface to be cleaned, comprising: two drive wheels rotatably mounted on the body, respectively, about two substantially parallel rotation axes.

[0009] The two mop supports are located behind the rotation axis of the drive wheels and the translation direction extends substantially parallel to the rotation axis of the two drive wheels, in other words, transversely to the main displacement direction of the autonomous cleaning robot.

[0010] Such an arrangement of the mop support, i.e., the rearward arrangement of the rotation axis of the drive wheel, allows each mop to increase the support force exerted on the surface to be cleaned, and therefore increases the friction of the wet cleaning device against the surface to be cleaned due to the weight exerted by the body on the wet cleaning device. Thus, such an arrangement of the mop support increases the friction efficiency of the wet cleaning device on the floor surface, and therefore improves the cleaning quality of the autonomous cleaning robot.

[0011] Moreover, such an arrangement of the mop support makes it possible to prevent the drive wheels from rolling over the wet area that has just been cleaned by the mop, thus avoiding the appearance of marks that could impair the quality of the cleaning carried out.

[0012] Furthermore, the fact that the mop support is displaced parallel to the rotation axis of the two drive wheels, i.e. transversely to the main displacement direction of the wet cleaning robot, and not, for example, parallel to the main displacement direction, significantly limits the risk of the drive wheels slipping on the surface to be cleaned in cases where the mops do not exert the same frictional force on the surface to be cleaned (for example, due to different wear or dirtiness of one mop compared to the other mop, or because the two mops are displaced on two different surfaces to be cleaned).

[0013] Compared to an autonomous cleaning robot with a longitudinally displacing mop support, the lateral displacement of the mop support also limits the length of the autonomous cleaning robot, while optimizing the mop surface on which dirt is visible when displacing the autonomous cleaning robot. In fact, due to the alternating movement of the mop support and the closeness of the drive wheels, it is necessary to either reduce the longitudinal mop dimensions so as not to affect the longitudinal dimensions of the autonomous cleaning robot (which would be detrimental to the cleaning quality of the autonomous cleaning robot), or to increase the dimensions of the autonomous cleaning robot to allow a large longitudinal displacement of the mop.

[0014] The autonomous cleaning robot that is the subject of the present invention, like the majority of autonomous cleaning robots, is designed to effectively clean floors when displaced in a predefined displacement direction, the displacement direction being parallel to the longitudinal axis of the autonomous cleaning robot. The displacement direction parallel to the longitudinal axis of the autonomous cleaning robot and the predefined displacement direction define the main displacement direction of the autonomous cleaning robot of the present invention. Thus, the front or rear of the body of the autonomous cleaning robot is identified relative to the main displacement direction of the autonomous cleaning robot.

[0015] The autonomous cleaning robot may further have one or more of the following features, either alone or in combination:

[0016] According to one embodiment of the present invention, the suction port is located in front of the rotation axis of the drive wheel.

[0017] According to one embodiment of the present invention, two mop supports are arranged side by side.

[0018] According to one embodiment of the invention, the rotation axes of the two drive wheels are colinear.

[0019] According to one embodiment of the present invention, the wet cleaning device is located at the rear of the main body.

[0020] According to one embodiment of the invention, the mop supports are mounted movably relative to one another between a close configuration in which the two mop supports are brought closer to one another and a spaced configuration in which the two mop supports are moved away from one another.

[0021] According to one embodiment of the present invention, the autonomous cleaning robot includes a translational drive mechanism configured to translationally displace the mop support according to a translational direction, preferably according to an alternating motion.

[0022] According to one embodiment of the invention, the translational drive mechanism is configured to translationally displace the mop support in a translational direction alternately between a closer configuration and a farther away configuration.

[0023] According to one embodiment of the invention, the translational drive mechanism is at least partially disposed above one of the mop supports.

[0024] According to one embodiment of the present invention, the translation drive mechanism is configured to translate the two mop supports in antiphase, in other words, the translation drive mechanism is configured to translate the two mop supports alternately and in opposite displacement directions.

[0025] According to an embodiment of the present invention, each of the mops is configured to exert a support force on the surface to be cleaned when the autonomous cleaning robot is resting on the surface to be cleaned. Advantageously, the support force is 5N or more, such as 9N or more.

[0026] According to one embodiment of the invention, the two mop supports are arranged on either side of a central longitudinal plane of the body, where "central longitudinal plane" means in this specification a longitudinal section parallel to the main displacement direction and dividing the body into two substantially equal parts.

[0027] According to one embodiment of the present invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot is placed on the surface to be cleaned, the rear part of the autonomous cleaning robot is placed on the surface to be cleaned and the two mops directly clean the surface. This configuration of the autonomous cleaning robot allows the mops to directly occupy at least a part of the mass of the autonomous cleaning robot, so that the supporting force of each mop on the surface to be cleaned can be further increased. Therefore, this configuration of the autonomous cleaning robot can further improve the cleaning quality of the autonomous cleaning robot.

