EP4115785A1 - Autonomous cleaning robot provided with a wet cleaning device - Google Patents

Autonomous cleaning robot provided with a wet cleaning device Download PDF

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Publication number
EP4115785A1
EP4115785A1 EP22182721.5A EP22182721A EP4115785A1 EP 4115785 A1 EP4115785 A1 EP 4115785A1 EP 22182721 A EP22182721 A EP 22182721A EP 4115785 A1 EP4115785 A1 EP 4115785A1
Authority
EP
European Patent Office
Prior art keywords
main body
cleaning robot
autonomous cleaning
autonomous
mop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP22182721.5A
Other languages
German (de)
French (fr)
Other versions
EP4115785B1 (en
Inventor
Laurent Delair
Mickael BOILLET
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEB SA
Original Assignee
SEB SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SEB SA filed Critical SEB SA
Publication of EP4115785A1 publication Critical patent/EP4115785A1/en
Application granted granted Critical
Publication of EP4115785B1 publication Critical patent/EP4115785B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/12—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools
    • A47L11/125—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
    • A47L11/201—Floor surfacing or polishing machines combined with vacuum cleaning devices with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present invention relates to the field of autonomous cleaning devices equipped with a wet cleaning device, and more particularly to the field of robot vacuum cleaners which can move autonomously on a surface to be cleaned and make it possible to suck 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 to wash the surface to be cleaned simultaneously with a vacuuming operation.
  • the present invention aims to remedy these drawbacks.
  • the technical problem underlying the invention consists in particular in providing an autonomous cleaning robot which is of simple, economical and compact structure, while having high cleaning performance.
  • the two mop supports are located behind the axes of rotation of the drive wheels, and the direction of translation extends substantially parallel to the axes of rotation of the two drive wheels. In other words, the direction of translation extends transversely to a main direction of movement of the autonomous cleaning robot.
  • Such an arrangement of the mop supports namely at the rear of the axes of rotation of the drive wheels, makes it possible to increase the pressing force exerted by each of the mops on the surface to be cleaned, and therefore to increase the friction of the wet cleaning device on the surface to be cleaned, due to the weight exerted by the main body on the wet cleaning device.
  • Such an arrangement of the mop supports increases the scraping efficiency of the wet cleaning device on the floor and therefore the cleaning quality of the autonomous cleaning robot.
  • a transverse displacement of the mop supports also limits the overall length of the autonomous cleaning robot, while optimizing the surface of the mops which will be seen by a task during movement of the autonomous cleaning robot. Indeed, due to the alternating movements of the mop supports and the proximity of the drive wheels, it would be necessary either to reduce the dimensions of the mops in a longitudinal direction so as not to impact the longitudinal size of the autonomous cleaning robot (which would be detrimental to the quality of cleaning of the autonomous cleaning robot), or to increase the dimensions of the autonomous cleaning robot to allow longitudinal movements of large mops.
  • the autonomous cleaning robot object of the present invention is designed, like the majority of autonomous cleaning robots, to effectively clean the floors when it moves in a direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and according to a predetermined direction of movement.
  • the direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of movement define a main direction of movement of the autonomous cleaning robot which is the subject of the present invention.
  • a front part or a rear part of the main body of the autonomous cleaning robot is identified with respect to the main direction of movement of the autonomous cleaning robot.
  • the autonomous cleaning robot may further have one or more of the following characteristics, taken alone or in combination.
  • the suction opening is located in front of the axes of rotation of the driving wheels.
  • the two mop supports are arranged side by side.
  • the axes of rotation of the two drive wheels are collinear.
  • the wet cleaning device is arranged in a rear part of the main body.
  • the mop supports are mounted movable with respect to each other between a close configuration in which the two mop supports are close to each other and a remote configuration in which the two mop supports are remote from each other.
  • the autonomous cleaning robot comprises a drive mechanism in translation configured to move the mop supports in translation according to the direction of translation, and preferably according to alternating movements.
  • the drive mechanism in translation is configured to move the mop supports in translation in the direction of translation and alternately between the close configuration and the remote configuration.
  • the translation drive mechanism is located at least partly above one of the mop supports.
  • the translation drive mechanism is configured to move the two mop supports in translation in phase opposition.
  • the translation drive mechanism is configured to move the two mop supports in translation according to alternating movements and in opposite directions of movement.
