Autonomous cleaning robot equipped with a wet cleaning device

Abstract

The autonomous cleaning robot includes a main body (3), a suction unit (14) equipped with a suction motor (15), a wet cleaning device located at the rear (3.2) of the main body (3), a battery (21), and two drive wheels (11). The suction unit (14) and the battery (21) are disposed at the rear of the main body (3) on either side of a central longitudinal plane (P1) of the main body (3). A first axis (B1) passing through the center of gravity (G1) of the battery (21) and the geometric center (C) of the main body (3) is inclined at a first inclination angle (α1) relative to the central longitudinal plane (P1), and a second axis (B2) passing through the center of gravity (G2) of the suction unit (14) and the geometric center (C) of the main body (3) is inclined at a second inclination angle (α2) relative to the central longitudinal plane (P1).

Description

[Technical Field]

[0001] The present invention relates to the field of robotic vacuum cleaners that can be moved autonomously over the surface to be cleaned, and that are capable of sucking up dirt and debris present on the surface to be cleaned, such as tiles, parquet, laminates, carpets, rugs, etc., and that are optionally capable of washing the surface to be cleaned simultaneously with the vacuuming action. [Background technology]

[0002] technical level Autonomous cleaning robots have become commonplace today, allowing the autonomous cleaning robot to clean any surface in a home without any user assistance, as long as the surface is flat, i.e., coplanar. Thus, they provide significant time savings to users, allowing them to perform other tasks.

[0003] The autonomous cleaning robot, in a known manner, a body including a lower surface configured to be oriented toward a surface to be cleaned and a suction port opening to the lower surface of the body, the body defining a suction chamber fluidly connected to the suction port; two drive wheels configured to roll on the surface to be cleaned and mounted on the body for rotation about two substantially parallel axes of rotation, respectively; a rotary cleaning brush housed in the suction chamber and attached rotatably around a brush rotation axis; a suction unit at least partially contained within the body and configured to generate an airflow through the suction opening; a dirt collection device including a dirt collection container positioned upstream of the suction unit and configured to be traversed by the airflow generated by the suction unit and to hold dirt carried by the airflow; a wet cleaning device located at the rear of the main body; and a power battery configured to electrically power the autonomous cleaning robot.

[0004] The surface pressure exerted on the floor being cleaned by the wet cleaning device of such an autonomous cleaning robot may prove insufficient to ensure effective cleaning, especially when a large portion of the autonomous cleaning robot's mass is absorbed directly by the drive wheels.

[0005] To overcome such drawbacks, it may be possible to consider placing some of the heavy components of the autonomous cleaning robot at the rear of the body to increase the surface pressure exerted by the wet cleaning device on the surface being cleaned.

[0006] Nevertheless, such a configuration of an autonomous cleaning robot is likely to result in an imbalance in the distribution of mass within the wet cleaning robot, which is likely to hinder the guidance of the wet cleaning robot during its movement and is likely to result in uneven cleaning quality on both sides of the central longitudinal surface of the body. Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention aims to overcome these drawbacks.

[0008] The technical problem underlying the present invention is to provide an autonomous cleaning robot that is simple, economical, and compact, while also achieving high cleaning performance. [Means for solving the problem]

[0009] To this end, the present invention relates to an autonomous cleaning robot, comprising: a body including a lower surface configured to be oriented toward a surface to be cleaned and a suction port opening to the lower surface of the body, the body defining a suction chamber fluidly connected to the suction port; a suction unit at least partially housed within the body, the suction unit including a suction motor having a motor shaft and a fan coupled to the suction motor and configured to generate airflow through a suction port; a dirt collection device including a dirt collection container positioned upstream of the suction unit and configured to be traversed by the airflow generated by the suction unit and to hold dirt carried by the airflow; a wet cleaning device located at the rear of the main body; a power battery configured to electrically power the autonomous cleaning robot; and two drive wheels configured to roll on the surface to be cleaned and mounted on the body for rotation about two substantially parallel axes of rotation, respectively.

[0010] The suction unit and the power battery are arranged on either side of the central longitudinal plane of the body and are positioned at the rear of the body, a first axis passing through the center of gravity of the power battery and the geometric center of the body located substantially within the central longitudinal plane of the body is inclined at a first inclination angle relative to the central longitudinal plane of the body, a second axis passing through the center of gravity of the suction unit and the geometric center of the body is inclined at a second inclination angle relative to the central longitudinal plane of the body, the first axis and the second axis defining a separation angle of less than 130°, advantageously comprised between 40°-110°, for example between 90°-110°.