[0028] According to one embodiment of the present invention, the two mop supports are positioned relative to the body such that the two mop supports are not intersected by any vertical plane passing through the rotation axes of the wheels equipped on the autonomous cleaning robot, and the two mop supports are not at least partially located between two vertical planes passing through the two rotation axes of the wheels equipped on the autonomous cleaning robot, respectively. Such a configuration of the autonomous cleaning robot can also further improve the cleaning quality of the autonomous cleaning robot, since the mop can directly occupy at least a part of the mass of the autonomous cleaning robot. Conversely, if the mop support is cut by a vertical plane passing through the rotation axes of the wheels equipped on the autonomous cleaning robot (e.g., two driving wheels) or is located between the wheels of the autonomous cleaning robot whose rotation axes are parallel (e.g., between the rotation axis of the driving wheels and the rotation axis of the rear wheels), the force arising from the mass of the autonomous cleaning robot is received by the wheels and not by the mop support.

[0029] According to one embodiment of the present invention, the autonomous cleaning robot does not have an additional wheel located behind the axis of rotation of the two drive wheels.

[0030] According to one embodiment of the present invention, the autonomous cleaning robot includes additional wheels rotatably mounted on the body and configured to roll on the surface to be cleaned, all of the additional wheels being positioned forward of the rotation axis of the two drive wheels.

[0031] According to one embodiment of the present invention, the autonomous cleaning robot includes a power supply battery configured to electrically power the autonomous cleaning robot, and the power supply battery is at least partially disposed above one of the mop supports. Such a power supply battery arrangement can increase the support force exerted by the at least one mop on the surface to be cleaned, thus further improving the friction efficiency of the wet cleaning device on the floor surface and thus the cleaning quality of the autonomous cleaning robot.

[0032] According to one embodiment of the present invention, the center of gravity of the power battery is located above one of the mop supports.

[0033] According to one embodiment of the present invention, the power battery is located entirely above one of the mop supports.

[0034] According to an embodiment of the present invention, the suction unit is at least partially located above one of the mop supports. Such an arrangement of the suction unit allows the at least one mop to increase the support force on the surface to be cleaned, thus further improving the friction efficiency of the wet cleaning device on the floor surface and thus the cleaning quality of the autonomous cleaning robot.

[0035] According to one embodiment of the present invention, the suction unit includes a suction motor and a fan coupled to the suction motor and configured to generate an air flow through a suction port.

[0036] According to one embodiment of the invention, the center of gravity of the suction unit is located above one of the mop supports.

[0037] According to one embodiment of the invention, the suction unit is located completely above one of the mop supports.

[0038] According to an embodiment of the present invention, the suction unit and the power battery are arranged on both sides of the longitudinal center plane of the body. Such an arrangement of the suction unit and the power battery can better distribute the mass of the autonomous cleaning robot, and thus balance the supporting force of the two mops on the surface to be cleaned. These arrangements further improve the cleaning performance of the autonomous cleaning robot.

[0039] According to one embodiment of the present invention, the wet cleaning device is removably attached to the main body.

[0040] According to one embodiment of the present invention, the wet cleaning device is configured to be removed from the main body by a translational movement directed toward the rear of the main body, and thus removal of the wet cleaning device can be performed without lifting the autonomous cleaning robot, and therefore there is no risk of the autonomous cleaning robot falling if the user mishandles the autonomous cleaning robot.

[0041] SUMMARY OF THE DISCLOSURE In accordance with one embodiment of the present invention, a wet cleaning apparatus includes an inner housing in which a translation drive mechanism is disposed.

[0042] According to one embodiment of the present invention, the wet cleaning device includes a first guide means configured to cooperate with a second guide means provided on the main body to guide the wet cleaning device in a guide direction when the wet cleaning device is attached to the main body.

[0043] According to one embodiment of the invention, the first guide means comprises at least one guide rib and the second guide means comprises at least one guide groove.

[0044] According to one embodiment of the invention, the second guide means is provided on the underside of the body.

[0045] According to one embodiment of the present invention, the wet cleaning device includes a first electrical connector configured to cooperate with a second electrical connector attached to the body when the wet cleaning device is attached to the body in a forward attachment direction of the body, such that the connection of the latter is easily and automatically performed when the wet cleaning device is attached to the body.

[0046] According to one embodiment of the present invention, the autonomous cleaning robot includes a locking mechanism configured to lock the wet cleaning device to the main body, which can reduce the risk of accidental removal of the wet cleaning device.