  • each of the mops is configured to exert a pressing force on the surface to be cleaned when the autonomous cleaning robot rests on the surface to be cleaned.
  • the support force is greater than 5 N, and for example greater than or equal to 9 N.
  • the two mop supports are arranged on either side of a median longitudinal plane of the main body.
  • median longitudinal plane means a vertical plane which is parallel to the main direction of movement and which divides the main body into two substantially equal parts.
  • the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned, a rear part of the autonomous cleaning robot rests on said surface to be cleaned directly by the two mops.
  • a configuration of the autonomous cleaning robot allows the mops to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further increase the bearing force exerted by each of the mops on the floor to be cleaned.
  • Such a configuration of the autonomous cleaning robot makes it possible to further improve the quality of cleaning of the autonomous cleaning robot.
  • the two mop supports are positioned relative to the main body in such a way that the two mop supports are not intersected by any vertical plane passing through axes of rotation of wheels fitted to the robot of autonomous cleaning, and in such a way that the two mop supports are not located at least in part between two vertical planes passing respectively through two axes of rotation of wheels fitted to the autonomous cleaning robot.
  • Such a configuration of the autonomous cleaning robot also allows the mops to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further improve the quality of cleaning of the autonomous cleaning robot.
  • the mop supports were cut by a vertical plane passing through axes of rotation of wheels equipping the autonomous cleaning robot (and for example two-wheel drive) or arranged between wheels of the autonomous cleaning robot whose axes of rotation are parallel (for example between the axes of rotation of the driving wheels and the axis of rotation of a rear wheel), the forces resulting from the mass of the autonomous cleaning robot would be picked up by the wheels and not by the mop brackets.
  • the autonomous cleaning robot does not have an additional wheel located at the rear of the axes of rotation of the two driving wheels.
  • the autonomous cleaning robot comprises additional wheels mounted mobile in rotation on the main body and configured to roll on the surface to be cleaned, all the additional wheels being located at the front of the axes of rotation of the two drive wheels.
  • the autonomous cleaning robot comprises a power supply battery configured to electrically supply the autonomous cleaning robot, the power supply battery being located at least partly above one of the mop holders.
  • a power supply battery configured to electrically supply the autonomous cleaning robot, the power supply battery being located at least partly above one of the mop holders.
  • the center of gravity of the supply battery is located above one of the mop supports.
  • the power supply battery is located entirely above one of the mop supports.
  • the suction unit is located at least partly above one of the mop holders.
  • Such an arrangement of the suction unit makes it possible to increase the pressing force exerted by at least one of the mops on the surface to be cleaned, and therefore to further increase the scraping efficiency of the wet cleaning device on the floor and thus the cleaning quality of the autonomous cleaning robot.
  • the suction unit comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate the flow of air through the opening of aspiration.
  • the center of gravity of the suction unit is located above one of the mop supports.
  • the suction unit is located entirely above one of the mop holders.
  • the suction unit and the power supply battery are arranged on either side of the median longitudinal plane of the main body.
  • Such an arrangement of the suction unit and of the power supply battery makes it possible to better distribute the masses of the autonomous cleaning robot and therefore to balance the support forces exerted by the two mops on the surface to be cleaned.
  • the wet cleaning device is removably mounted relative to the main body.
  • the wet cleaning device is configured to be removed from the main body by a translational movement directed towards the rear of the main body.
  • the removal of the wet cleaning device can be carried out without lifting the autonomous cleaning robot, and therefore without risk of the autonomous cleaning robot falling in the event of mishandling of the latter by the user.
  • the wet cleaning device comprises an internal housing in which the translation drive mechanism is arranged.
  • the wet cleaning device comprises first guide means configured to cooperate with second guide means provided on the main body when mounting the wet cleaning device on the main body, so as to guide the wet cleaning device in a guiding direction.
  • the first guide means comprise at least one guide rib
  • the second guide means comprise at least one guide groove
  • the second guide means are provided on the underside of the main body.
  • the wet cleaning device comprises a first electrical connector configured to cooperate with a second electrical connector mounted on the main body when the wet cleaning device is mounted on the main body in a direction mounting bracket that faces the front of the main body.
  • a first electrical connector configured to cooperate with a second electrical connector mounted on the main body when the wet cleaning device is mounted on the main body in a direction mounting bracket that faces the front of the main body.