[0011] Such an arrangement of the suction unit and the power battery, i.e., on both sides of the central longitudinal plane of the body and with such a separation angle, allows for better mass distribution of the autonomous cleaning robot and therefore balances the surface pressure exerted by the wet cleaning device on the surface to be cleaned.

[0012] Furthermore, the fact that the suction unit and power battery are located at the rear of the main body allows the center of gravity of the vacuum cleaner to be moved rearward, thus increasing the frictional force of the wet cleaning device against the surface to be cleaned.

[0013] Therefore, the particular arrangement of the suction unit and the power battery provides improved cleaning performance of the autonomous cleaning robot.

[0014] The autonomous cleaning robot of the present invention, like most autonomous cleaning robots, is designed to effectively clean floors when it moves in a direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and in a predetermined direction of movement. The direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of movement define the main direction of movement of the autonomous cleaning robot of the present invention. Thus, the front or rear of the body of the autonomous cleaning robot is distinguishable relative to the main direction of movement 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 center of gravity of the assembly formed by the suction unit and the power battery is located substantially on the central longitudinal plane of the body. Such an arrangement of the suction unit and the power battery contributes to a better weight distribution within the autonomous cleaning robot, which on the one hand ensures a better balance of the surface pressure exerted by the wet cleaning device on the surface to be cleaned, and on the other hand ensures better guidance of the autonomous cleaning robot during its movements.

[0017] As used herein, "substantially located" means "located" or "located within a distance of less than 1 cm."

[0018] According to one embodiment of the present invention, each of the first tilt angle and the second tilt angle is configured in the range of 20° to 55°. Such an arrangement of the suction unit and the power battery also contributes to better weight distribution of the autonomous cleaning robot.

[0019] According to one embodiment of the present invention, the absolute value of the difference between the first tilt angle and the second tilt angle is less than or equal to 10°, for example less than or equal to 5°.

[0020] According to one embodiment of the present invention, the second tilt angle is substantially equal to the first tilt angle.

[0021] According to one embodiment of the present invention, the geometric center of the body is located between the drive wheels.

[0022] According to one embodiment of the present invention, the geometric centre of the body is located substantially at the intersection of a central longitudinal plane of the body and a vertical plane containing the axis of rotation of the drive wheel.

[0023] According to one embodiment of the present invention, the suction unit and the power battery are arranged substantially symmetrically with respect to the central longitudinal plane of the body.

[0024] According to one embodiment of the present invention, the first axis is encompassed by a central vertical plane of the power cell.

[0025] According to one embodiment of the present invention, the second axis is encompassed in a vertical plane encompassing the motor axis of the suction motor.

[0026] According to one embodiment of the present invention, the suction unit and the power battery are positioned behind the rotation axis of the two drive wheels, for example, almost behind the two drive wheels. Such an arrangement of the suction unit and the power battery 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. Therefore, such an arrangement of the suction unit and the power battery improves the scraping efficiency of the wet cleaning device on the floor, and therefore improves the cleaning quality of the autonomous cleaning robot.

[0027] According to one embodiment of the present invention, the wet cleaning device includes two mop holders attached to the main body, two mops removably attached to the two mop holders, and configured to contact the surface to be cleaned, the power battery being at least partially positioned above one of the mop holders, and the suction unit being at least partially positioned above the other mop holder. Such an arrangement of the suction unit and the power battery further increases the friction of the wet cleaning device with the surface to be cleaned, and thus further improves the cleaning quality of the autonomous cleaning robot.

[0028] According to one embodiment of the present invention, the autonomous cleaning robot is configured such that when the autonomous cleaning robot rests on a surface to be cleaned, the rear of the autonomous cleaning robot rests directly on the surface to be cleaned by the two mops. Such a configuration of the autonomous cleaning robot allows the mops to directly absorb at least a portion of the mass of the autonomous cleaning robot, thus further increasing the surface pressure exerted by each mop on the floor to be cleaned. Therefore, such a configuration of the autonomous cleaning robot further improves the cleaning quality of the autonomous cleaning robot.