[0047] According to one embodiment of the present invention, the locking mechanism is operable by a user and includes a locking member, such as a locking button, provided on the main body or the wet cleaning device, which is movably mounted between a locked position in which the locking member is configured to cooperate with a locking element provided on the wet cleaning device or the main body to lock the wet cleaning device to the main body, and a released position in which the locking member is configured to release the locking element to allow removal of the wet cleaning device from the main body.

[0048] According to one embodiment of the present invention, the autonomous cleaning robot includes an ejection member configured to eject the wet cleaning device away from the main body toward the rear of the main body when the locking member is displaced to the released position, facilitating removal of the wet cleaning device.

[0049] According to an embodiment of the invention, the discharge member comprises a discharge surface adapted to face the wet cleaning device, and is advantageously at least partially received in a receiving cavity provided in the body.

[0050] According to one embodiment of the present invention, the ejection member is displaceable between a stowed position in which the ejection surface of the ejection member is recessed into or adjacent to the insertion opening of the receiving cavity, and a deployed position in which the ejection surface of the ejection member protrudes from the receiving cavity and is positioned away from the insertion opening of the receiving cavity.

[0051] According to one embodiment of the present invention, the wet cleaning device is configured to displace the discharge member to the storage position when the wet cleaning device is attached to the main body.

[0052] According to an embodiment of the present invention, the ejection member is slidably mounted relative to the body in a sliding direction substantially parallel to the main displacement direction of the autonomous cleaning robot, i.e., substantially perpendicular to the rotation axes of the two drive wheels.

[0053] According to one embodiment of the present invention, the autonomous cleaning robot includes a biasing element, such as a compression spring, configured to bias the ejection member toward the deployed position.

[0054] According to one embodiment of the present invention, the locking member is translatable in an actuation direction that is substantially vertical when the autonomous cleaning robot is resting on a horizontal surface.

[0055] According to one embodiment of the invention, the locking mechanism includes a biasing member, such as a compression spring, configured to bias the locking member towards the locked position.

[0056] According to one embodiment of the present invention, the locking member is provided at the rear of the main body.

[0057] According to one embodiment of the invention, the locking member includes a locking finger and the locking element includes a lock housing configured to cooperate with the locking finger.

[0058] According to one embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid reservoir, and the wet cleaning apparatus includes a plurality of liquid discharge orifices configured to be fluidly connected to the cleaning liquid reservoir and configured to supply cleaning liquid to a mop mounted on a mop support, the liquid discharge orifices being positioned in front of the mop support.

[0059] According to one embodiment of the invention, the cleaning fluid reservoir is attached to the body, for example in a removably manner.

[0060] According to an embodiment of the present invention, the autonomous cleaning robot includes a cleaning liquid supply circuit provided on the body and configured to fluidly connect the liquid discharge orifices to a cleaning liquid reservoir. Advantageously, the cleaning liquid supply circuit includes a distributor housed in the body, the distributor comprising a collection chamber extending transversely to a main displacement direction of the autonomous cleaning robot and in fluid communication with the cleaning liquid reservoir, and a number of discharge orifices opening into and arranged along the collection chamber.

[0061] According to one embodiment of the invention, each discharge orifice is disposed opposite a respective passage orifice provided in the body and opening on the lower surface of the body, advantageously each passage orifice being disposed opposite a respective liquid discharge orifice.

[0062] According to one embodiment of the invention, the liquid discharge orifice is located at the front of the mop, advantageously behind the axis of rotation of the drive wheels.

[0063] According to an embodiment of the present invention, the liquid discharge orifices are aligned with an alignment direction extending substantially parallel to the rotation axis of the two drive wheels, i.e. substantially transverse to the main displacement direction of the autonomous cleaning robot. Such an arrangement of the liquid discharge orifices allows for a more uniform distribution of the cleaning liquid on the mop, further improving the cleaning quality of the autonomous cleaning robot according to the present invention.

[0064] According to one embodiment of the present invention, the autonomous cleaning robot comprises a lifting ramp, which extends substantially parallel to the rotation axis of the two drive wheels, i.e. transversely to the main displacement direction of the autonomous cleaning robot, and which is located in front of the mop support, the lifting ramp being directed towards the surface to be cleaned and comprising a lifting surface inclined backwards and downwards, the lifting surface being configured to cause lifting of the rear part of the body when an obstacle presented forward to the autonomous cleaning robot during the forward displacement of the body contacts the lifting surface and slides on the lifting surface. The presence of such a lifting ramp makes it easier for the autonomous cleaning robot to overcome obstacles in front that it encounters.

[0065] According to an embodiment of the present invention, the lifting surface is configured to incline with respect to the horizontal by an inclination angle comprised between 10 and 40° when the autonomous cleaning robot rests on a horizontal surface. Advantageously, the inclination angle is comprised between 20 and 30°, for example about 25°.