  • the autonomous cleaning robot comprises a locking mechanism configured to lock the wet cleaning device to the main body.
  • a locking mechanism makes it possible to limit the risks of inadvertent withdrawal of the wet cleaning device.
  • the locking mechanism comprises a locking member, such as a locking button, which is operable by a user and which is provided on the main body or the wet cleaning device, the locking member being mounted to move between a locking position in which the locking member is configured to cooperate with a locking element provided on the cleaning device or the main body so as to lock the wet cleaning device to the main body and a release position in which the locking member is configured to release the locking element so as to allow removal of the wet cleaning device of the main body.
  • a locking member such as a locking button
  • the autonomous cleaning robot comprises an ejection member configured to eject the wet cleaning device away from the main body and towards the rear of the main body when the locking member is moved in the release position.
  • an ejection member configured to eject the wet cleaning device away from the main body and towards the rear of the main body when the locking member is moved in the release position. The presence of such an ejection member facilitates removal of the wet cleaning device.
  • the ejection member comprises an ejection face configured to bear against the wet cleaning device.
  • the ejection member is housed at least partly in a receiving cavity provided on the main body.
  • the ejection member is movable between a retracted position in which the ejection face of the ejection member is located set back or close to an insertion opening of the receiving cavity, and a deployed position in which the ejection face of the ejection member protrudes from the receiving cavity and is located at a distance from the insertion opening of the receiving cavity.
  • the wet cleaning device is configured to move the ejector member into the retracted position when the wet cleaning device is mounted on the main body.
  • the ejection member is mounted to slide relative to the main body in a direction of sliding which is substantially parallel to the main direction of movement of the autonomous cleaning robot, i.e. ie substantially perpendicular to the axes of rotation of the two drive wheels.
  • the autonomous cleaning robot comprises a biasing element, such as a compression spring, configured to bias the ejection member towards the deployed position.
  • a biasing element such as a compression spring
  • the locking member is movable in translation along an actuation direction which is substantially vertical when the autonomous cleaning robot rests on a horizontal surface.
  • the locking mechanism comprises a biasing member, such as a compression spring, configured to urge the locking member towards the locking position.
  • the locking member is provided on a rear part of the main body.
  • the locking member comprises a locking finger
  • the locking element comprises a locking housing configured to cooperate with the locking finger
  • the autonomous cleaning robot comprises a reservoir of cleaning liquid
  • the wet cleaning device comprises a plurality of liquid outlets which are configured to be fluidly connected to the liquid reservoir and which are configured to supply cleaning liquid to the mops mounted on the mop holders, the liquid outlets being located at the front of the mop holders.
  • the cleaning liquid reservoir is mounted, for example in a removable manner, on the main body.
  • the autonomous cleaning robot comprises a cleaning liquid supply circuit provided on the main body and configured to fluidically connect the outlet orifices of liquid to the cleaning liquid tank.
  • the cleaning liquid supply circuit comprises a distributor housed in the main body, the distributor comprising a collection chamber which extends transversely to the main direction of movement of the autonomous cleaning robot and which is fluidly connected to the cleaning liquid reservoir, and a plurality of discharge orifices opening into the collection chamber and distributed along the collection chamber.
  • each discharge orifice is located opposite a respective passage orifice which is provided on the main body and which opens into the underside of the main body.
  • each passage orifice is located opposite a respective liquid outlet orifice.
  • the liquid outlet orifices are located at the front of the mops.
  • the liquid outlet orifices are located behind the axes of rotation of the drive wheels.
  • the liquid outlet orifices are substantially aligned along an alignment direction which extends substantially parallel to the axes of rotation of the two drive wheels, that is to say transversely to the main direction of movement of the autonomous cleaning robot.
  • Such an arrangement of the liquid outlet orifices allows a more homogeneous dispersion of the cleaning liquid on the mops, which makes it possible to further improve the quality of cleaning of the autonomous cleaning robot according to the present invention.
  • the autonomous cleaning robot comprises a lifting ramp which extends substantially parallel to the axes of rotation of the two drive wheels, that is to say transversely to the main direction of movement of the autonomous cleaning robot, and which is located in front of the mop supports, the cleaning ramp lifting comprising a lifting surface which is oriented towards a surface to be cleaned and which is inclined backwards and downwards, the lifting surface being configured to cause a lifting of a rear part of the main body when an obstacle, presenting itself frontally to the autonomous cleaning robot during a forward movement of the main body, comes into contact with said lifting surface and slides on said lifting surface.