[0029] According to one embodiment of the present invention, the center of gravity of the power battery is located above one of the mop holders, and the center of gravity of the suction unit is located above the other mop holder.

[0030] According to one embodiment of the present invention, the power battery is positioned completely above one mop holder and the suction unit is positioned completely above the other mop holder.

[0031] According to one embodiment of the present invention, the autonomous cleaning robot includes a cleaning solution tank, which is advantageously located between the drive wheels, so that changes in the liquid level in the cleaning solution tank do not cause an imbalance in the weight distribution within the wet cleaning robot.

[0032] According to one embodiment of the present invention, the wet cleaning device includes at least one liquid outlet orifice configured to be fluidly connected to the cleaning liquid tank and configured to supply cleaning liquid to a mop attached to a mop holder.

[0033] According to one embodiment of the present invention, the dirt collection receptacle is positioned at least partially between the drive wheels.

[0034] According to one embodiment of the present invention, a power battery includes battery cells that are generally cylindrical in shape and have cell axes that are substantially parallel to one another.

[0035] According to one embodiment of the present invention, the central vertical plane of the power battery extends in a direction substantially perpendicular to the cell axes of the battery cells.

[0036] According to another embodiment of the present invention, the central vertical plane of the power battery extends substantially parallel to the cell axes of the battery cells.

[0037] According to one embodiment of the present invention, the autonomous cleaning robot includes a connecting channel that fluidly connects the suction chamber to the dirt collection container.

[0038] According to one embodiment of the present invention, the connecting channel has a generally cylindrical shape and is configured to extend substantially vertically when the autonomous cleaning robot is at rest on a horizontal surface.

[0039] According to one embodiment of the present invention, the connecting channel has a circular or oval cross section.

[0040] According to one embodiment of the present invention, the connecting channel opens to the rear of the suction chamber, which makes it easier to guide the sucked dirt towards the dirt collection container. According to one embodiment of the present invention, the central longitudinal face of the body intersects with the connecting channel.

[0041] According to one embodiment of the invention, the body includes a curved trailing edge, the trailing edge having the shape of an arc of a circle when viewed from above in a substantially vertical orientation. Advantageously, the trailing edge has a radius of curvature whose centre corresponds to the geometric centre of the body.

[0042] According to one embodiment of the present invention, the body has a general D-shape when viewed from above in a substantially vertical orientation.

[0043] According to one embodiment of the present invention, the dirt collection device is removably attached to the body.

[0044] According to one embodiment of the present invention, the suction port is provided at the front of the main body.

[0045] According to one embodiment of the present invention, an autonomous cleaning robot includes a rotating cleaning brush housed within a suction chamber and rotatably mounted about a brush axis of rotation.

[0046] According to one embodiment of the present invention, the brush rotation axis extends transversely, e.g., perpendicularly, to the main direction of movement of the autonomous cleaning robot.

[0047] According to one embodiment of the present invention, the suction port has an elongated shape and extends in an extension direction transverse to, for example perpendicular to, the main direction of movement of the autonomous cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS The objects, aspects and advantages of the present invention will be better understood from the following description of embodiments of the invention, given by way of non-limiting examples, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0048] [Figure 1] FIG. 1 is a top perspective view of an autonomous cleaning robot according to the present invention. [Figure 2] FIG. 2 is a bottom perspective view of the autonomous cleaning robot of FIG. 1. [Figure 3] FIG. 2 is a partial bottom perspective view of the autonomous cleaning robot of FIG. 1. [Figure 4]FIG. 2 is a bottom view of the autonomous cleaning robot of FIG. 1. [Figure 5] FIG. 2 is a side view of the autonomous cleaning robot of FIG. 1. [Figure 6] FIG. 2 is a longitudinal cross-sectional view of the autonomous cleaning robot of FIG. 1. [Figure 7] FIG. 2 is a top view of the autonomous cleaning robot of FIG. 1. [Figure 8] FIG. 2 is a partial top view of the autonomous cleaning robot of FIG. 1. [Figure 9] FIG. 2 is a top perspective view of the autonomous cleaning robot of FIG. 1, showing the wet cleaning device detached from the main body. DETAILED DESCRIPTION OF THE INVENTION

[0049] Detailed Description Only the elements necessary for understanding the invention are shown. To facilitate reading the drawings, identical elements bear the same reference numerals from one figure to another.