[0066] According to one embodiment of the invention, the liquid discharge orifices are provided on the lift ramp and are distributed along the lift ramp. Advantageously, the liquid discharge orifices open into the lift surface.

[0067] According to one embodiment of the invention, the lift ramp has a length that corresponds substantially to the distance between the two drive wheels.

[0068] According to one embodiment of the present invention, a lift ramp is provided in the wet cleaning apparatus.

[0069] According to an embodiment of the invention, the autonomous cleaning robot comprises a rotating cleaning brush rotatably mounted in the body about a brush rotation axis, which advantageously extends substantially parallel to the rotation axis of the drive wheels, in other words, the brush rotation axis extends transversely to the main displacement direction of the autonomous cleaning robot.

[0070] According to an advantageous feature of the invention, the two drive wheels are lateral wheels of the autonomous cleaning robot. [Brief description of the drawings]

[0071] The objects, aspects and advantages of the present invention will be better understood from the following description of particular embodiments thereof, given as non-limiting examples, with reference to the accompanying drawings, in which: [Figure 1] FIG. 1 is a top perspective view of an autonomous cleaning robot according to the present invention. [Diagram 2] FIG. 2 is a bottom perspective view of the autonomous cleaning robot of FIG. [Diagram 3] 3 is a partial bottom perspective view of the autonomous cleaning robot of FIG. 1. FIG. [Figure 4] FIG. 4 is a bottom view of the autonomous cleaning robot of FIG. [Diagram 5] FIG. 5 is a side view of the autonomous cleaning robot of FIG. [Figure 6] FIG. 6 is a vertical cross-sectional view of the autonomous cleaning robot of FIG. [Figure 7] FIG. 7 is an enlarged scale view of a detail of FIG. [Figure 8] FIG. 8 is a partial cross-sectional view of the autonomous cleaning robot of FIG. 1, showing the wet cleaning device removed from the body of the autonomous cleaning robot. [Figure 9] FIG. 9 is a top perspective view of the autonomous cleaning robot of FIG. 1 with the wet cleaning device removed from the main body. [Figure 10] FIG. 10 is a front perspective view of the wet cleaning device. [Figure 11] FIG. 11 is a partial front perspective view of the wet cleaning device. [Figure 12] FIG. 12 is a partial bottom perspective view of the autonomous cleaning robot of FIG. 1 with a wet cleaning device positioned thereon. [Figure 13]FIG. 13 is a top perspective view of the autonomous cleaning robot of FIG. 1, showing the replacement module assembled to the main body. [Figure 14] FIG. 14 is a partial longitudinal cross-sectional view of the autonomous cleaning robot of FIG. 1, showing a state in which the replacement module is assembled to the main body. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0072] Only the elements necessary for understanding the invention are depicted. To make the drawings easier to read, the same elements use the same references in each figure.

[0073] It should be noted that in this specification, the terms "horizontal," "vertical," "lower," "upper," "upper" and "lower" used to describe the autonomous cleaning robot or body refer to the autonomous cleaning robot when it is on wheels resting on a flat, level surface to be cleaned.

[0074] 1 to 14 depict an autonomous cleaning robot 2, more particularly a robotic vacuum cleaner configured for autonomous displacement over a surface to be cleaned.

[0075] The autonomous cleaning robot 2 comprises a body 3 including a bottom surface 4 arranged to face the surface to be cleaned, and a suction port 5 provided in the front part 3.1 of the body 3 and opening into the bottom surface 4 of the body 3. Advantageously, the suction port 5 is elongated and extends transversely, more particularly perpendicularly, to the main displacement direction D of the autonomous cleaning robot 2.

[0076] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 6 rotatably mounted within the body 3 about a brush rotation axis extending transversely, more particularly perpendicularly, to the main displacement direction D. Advantageously, the brush rotation axis is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

[0077] The autonomous cleaning robot 2 also includes a drive mechanism (not shown) configured to drive the rotating cleaning brush 6 to rotate about the brush rotation axis.

[0078] As shown in more detail in Figures 2 to 4, the autonomous cleaning robot 2 consists of two drive wheels 7 arranged to roll on the surface to be cleaned. The two drive wheels 7 are rotatably mounted with respect to the body 3 and have parallel, advantageously parallel, rotation axes. Advantageously, the rotation axes of the drive wheels 7 extend perpendicular to the main displacement direction D.

[0079] The two drive wheels 7 are configured to protrude from the underside 4 of the body 3 and are arranged on either side of the longitudinal median plane P of the body 3. Advantageously, the two drive wheels 7 are arranged symmetrically with respect to the longitudinal median plane P of the body 3 and are lateral wheels of the autonomous cleaning robot 2.