  • the presence of such a lifting ramp facilitates the crossing of frontal obstacles encountered by the autonomous cleaning robot.
  • the lifting surface is configured to be inclined with respect to the horizontal by an angle of inclination comprised between 10 and 40° when the autonomous cleaning robot rests on a horizontal surface.
  • the angle of inclination is between 20 and 30°, and is for example around 25°.
  • the liquid outlet orifices are provided on the lifting ramp and are distributed along the lifting ramp.
  • the liquid outlet orifices open into the lifting surface.
  • the lifting ramp has a length corresponding substantially to the distance between the two driving wheels.
  • the lifting ramp is provided on the wet cleaning device.
  • the autonomous cleaning robot comprises a rotating cleaning brush rotatably mounted in the main body about a brush rotation axis.
  • the brush rotation axis extends substantially parallel to the rotation axes of the drive wheels. In other words, the brush rotation axis extends transversely to the main direction of movement of the autonomous cleaning robot.
  • the two driving wheels are side wheels of the autonomous cleaning robot.
  • the terms “horizontal”, “vertical”, “lower”, “upper”, “top”, “below” used to describe the autonomous cleaning robot or the main body refer to the cleaning robot autonomous in a situation of use when it rests by its wheels on a floor to be cleaned which is flat and horizontal.
  • the figures 1 to 14 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over a surface to be cleaned.
  • the autonomous cleaning robot 2 comprises a main body 3 comprising a lower face 4 which is configured to be oriented towards the surface to be cleaned, and a suction opening 5 which is provided in a part front 3.1 of the main body 3 and which opens into the lower face 4 of the main body 3.
  • the suction opening 5 is elongated and extends transversely, and more particularly perpendicularly, to a main direction of movement D of the autonomous cleaning robot 2.
  • the autonomous cleaning robot 2 further comprises a rotating cleaning brush 6 rotatably mounted in the main body 3 around a brush rotation axis which extends transversely, and more particularly perpendicularly, to the main direction of movement. D.
  • the axis of brush rotation is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.
  • the autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 6 around the brush rotation axis.
  • the autonomous cleaning robot 2 comprises two drive wheels 7 which are configured to roll over the surface to be cleaned.
  • the two driving wheels 7 are mounted so as to be able to rotate with respect to the main body 3, and have axes of rotation which are parallel, and advantageously collinear.
  • the axes of rotation of the drive wheels 7 extend perpendicular to the main direction of movement D.
  • the two drive wheels 7 are configured to project from the lower face 4 of the main body 3, and are arranged on either side of a median longitudinal plane P of the main body 3.
  • the two drive wheels 7 are arranged symmetrically with respect to the median longitudinal plane P of the main body 3, and are side wheels of the autonomous cleaning robot 2.
  • the autonomous cleaning robot 2 comprises two rotation drive mechanisms 8 housed in the main body 3 and each configured to drive in rotation a respective drive wheel 7 among the two drive wheels 7.
  • Each rotation drive mechanism 8 comprises a drive motor coupled in rotation to the respective drive wheel 7 and arranged for example in a respective side part of the main body 3. According to the control of the two aforementioned drive motors, the main body 3 can pivot to the left, to the right or on itself, to advance or back down.
  • the autonomous cleaning robot 2 comprises additional wheels 9 mounted free to rotate relative to the main body 3, and for example two additional wheels 9 arranged on the front part 3.1 of the main body 3.
  • all the additional wheels 9 are located at the front of the axes of rotation of the two drive wheels 7, such that the autonomous cleaning robot 2 has no additional wheel located at the rear of the axes of rotation of the two-wheel drive 7.
  • the autonomous cleaning robot 2 further comprises a suction unit 11 which is housed in the main body 3.
  • the suction unit 11 comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate an airflow through the suction opening 5.
  • the autonomous cleaning robot 2 also includes a waste collection device 12 (see the figure 6 ) which is arranged upstream of the suction unit 11 and which is traversed by the flow of air generated by the fan when the autonomous cleaning robot 2 is in operation.
  • the autonomous cleaning robot 2 also comprises a power supply battery 13 configured to electrically power the autonomous cleaning robot 2.