[0050] As used herein, the terms "horizontal," "vertical," "lower," "upper," "above," and "below" as used to describe an autonomous cleaning robot or body refer to the autonomous cleaning robot in use when it is resting by its wheels on a flat, level floor to be cleaned.

[0051] In this specification, the term "median longitudinal plane" means a vertical plane parallel to the main direction of movement and dividing the body into two substantially equal parts.

[0052] 1-9 illustrate an autonomous cleaning robot 2, more specifically a robotic vacuum cleaner, configured to be moved autonomously over a surface to be cleaned.

[0053] The autonomous cleaning robot 2 comprises a body 3 including a lower surface 4 configured to be oriented towards the surface to be cleaned, and a suction port 5 provided in a front part 3.1 of the body 3 and opening into the lower surface 4 of the body 3. Advantageously, the suction port 5 is elongated and extends in an extension direction perpendicular to the main direction of movement D of the autonomous cleaning robot 2.

[0054] As shown in FIG. 6, the main body 3 defines a suction chamber 6 that opens to the lower surface 4 of the main body 3 through a suction port 5 .

[0055] According to the embodiment shown in the figures, the body 3 has a generally D-shape when viewed from above in a substantially vertical direction and includes a curved trailing edge, which has an arc-like shape when viewed from above in a substantially vertical direction. However, the body 3 could have an entirely different shape, for example, a generally circular or rectangular shape. Advantageously, the trailing edge of the body 3 has a radius of curvature whose centre corresponds to the geometric centre C of the body 3.

[0056] The autonomous cleaning robot 2 further comprises a rotating cleaning brush 7 housed within the suction chamber 6 and rotatably mounted about a brush rotation axis A1 extending transversely, more particularly perpendicularly, to the main direction of movement D. Advantageously, the brush rotation axis A1 is substantially horizontal when the autonomous cleaning robot 2 is at rest on a horizontal surface.

[0057] According to the embodiment shown in the figures, the rotary cleaning brush 7 comprises a brush body 8 having a central longitudinal axis and configured to be rotated about the brush axis of rotation A1 in a predetermined rotational direction. Advantageously, the brush axis of rotation A1 is coaxial with the central longitudinal axis of the brush body 8.

[0058] The rotary cleaning brush 7 further comprises one or more rows of bristles 9, for example two rows of bristles, provided on the outer circumferential surface of the brush body 8 and extending over at least a portion of the length of the brush body 8. According to a variant of the invention, the rotary cleaning brush 7 could further comprise, or instead of the rows of bristles 9, one or more cleaning strips, for example elastically deformable or rigid, provided on the outer circumferential surface of the brush body 8.

[0059] The autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figure) configured to drive the brush body 8 to rotate around the brush rotation axis A1.

[0060] 2 to 4, the autonomous cleaning robot 2 comprises two drive wheels 11 configured to roll over the surface to be cleaned. The two drive wheels 11 are rotatably mounted relative to the body 3 and have parallel, advantageously coaxial, axes of rotation. Advantageously, the axes of rotation of the drive wheels 11 extend in a direction perpendicular to the main direction of movement D.

[0061] The two drive wheels 11 are configured to protrude from the underside 4 of the body 3 and are arranged on either side of the central longitudinal plane P1 of the body 3. Advantageously, the two drive wheels 11 are arranged symmetrically with respect to the central longitudinal plane P1 of the body 3 and are side wheels of the autonomous cleaning robot 2.

[0062] The two drive wheels 11 are advantageously driven independently of each other. Thus, the autonomous cleaning robot 2 includes two rotational drive mechanisms 12 housed within the main body 3, each configured to rotationally drive a respective one of the two drive wheels 11. Each rotational drive mechanism 12 is rotationally coupled to the respective drive wheel 11 and includes a drive motor disposed, for example, on each side of the main body 3. Depending on the control of the two drive motors, the main body 3 can move left or right, or turn by itself, and move forward or backward.

[0063] According to the embodiment shown in the figures, the autonomous cleaning robot 2 includes additional wheels 13 mounted so as to rotate freely relative to the main body 3, for example two additional wheels 13 arranged at the front 3.1 of the main body 3. Advantageously, all of the additional wheels 13 are positioned in front of the rotation axes of the two drive wheels 11, and the autonomous cleaning robot 2 does not have any additional wheels positioned behind the rotation axes of the two drive wheels 11.