[0080] The two drive wheels 7 are advantageously motor-driven independently of each other. Thus, the autonomous cleaning robot 2 is composed of two rotational drive mechanisms 8 housed in the body 3, each configured to rotationally drive a respective drive wheel 7 between the two drive wheels 7. Each rotational drive mechanism 8 is rotatably coupled to a respective drive wheel 7 and comprises a drive motor, for example arranged on a respective side of the body 3. By controlling the aforementioned two drive motors, the body 3 can rotate left, right or on itself and move forward or backward.

[0081] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 9 rotatably mounted with respect to the body 3, for example two additional wheels 9 arranged at the front part 3.1 of the body 3. Advantageously, all the additional wheels 9 are arranged in front of the rotation axis of the two drive wheels 7, and the autonomous cleaning robot 2 has no additional wheels arranged behind the rotation axis of the two drive wheels 7.

[0082] The autonomous cleaning robot 2 further includes a suction unit 11 housed within the main body 3. The suction unit 11 includes a suction motor and a fan connected to the suction motor and configured to generate an air flow from the suction port 5.

[0083] The autonomous cleaning robot 2 also includes a waste collector 12 (see FIG. 6) that is disposed upstream of the suction unit 11 and is crossed by an airflow generated by a fan when the autonomous cleaning robot 2 is in operation.

[0084] The autonomous cleaning robot 2 also includes a power supply battery 13 configured to power the autonomous cleaning robot 2. Advantageously, the power supply battery 13 is rechargeable and housed in the body 3.

[0085] In particular, as shown in Fig. 2, the autonomous cleaning robot 2 further comprises a wet cleaning device 14 arranged at the rear part 3.2 of the body 3. Advantageously, the wet cleaning device 14 is arranged on the opposite side of the rotating cleaning brush 6 with respect to the rotation axis of the drive wheel 7.

[0086] The wet cleaning device 14 comprises two mop supports 15 arranged side by side and located rearward of the rotation axis of the drive wheels 7. Advantageously, the two mop supports 15 are arranged on either side of the longitudinal central plane P of the main body 3 and are configured to extend substantially horizontally when the main body 3 is resting on a horizontal surface.

[0087] As shown in more detail in FIG. 3, the two mop supports 15 are positioned relative to the main body 3 such that the two mop supports 15 do not intersect any vertical plane passing through the rotation axes of the wheels mounted on the autonomous cleaning robot 2, and such that the two mop supports 15 are not at least partially located between two vertical planes that respectively pass through the two rotation axes of the wheels mounted on the autonomous cleaning robot 2.

[0088] Advantageously, the power battery 13 is at least partially, e.g. entirely, arranged above one of the mop supports 15, and the suction unit 11 is at least partially, e.g. entirely, arranged above the other of the mop supports 15. The suction unit 11 and the power battery 13 are thus arranged on either side of a longitudinal central plane P of the main body 3.

[0089] The two mop supports 15 are each translatably mounted relative to the body 3 in a translation direction T extending transversely, and advantageously perpendicularly, to a main displacement direction D of the autonomous cleaning robot 2 .

[0090] Advantageously, the mop supports 15 are mounted so as to be movable relative to one another between a close configuration in which the two mop supports 15 are brought closer to one another and a spaced configuration in which the two mop supports 15 are spaced apart from one another.

[0091] The wet cleaning device 14 also includes a translation drive mechanism 16 configured to translate the mop support 15 in a translation direction T, alternately between a closer configuration and a farther configuration. The translation drive mechanism 16 is thus configured to translate the two mop supports 15 in antiphase. Advantageously, the translation drive mechanism 16 is at least partially arranged above the mop supports 15.

[0092] According to the embodiment shown in the figures, the translation drive mechanism 16 includes a drive motor 16.1, a crankshaft 16.2 rotatably coupled to the drive motor 16.1 and configured to be rotationally driven by the drive motor 16.1, and two connecting rods 16.3 each including a first end hingedly attached to the crankshaft 16.2 and a second end hingedly articulated to the respective mop support 15.

[0093] The wet cleaning device 14 further includes two mops 17 removably attached to the two mop supports 15, respectively. The mops 17 are configured to contact the surface to be cleaned, more specifically to exert a supporting force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned. The supporting force can be, for example, 9 N or more.

[0094] Advantageously, the autonomous cleaning robot 2 is configured such that when the autonomous cleaning robot 2 rests on a surface to be cleaned, the rear of the autonomous cleaning robot 2 rests directly on the surface to be cleaned by the two mops 17 .

[0095] As shown in more detail in Figures 8 to 12, the wet cleaning device 14 is removably attached to the main body 3, which includes a receiving housing 18 that at least partially receives the wet cleaning device 14. The wet cleaning device 14 is advantageously configured to be removed from the main body 3 by a translational movement of the main body 3 directed towards the rear.