  • the power supply battery 13 is rechargeable and is housed in the main body 3.
  • the autonomous cleaning robot 2 further comprises a wet cleaning device 14 which is arranged in a rear part 3.2 of the main body 3.
  • the wet cleaning device 14 is arranged opposite the cleaning brush rotating 6 with respect to the axes of rotation of the drive wheels 7.
  • the wet cleaning device 14 comprises two mop supports 15 which are arranged side by side and which are located behind the axes of rotation of the drive wheels 7.
  • the two mop supports 15 are arranged on either side other side of the median longitudinal plane P of the main body 3, and are configured to extend substantially horizontally when the main body 3 rests on a horizontal surface.
  • the two mop supports 15 are positioned relative to the main body 3 in such a way that the two mop supports 15 are not intersected by any vertical plane passing through axes of rotation of wheels fitted to the autonomous cleaning robot 2, and such that the two mop supports 15 are not located at least partly between two vertical planes passing respectively through two axes of rotation of wheels fitted to the autonomous cleaning robot 2.
  • the supply battery 13 is located at least partly, and for example entirely, above one of the mop holders 15, and the suction unit 11 is located at least partly, and for example entirely, above the other of the mop supports 15.
  • the suction unit 11 and the power supply battery 13 are arranged on either side of the median longitudinal plane P of the main body 3.
  • the two mop supports 15 are each mounted to move in translation relative to the main body 3 in a direction of translation T which extends transversely, and advantageously perpendicularly, to the main direction of movement D of the autonomous cleaning robot 2.
  • the mop supports 15 are movably mounted relative to each other between a close configuration in which the two mop supports 15 are close to each other, and a remote configuration in which the two mop supports 15 are distant from each other 'other.
  • the wet cleaning device 14 also comprises a drive mechanism in translation 16 configured to move the mop supports 15 in translation in the direction of translation T and alternately between the close configuration and the remote configuration.
  • the translation drive mechanism 16 is configured to move the two mop supports 15 in translation in phase opposition.
  • the translation drive mechanism 16 is located at least partly above the mop supports 15.
  • the translation drive mechanism 16 comprises a drive motor 16.1, a crankshaft 16.2 coupled in rotation to the drive motor 16.1 and configured to be driven in rotation by the drive motor.
  • drive 16.1, and two connecting rods 16.3 each comprising a first end portion hingedly mounted on the crankshaft 16.2 and a second end portion hingedly mounted on a respective mop support 15.
  • the wet cleaning device 14 further comprises two mops 17 removably mounted respectively on the two mop supports 15.
  • the mops 17 are configured to be in contact with the surface to be cleaned, and more particularly to exert a pressing force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned.
  • the support force can for example be greater than or equal to 9 N.
  • the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear part of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the two mops 17.
  • the wet cleaning device 14 is removably mounted relative to the main body 3, and the main body 3 comprises a receiving housing 18 in which the wet cleaning device 14 is received at least in part. 14 is advantageously configured to be removed from the main body 3 by a translational movement directed towards the rear of the main body 3.
  • the wet cleaning device 14 comprises a support body 19 comprising more particularly a support plate 19.1 which comprises a lower surface on which the mop supports 15 are movably mounted, and a protection 19.2 which is fixed on an upper surface of the support plate 19.1.
  • the support plate 19.1 and the protective cover 19.2 delimit an internal housing 19.3 in which the translation drive mechanism 16 is arranged.
  • the support body 19 further comprises a side wall 19.4 which extends upwards from of the support plate 19.1 and which is configured to at least partially cover the receiving housing 18.
  • the wet cleaning device 14 comprises first guide means configured to cooperate with second guide means provided on the main body 3 during mounting of the wet cleaning device 14 on the main body 3 and during removal of the wet cleaning device 14 of the main body 3, so as to guide the wet cleaning device 14 along a guide direction which is substantially perpendicular to the main direction of movement D.
  • the first guide means may for example comprise two ribs of guide 21, such as T-guide ribs, provided on the upper surface of the support plate 19.1, and the second guide means may for example comprise two guide grooves 22, such as T-guide grooves, provided on the underside 4 of the main body 3.
  • the wet cleaning device 14 further comprises 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 connector or male, mounted on the main body 3 when mounting the wet cleaning device 14 on the main body 3 in a mounting direction which is directed towards the front of the main body 3.