[0064] The autonomous cleaning robot 2 further includes a suction unit 14 housed within the main body 3. The suction unit 14 includes a suction motor 15 having a motor shaft, and a fan 16 coupled to the suction motor 15 and configured to generate an airflow through the suction port 5.

[0065] The autonomous cleaning robot 2 also includes a dirt collection device 17 (see FIG. 6) removably attached to the main body 3. The dirt collection device 17 includes a dirt collection container 18 positioned upstream of the suction unit 14 and at least partially between the drive wheels 11. The dirt collection container 18 is configured to be traversed by the airflow generated by the fan 16 and to hold dirt carried by the airflow when the autonomous cleaning robot 2 is operating.

[0066] The autonomous cleaning robot 2 further includes a connecting channel 19 that fluidly connects the suction chamber 6 to the dirt collection receptacle 18. The connecting channel 19 has a generally cylindrical shape and is configured to extend vertically when the autonomous cleaning robot 2 rests on a horizontal surface. However, the connecting channel 19 could be configured to be tilted with respect to the vertical at an inclination angle of 10° or less, e.g., 5° or less, when the autonomous cleaning robot 2 rests on a horizontal surface. The connecting channel 19 could have, for example, an oval or circular cross-section.

[0067] As shown in FIGS. 4 and 6, the connecting channel 19 opens to the rear of the suction chamber 6, and the central longitudinal plane P1 of the body 3 intersects with the connecting channel 19.

[0068] The autonomous cleaning robot 2 also includes a power supply battery 21 configured to electrically power the autonomous cleaning robot 2. The power supply battery 21 is rechargeable and is housed within the main body 3.

[0069] The power battery 21 is generally cylindrical in shape and includes battery cells 22 having cell axes that are substantially parallel to one another. According to the embodiment shown in the figures, the power battery 21 has a central vertical plane P2 that extends in a direction that is substantially perpendicular to the cell axes of the battery cells 22. However, according to variations of the invention, the battery cells 22 may have an orientation that is rotated 90° relative to the orientation shown in FIG. 7, such that the central vertical plane P2 of the power battery 21 would extend substantially parallel to the cell axes of the battery cells 22.

[0070] The suction unit 14 and the battery 21 are arranged on either side of the central longitudinal plane P1 of the main body 3 and are located at the rear 3.2 of the main body 3, preferably behind the axes of rotation of the two drive wheels 11. Advantageously, the suction unit 14 and the battery 21 are arranged substantially symmetrically with respect to the central longitudinal plane P1 of the main body 3.

[0071] According to one embodiment of the present invention, the center of gravity G of the assembly formed by the suction unit 14 and the power battery 21 is located substantially on the central longitudinal plane P1 of the body 3.

[0072] 8, a first axis B1 passing through the center of gravity G1 of the power battery 21 and the geometric center C of the main body 3, which is located in the central longitudinal plane P1 of the main body 3, is inclined at a first inclination angle α1 with respect to the central longitudinal plane P1 of the main body 3, and a second axis B2 passing through the center of gravity G2 of the suction unit 14 and the geometric center C of the main body 3 is inclined at a second inclination angle α2 with respect to the central longitudinal plane P1 of the main body 3. The absolute value of the difference between the first inclination angle α1 and the second inclination angle α2 is 10° or less, for example, 5° or less. Advantageously, the second inclination angle α2 is substantially equal to the first inclination angle α1.

[0073] According to the embodiment shown in the figures, the first axis B1 and the second axis B2 define a separation angle α3 of less than 130°, advantageously between 40° and 110°, for example between 90° and 110°, and the first and second tilt angles α1 and α2 are each between 20° and 55°. Advantageously, the central vertical plane P2 of the power battery 21 encompasses the first axis B1, and the second axis B2 is encompassed in a vertical plane encompassing the motor axis of the suction motor 15.

[0074] As shown in FIG. 8, the geometric center C of the body 3 is located substantially at the intersection of the central longitudinal plane P1 of the body 3 and a vertical plane containing the rotation axes of the drive wheels 11.

[0075] 2, the autonomous cleaning robot 2 further comprises a wet cleaning device 23 arranged at the rear part 3.2 of the main body 3. Advantageously, the wet cleaning device 23 is arranged on the opposite side of the rotary cleaning brush 7 with respect to the rotation axis of the drive wheel 11.