[0096] According to the embodiment shown in the figures, the wet cleaning device 14 comprises a support 19 including, inter alia, a support plate 19.1 constituting a lower surface on which the mop support 15 is movably mounted, and a protective cowl 19.2 fixed to an upper surface of the support plate 19.1. The support plate 19.1 and the protective cowl 19.2 define an inner housing 19.3 in which the translation drive mechanism 16 is arranged. The support 19 further comprises a side wall 19.4 extending upwards from the support plate 19.1 and configured to cover at least a portion of the receiving housing 18.

[0097] 9 to 13, the wet cleaning device 14 includes a first guide means configured to cooperate with a second guide means provided on the body 3 when the wet cleaning device 14 is attached to the body 3 and when the wet cleaning device 14 is removed from the body 3, so as to guide the wet cleaning device 14 in a guide direction substantially perpendicular to the main displacement direction D. The first guide means can be, for example, two guide ribs 21 such as T-shaped guide ribs provided on the upper surface of the support plate 19.1, and the second guide means can be, for example, two guide grooves 22 such as T-shaped guide grooves provided on the lower surface 4 of the body 3.

[0098] According to the embodiment shown in the figures, the wet cleaning device 14 further includes a first electrical connector 23, such as a male or female connector, configured to cooperate with a second electrical connector 24, such as a female or male connector, attached to the main body 3 during attachment of the wet cleaning device 14 to the main body 3 in an attachment direction directed toward the front of the main body 3.

[0099] The autonomous cleaning robot 2 also includes a locking mechanism configured to lock the wet cleaning device 14 to the main body 3. The locking mechanism is operable by a user and includes a locking member 25 provided at a rear portion of the main body 3, for example, on the rear surface of the main body 3.

[0100] The locking member 25 is movably mounted between a locked position in which the locking member 25 is configured to cooperate with a locking element 26 provided on the wet cleaning device 14 to lock the wet cleaning device 14 to the body 3, and an unlocked position in which the locking member 25 is configured to unlock the locking element 26 to allow removal of the wet cleaning device 14 from the body 3. The locking member 25 can include, for example, a locking finger, and the locking element 26 can include, for example, a lock housing configured to receive the locking finger.

[0101] Advantageously, the locking member 25 is translationally mounted relative to the body 3 in an actuation direction that is substantially vertical when the autonomous cleaning robot 2 is resting on a horizontal surface.

[0102] According to the illustrated embodiment, the locking mechanism includes a biasing member 27, such as a compression spring, configured to bias the locking member 25 towards the locked position.

[0103] According to the embodiment shown, the autonomous cleaning robot 2 also includes an ejection member 28 configured to eject the wet cleaning device 14 away from the body 3 towards the rear of the body 3 when the locking member 25 is displaced into the unlocked position. Advantageously, the ejection member 28 is partially housed in a receiving cavity 29 provided in the body 3 and has an ejection surface 28.1 configured to bear against the wet cleaning device 14.

[0104] The discharge member 28 is mounted relative to the body 3 so as to be slidable in a sliding direction between a stowed position (see FIG. 7 ) in a direction parallel to a main displacement direction D of the autonomous cleaning robot 2 and in which a discharge surface 28.1 of the discharge member 28 is recessed or disposed close to an insertion opening of the receiving cavity 29, and a deployed position (see FIG. 12 ) in which the discharge surface 28.1 of the discharge member 28 protrudes from the receiving cavity 29 and is disposed away from the insertion opening of the receiving cavity 29. Advantageously, the wet cleaning device 14 is configured to displace the discharge member 28 to the stored position when the wet cleaning device 14 is mounted to the body 3.

[0105] As shown in more detail in FIG. 7, the autonomous cleaning robot 2 includes a biasing element 31, such as a compression spring, configured to bias the ejection member 28 towards the deployed position.

[0106] The autonomous cleaning robot 2 also includes a cleaning liquid reservoir 32, which is, for example, attached to the body 3 in a removable manner. Advantageously, the cleaning liquid reservoir 32 and the waste collection device 12 are superimposed and fixed to each other. The autonomous cleaning robot 2 can thus include a removable reservoir, which includes, for example, a first compartment forming the cleaning liquid reservoir 32 and a second compartment forming the waste collection device 12. Nevertheless, according to an embodiment of the invention, the cleaning liquid reservoir 32 can be provided directly in the wet cleaning device 14 and thus separated from the waste collection device 12.

[0107] The wet cleaning device 14 further includes a plurality of liquid discharge orifices 33 configured to be in fluid communication with the cleaning fluid reservoir 32 and configured to supply cleaning fluid to the mop 17 attached to the mop support 15 .