  • a first electrical connector 23 such as a male or female connector
  • a second electrical connector 24 such as a female connector or male
  • the autonomous cleaning robot 2 also comprises a locking mechanism configured to lock the wet cleaning device 14 on the main body 3.
  • the locking mechanism comprises a locking member 25 which is operable by a user and which is provided on a part rear of the main body 3, and for example on a rear face of the main body 3.
  • the locking member 25 is mounted movable between a locking position in which the locking member 25 is configured to cooperate with a locking element 26 provided on the wet cleaning device 14 so as to lock the wet cleaning device 14 on the main body 3, and a release position in which the locking member 25 is configured to release the locking element 26 so as to allow removal of the wet cleaning device 14 from the main body 3.
  • the locking member lock 25 may for example comprise a locking finger
  • the locking element 26 may for example comprise a locking housing configured to receive the locking finger.
  • the locking member 25 is mounted to move in translation relative to the main body 3 along an actuation direction which is substantially vertical when the autonomous cleaning robot 2 rests on a horizontal surface.
  • the locking mechanism comprises a biasing member 27, such as a compression, configured to urge the locking member 25 towards the locking position.
  • the autonomous cleaning robot 2 also comprises an ejection member 28 configured to eject the wet cleaning device 14 away from the main body 3 and towards the rear of the main body 3 when the the locking member 25 is moved into the release position.
  • the ejection member 28 is partly housed in a receiving cavity 29 provided on the main body 3, and comprises an ejection face 28.1 configured to bear against the wet cleaning device 14.
  • the ejection member 28 is mounted to slide relative to the main body 3 along a sliding direction, which is parallel to the main direction of movement D of the autonomous cleaning robot 2, and between a retracted position (see figure 7 ) in which the ejection face 28.1 of the ejection member 28 is located set back or close to an insertion opening of the reception cavity 29, and a deployed position (see the figure 12 ) in which the ejection face 28.1 of the ejection member 28 protrudes from the reception cavity 29 and is located at a distance from the insertion opening of the reception cavity 29.
  • the device wet cleaning device 14 is configured to move the ejection member 28 to the retracted position when the wet cleaning device 14 is mounted on the main body 3.
  • the autonomous cleaning robot 2 comprises a biasing element 31, such as a compression spring, configured to bias the ejection member 28 towards the deployed position.
  • a biasing element 31 such as a compression spring
  • the autonomous cleaning robot 2 also comprises a tank of cleaning liquid 32 which is mounted, for example in a removable manner, on the main body 3.
  • the tank of cleaning liquid 32 and the waste collection device 12 are superimposed, and are integral with one the other.
  • the autonomous cleaning robot 2 can for example comprise a removable reservoir comprising a first compartment forming the cleaning liquid reservoir 32 and a second compartment forming the waste collection device 12.
  • the cleaning liquid reservoir 32 could be provided directly on the wet cleaning device 14, and therefore be separate from the waste collection device 12.
  • the wet cleaning device 14 further comprises a plurality of liquid outlet ports 33 which are configured to be fluidly connected to the cleaning liquid reservoir 32 and which are configured to supply cleaning liquid to the mops 17 mounted on the supports. of mop 15.
  • the liquid outlet orifices 33 are aligned along an alignment direction which extends perpendicularly to the main direction of movement D of the autonomous cleaning robot 2, and are regularly spaced from each other. others.
  • the liquid outlet orifices 33 are located at the front of the mop supports 15, and for example at the front of the mops 17, and are configured to be oriented towards the surface to be cleaned.
  • the autonomous cleaning robot 2 also comprises a cleaning liquid supply circuit provided on the main body 3 and configured to fluidically connect the liquid outlet orifices 33 to the cleaning liquid reservoir 32.
  • the cleaning liquid supply circuit comprises a distributor 35 (see the figure 7 ) housed in the main body 3.
  • the dispenser 35 comprises a collection chamber which extends transversely to the main direction of movement of the autonomous cleaning robot 2 and which is fluidly connected to the cleaning liquid reservoir 32, and a plurality of evacuation orifices (not visible in the figures) which are provided on an underside of the distributor, which open into the collection chamber and which are distributed along the collection chamber.
  • each evacuation orifice is located opposite a respective passage orifice 37 (see the figure 12 ) which is provided on the main body 3 and which opens into the lower face 4 of the main body 3, and each passage orifice 37 is located opposite a respective liquid outlet orifice 33.