[0076] According to the embodiment shown in the figures, the wet cleaning device 23 comprises two mop holders 24 arranged side by side and positioned behind the rotation axes of the drive wheels 11. Advantageously, the two mop holders 24 are arranged on either side of the central longitudinal plane P1 of the main body 3 and are configured to extend substantially horizontally when the main body 3 is at rest on a horizontal surface.

[0077] Advantageously, the power battery 21 is at least partially, e.g., entirely, positioned above one of the mop holders 24, and the suction unit 14 is at least partially, e.g., entirely, positioned above the other of the mop holders 24. Thus, the center of gravity G1 of the power battery 21 is positioned above one of the mop holders 24, and the center of gravity G2 of the suction unit 14 is positioned above the other of the mop holders 24.

[0078] According to the embodiment shown in the figures, the two mop holders 24 are each mounted to be translationally movable relative to the body 3 in a translation direction T that extends transversely, advantageously perpendicularly, to the main direction of movement D of the autonomous cleaning robot 2. Advantageously, the mop holders 24 are mounted to be movable relative to one another between a close configuration, in which the two mop holders 24 are brought closer to one another, and a spaced configuration, in which the two mop holders 24 are moved away from one another.

[0079] The wet cleaning device 23 also includes a translational drive mechanism 25 configured to translate the mop holder 24 along a translational direction T alternately between a close-in configuration and a far-away configuration.

[0080] The wet cleaning device 23 further includes two mops 26 removably attached to the two mop holders 24. The mops 26 are configured to contact the surface to be cleaned, and more particularly, to exert a surface pressure on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned.

[0081] Advantageously, the autonomous cleaning robot 2 is configured such that when the autonomous cleaning robot 2 rests on the surface to be cleaned, the rear of the autonomous cleaning robot 2 rests directly on the surface to be cleaned by the two mops 26.

[0082] 9, the wet cleaning device 23 is removably attached to the main body 3, which includes a receiving housing 27 within which the wet cleaning device 23 is at least partially housed. The wet cleaning device 23 is advantageously configured to be removed from the main body 3 by a rearwardly directed translational movement of the main body 3.

[0083] The autonomous cleaning robot 2 also includes a cleaning liquid tank 28, which is, for example, removably attached to the main body 3. The cleaning liquid tank 28 can be, for example, arranged between the drive wheels 11. The cleaning liquid tank 28 and the dirt collection container 18 can be, for example, stacked on top of each other and integrated with each other. According to such an embodiment, the autonomous cleaning robot 2 can include a removable tank, for example, including a first compartment forming the cleaning liquid tank 28 and a second compartment forming the dirt collection container 18. Nevertheless, according to a variant of the invention, the cleaning liquid tank 28 could be separate from the dirt collection device 17 and, for example, directly provided in the wet cleaning device 23.

[0084] The wet cleaning device 23 further includes a plurality of liquid outlet orifices 29 configured to be fluidly connected to the cleaning liquid tank 28 and configured to supply cleaning liquid to the mop 26 attached to the mop holder 24. Advantageously, the liquid outlet orifices 29 are positioned at the front of the mop holder 24, e.g., at the front of the mop 26, and configured to be oriented towards the surface to be cleaned.

[0085] The autonomous cleaning robot 2 also includes a cleaning fluid supply circuit (not described in detail) provided on the main body 3 and configured to fluidly connect the liquid outlet orifice 29 to the cleaning fluid tank 28. The cleaning fluid supply circuit may include, for example, a dispenser 31 (see FIG. 6 ) housed in the main body 3.

[0086] According to a variant of the invention not shown in the figures, the wet cleaning device 23 could be provided with floor treatment elements other than a mop, configured to perform mechanical, chemical, thermal or radiant treatment of the floor.

[0087] According to another variant of the invention, not shown in the figures, the wet cleaning device 23 could comprise at least one passive mop, ie a mop that is fixedly attached to the body 3 .

[0088] Of course, the invention is in no way limited to the described and illustrated embodiments, which are provided by way of example only: modifications remain possible, particularly with regard to the arrangement of the various elements or by substituting technical equivalents, without departing from the scope of the invention.