[0108] According to the embodiment shown in the figures, the liquid discharge orifices 33 are arranged in an arrangement direction extending perpendicular to the main displacement direction D of the autonomous cleaning robot 2 and are regularly spaced apart from one another. Advantageously, the liquid discharge orifices 33 are arranged in the front part of the mop support 15, for example in the front part of the mop 17, and are arranged to face the surface to be cleaned.

[0109] The autonomous cleaning robot 2 also includes a cleaning fluid supply circuit disposed in the body 3 and configured to fluidly connect the liquid discharge orifice 33 to a cleaning fluid reservoir 32 .

[0110] Advantageously, the cleaning liquid supply circuit comprises a distributor 35 (see FIG. 7) housed in the body 3. The distributor 35 extends transversely to the main displacement direction of the autonomous cleaning robot 2 and comprises a collection chamber in fluid communication with the cleaning liquid reservoir 32 and a number of discharge orifices (not visible in the figures) provided on the underside of the distributor, opening into the collection chamber and arranged along the collection chamber. Advantageously, each exhaust orifice is located opposite a respective passage orifice 37 (see FIG. 12) provided on the body 3 and opening into the underside 4 of the body 3, each passage orifice 37 being located opposite a respective liquid discharge orifice 33.

[0111] According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises a lifting ramp 38 which extends transversely to the main displacement direction D of the autonomous cleaning robot 2 and is located in front of the mop support 15. The lifting ramp 38 can have a length which corresponds, for example, substantially to the distance between the two drive wheels 7. Advantageously, the lifting ramp 38 is provided on the wet cleaning device 14 and is, for example, fixed to the body of the support 19.

[0112] The lifting ramp 38 includes a lifting surface 38.1 which faces the surface to be cleaned and is inclined backwards and downwards. Advantageously, the lifting surface 38.1 is substantially flat. The lifting surface 38.1 is more particularly configured such that, during a forward displacement of the body 3, an obstacle appearing in front of the autonomous cleaning robot 2 causes a lifting of the rear part 3.2 of the body 3 when it comes into contact with the lifting surface 38.1 and slides over the lifting surface 38.1.

[0113] Advantageously, the lifting surface 38.1 is configured to be inclined relative to the horizontal by an inclination angle of between 10 and 40°, for example about 25°, when the autonomous cleaning robot is resting on a horizontal surface.

[0114] According to the embodiment shown in the figure, the liquid discharge orifices 33 are provided in the lift ramp 38 and are distributed along the lift ramp 38. Advantageously, the liquid discharge orifices 33 open into the lift surface 38.1.

[0115] 13 and 14, the autonomous cleaning robot also includes a replacement module 41 configured to be attached to the main body 3 in place of the wet cleaning device 14, particularly when wet cleaning of the surface to be cleaned is not desired. The replacement module 41 does not have a mop and can be attached to the main body in place of the wet cleaning device 14, for example, when suction of soft floors such as carpets is desired or when wet cleaning of hard surfaces is not desired.

[0116] Advantageously, the exchange module 41 comprises guide means 41.1 identical to the guide ribs 21 provided on the wet cleaning device 14, and further comprises a bottom wall 41.2 and a rear wall 41.3 similar to the support plate 19.1 and the side wall 19.4 of the support 19 respectively.

[0117] According to an embodiment of the present invention, the replacement module 41 may comprise, instead of the wet cleaning device 14, a module support configured to be attached to the main body 3 and at least a passive mop fixedly attached to the module support. Such a replacement module 41 allows a user to wipe the surface to be cleaned in a wet or dry manner according to the user's needs.

[0118] According to another embodiment of the present invention, the exchange module 41 may comprise a floor treatment element other than a mop configured to perform mechanical, chemical, thermal or radiative treatment of the ground.

[0119] Of course, the invention is in no way limited to the embodiments described and shown for the sake of example only: modifications are possible, particularly in terms of the arrangement of the various elements or by the substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Claim 1 An autonomous cleaning robot (2), comprising: - A main body (3) including a lower surface (4) configured to face a surface to be cleaned, and a suction port (5) provided at a front portion of the main body (3) and opening to the lower surface (4) of the main body (3); - A suction unit (11) at least partially accommodated in the main body (3) and configured to generate an air flow through the suction port (5); - A wet cleaning device (14) including two mop supports (15) each movably attached to the main body (3) in a translational direction (T), and two mops (17) removably attached to the two mop supports (15) respectively, wherein the mops (17) are configured to contact the surface to be cleaned; - Two drive wheels (7) configured to roll on the surface to be cleaned and rotatably attached to the main body (3) respectively about two substantially parallel rotation axes; The two mop supports (15) are located behind the rotation axes of the drive wheels (7), and the translational direction (T) extends substantially parallel to the rotation axes of the two drive wheels (7). The autonomous cleaning robot (2). Claim 2 The mop supports (15) are movably attached to each other between a close configuration in which the two mop supports (15) approach each other and a separated configuration in which the two mop supports (15) are separated from each other. The autonomous cleaning robot (2) according to claim 1. Claim 3 The two mop supports (15) are arranged on both sides of a longitudinal central plane (P) of the main body (3). The autonomous cleaning robot (2) according to claim 1. Claim 4 When the autonomous cleaning robot (2) is placed on the surface to be cleaned, a rear portion of the autonomous cleaning robot (2) is configured to be directly placed on the surface to be cleaned by the two mops (17). The autonomous cleaning robot (2) according to claim 1. Claim 5 The two mop supports (15) are arranged with respect to the main body (3) such that the two mop supports (15) do not intersect any vertical plane passing through the rotation axis of the wheels equipped on the autonomous cleaning robot (2), and such that the two mop supports (15) are not at least partially located between two vertical planes respectively passing through the two rotation axes of the wheels equipped on the autonomous cleaning robot (2). The autonomous cleaning robot (2) according to claim 1.