Claims

1. An autonomous cleaning robot (2), comprising: a main body (3) having a lower surface (4) configured to be oriented towards a surface to be cleaned and a suction port (5) opening into the lower surface (4) of the main body (3), the main body (3) defining a suction chamber (6) fluidly connected to the suction port (5); a suction unit (14) at least partially housed within the body (3), the suction unit (14) comprising a suction motor (15) having a motor shaft and a fan (16) coupled to the suction motor (15) and configured to generate an air flow through the suction port (5); a dirt collection device (17) including a dirt collection container (18) positioned upstream of the suction unit (14) and configured to be traversed by the airflow generated by the suction unit (14) and to hold dirt carried by the airflow; a wet cleaning device (23) located at the rear (3.2) of the body (3); a power battery (21) configured to electrically power the autonomous cleaning robot (2); two drive wheels (11) mounted on the body (3) for rotational movement about two substantially parallel axes of rotation, respectively, configured to roll on the surface to be cleaned; The suction unit (14) and the battery (21) are arranged on both sides of the central longitudinal plane (P1) of the main body (3) and are located at the rear (3.2) of the main body (3), and a first axis (B1) passing through the center of gravity (G1) of the battery (21) and the geometric center (C) of the main body (3), which is located substantially on the central longitudinal plane (P1) of the main body (3), is aligned with the central longitudinal plane (P1) of the main body (3). a second axis (B2) passing through the center of gravity (G2) of the suction unit (14) and the geometric center (C) of the body (3) is inclined at a first inclination angle (α1) relative to the central longitudinal plane (P1) of the body (3), and a second axis (B2) passing through the center of gravity (G2) of the suction unit (14) and the geometric center (C) of the body (3) is inclined at a second inclination angle (α2) relative to the central longitudinal plane (P1) of the body (3), and the first axis (B1) and the second axis (B2) define a separation angle (α3) of less than 130°.

2. 2. The autonomous cleaning robot (2) according to claim 1, wherein the center of gravity (G) of the assembly formed by the suction unit (14) and the power battery (21) is positioned substantially on the central longitudinal plane (P1) of the main body (3).

3. 3. The autonomous cleaning robot (2) according to claim 1 or 2, wherein each of the first and second tilt angles (α1, α2) is configured between 20° and 55°.

4. 4. The autonomous cleaning robot (2) according to claim 1, wherein the absolute value of the difference between the first and second tilt angles (α1, α2) is 10° or less.

5. 5. The autonomous cleaning robot (2) according to claim 1, wherein the geometric center (C) of the body (3) is located substantially at the intersection of the central longitudinal plane (P1) of the body (3) and a vertical plane containing the rotation axes of the drive wheels (11).

6. 6. The autonomous cleaning robot (2) according to any one of claims 1 to 5, wherein the suction unit (14) and the power battery (21) are arranged substantially symmetrically with respect to the central longitudinal plane (P1) of the main body (3).

7. 7. The autonomous cleaning robot (2) according to claim 1, wherein the first axis (B1) is included in the central vertical plane (P2) of the power battery (21).

8. 8. The autonomous cleaning robot (2) according to claim 1, wherein the second axis (B2) is contained in a vertical plane that contains the motor axis of the suction motor (15).

9. 9. The autonomous cleaning robot (2) according to claim 1, wherein the suction unit (14) and the power battery (21) are positioned behind the rotation axes of the two drive wheels (11).

10. 10. The autonomous cleaning robot (2) according to any one of claims 1 to 9, wherein the wet cleaning device (23) comprises two mop holders (24) attached to the main body (3), respectively, and two mops (26) removably attached to the two mop holders (24), respectively, and configured to contact the surface to be cleaned, the power battery (21) being at least partially positioned above one of the mop holders (24), and the suction unit (14) being at least partially positioned above the other of the mop holders (24).

11. 11. The autonomous cleaning robot (2) according to any one of claims 1 to 10, wherein the power battery (21) comprises battery cells (22) that are generally cylindrical in shape and have cell axes that are substantially parallel to one another.

12. 12. The autonomous cleaning robot (2) according to claim 11, wherein the central vertical plane (P2) of the power supply battery (21) extends in a direction substantially perpendicular to the cell axis of the battery cell (22).

13. 13. The autonomous cleaning robot (2) according to any one of claims 1 to 12, characterized in that it comprises a rotating cleaning brush (7) housed in the suction chamber (6) and rotatably mounted around a brush rotation axis (A1).

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