6. Including a power battery (13) configured to electrically supply power to the autonomous cleaning robot (2), and the power battery (13) is at least partially arranged above one of the mop supports (15). The autonomous cleaning robot (2) according to claim 1.

7. The suction unit (11) is at least partially arranged above one of the mop supports (15). The autonomous cleaning robot (2) according to claim 1.

8. The wet cleaning device (14) is detachably attached to the main body (3). The autonomous cleaning robot (2) according to claim 1.

9. The wet cleaning device (14) is configured to be removed from the main body (3) by a translational movement directed towards the rear of the main body (3). The autonomous cleaning robot (2) according to claim 8.

10. The wet cleaning device (14) includes first guiding means configured to cooperate with second guiding means provided on the main body (3) so as to guide the wet cleaning device (14) in a guiding direction when attaching the wet cleaning device (14) to the main body (3). The autonomous cleaning robot (2) according to claim 9.

11. The wet cleaning device (14) includes a first electrical connector (23) configured to cooperate with a second electrical connector (24) provided on the main body (3) when attaching the wet cleaning device (14) to the main body (3) in an attachment direction directed towards the front of the main body (3). The autonomous cleaning robot (2) according to claim 8.

12. The autonomous cleaning robot (2) according to claim 8, comprising a locking mechanism configured to lock the wet cleaning device (14) to the main body (3).

13. The locking mechanism is operable by a user and includes a locking member (25) provided on the main body (3) or the wet cleaning device (14). The locking member (25) is configured to cooperate with a locking element (26) provided on the wet cleaning device (14) or the main body (3) so that the locking member (25) locks the wet cleaning device (14) to the main body (3), and the locking member (25) is removably attached between a locking position and a release position configured to release the locking element (26) to permit removal of the wet cleaning device (14) from the main body (3). The autonomous cleaning robot (2) according to claim 12.

14. The locking member (25) is translationally displaceable according to an operating direction that is substantially vertical when the autonomous cleaning robot (2) is placed on a horizontal plane. The autonomous cleaning robot (2) according to claim 13.

15. The autonomous cleaning robot (2) includes a cleaning liquid reservoir (32), the wet cleaning device (14) is configured to be in fluid communication with the cleaning liquid reservoir (32), and includes a plurality of liquid discharge orifices (33) configured to supply cleaning liquid to the mop (17) attached to the mop support (15). The liquid discharge orifices (33) are arranged in front of the mop support (15). The autonomous cleaning robot (2) according to claim 1.

16. It includes a lifting and tilting path (38) that extends substantially parallel to the rotation axes of the two drive wheels and is located at the front of the mop support (15). The lifting and tilting path (38) includes a lifting surface (38.1) that faces the surface to be cleaned and is inclined rearward and downward. The lifting surface (38.1) is configured such that when an obstacle that appears in front of the autonomous cleaning robot (2) during forward displacement of the main body (3) contacts the lifting surface (38.1) and slides on the lifting surface (38.1), it causes the rear part of the main body (3) to be lifted. The autonomous cleaning robot (2) according to claim 1.

17. The autonomous cleaning robot (2) includes a cleaning liquid reservoir (32), the wet cleaning device (14) is configured to be in fluid communication with the cleaning liquid reservoir (32), and includes a plurality of liquid discharge orifices (33) configured to supply the cleaning liquid to the mop (17) attached to the mop support (15). The liquid discharge orifices (33) are arranged in front of the mop support (15). The liquid discharge orifices (33) are provided in the elevating and inclined path (38) and are distributed along the elevating and inclined path (38). The autonomous cleaning robot (2) according to claim 16.

18. The autonomous cleaning robot (2) according to any one of claims 1 to 17, comprising a rotary cleaning brush (6) rotatably attached to the main body (3) about a brush rotation axis.

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