  • the autonomous cleaning robot 2 comprises a lifting ramp 38 which extends transversely to the main direction of movement D of the autonomous cleaning robot 2 and which is located in front of the supports mop 15.
  • the lifting ramp 38 may for example have a length corresponding substantially to the distance between the two drive wheels 7.
  • the lifting ramp 38 is provided on the wet cleaning device 14, and is for example fixed to the support body 19.
  • the lifting ramp 38 has a lifting surface 38.1 which faces a surface to be cleaned and which slopes backwards and downwards.
  • the lifting surface 38.1 is substantially planar.
  • the lifting surface 38.1 is more particularly configured to cause lifting of the rear part 3.2 of the main body 3 when an obstacle, presenting itself frontally to the autonomous cleaning robot 2 during a forward movement of the main body 3, comes into contact with said lifting surface 38.1 and slides on said lifting surface 38.1.
  • the lifting surface 38.1 is configured to be inclined with respect to the horizontal by an angle of inclination comprised between 10 and 40°, and for example approximately 25°, when the autonomous cleaning robot is resting. on a horizontal surface.
  • the liquid outlet orifices 33 are provided on the lifting ramp 38 and are distributed along the lifting ramp 38.
  • the liquid outlet 33 open into the lifting surface 38.1.
  • the autonomous cleaning robot also comprises a replacement module 41 which is configured to be mounted on the main body 3 in place of the wet cleaning device 14 in particular when wet cleaning of a surface to be cleaned is not wish.
  • the replacement module 41 does not have a mop and can for example be installed on the main body in place of the wet cleaning device 14 when vacuuming a soft floor, such as a carpet, is desired or when a wet cleaning of a hard floor is not desired.
  • the replacement module 41 comprises guide means 41.1 identical to the guide ribs 21 provided on the wet cleaning device 14, and also a bottom wall 41.2 and a rear wall 41.3 respectively similar to the support plate 19.1 and to the side wall 19.4 of the support body 19.
  • the replacement module 41 could be provided with a module support configured to be mounted on the main body 3 in place of the wet cleaning device 14, and with at least one mop passive, that is to say which is mounted immobile with respect to the module support.
  • a replacement module 41 allows a user to wipe the floor to be cleaned, which can be wet or dry depending on the user's needs.
  • the replacement module 41 could be provided with a ground treatment element, other than a mop, configured to carry out a mechanical, chemical, thermal or radiant treatment of the ground.

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  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)

Abstract

Le robot de nettoyage autonome (2) comprend un corps principal (3) comportant une face inférieure (4) et une ouverture d'aspiration (5) débouchant dans la face inférieure (4) ; un dispositif de nettoyage humide (14) comportant deux supports de serpillère (15) qui sont chacun montés mobiles en translation par rapport au corps principal (3) selon une direction de translation (T), et deux serpillères montées respectivement sur les deux supports de serpillère (15) ; et deux roues motrices (7) configurées pour rouler sur la surface à nettoyer et montées mobiles en rotation sur le corps principal (3) respectivement autour de deux axes de rotation qui sont sensiblement parallèles. Les deux supports de serpillère (15) sont situés à l'arrière des axes de rotation des roues motrices (7), et la direction de translation (T) s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices (7).The autonomous cleaning robot (2) comprises a main body (3) having a lower face (4) and a suction opening (5) opening into the lower face (4); a wet cleaning device (14) comprising two mop supports (15) which are each mounted movable in translation relative to the main body (3) in a direction of translation (T), and two mops mounted respectively on the two mop supports mop (15); and two drive wheels (7) configured to roll on the surface to be cleaned and mounted rotatably on the main body (3) respectively around two axes of rotation which are substantially parallel. The two mop supports (15) are located behind the axes of rotation of the driving wheels (7), and the direction of translation (T) extends substantially parallel to the axes of rotation of the two driving wheels (7).

Description

Domaine techniqueTechnical area

La présente invention se rapporte au domaine des appareils de nettoyage autonome équipé d'un dispositif de nettoyage humide, et plus particulièrement au domaine des aspirateurs robots pouvant se déplacer de manière autonome sur une surface à nettoyer et permettant d'aspirer des poussières et des déchets présents sur la surface à nettoyer, qui peut par exemple être du carrelage, du parquet, du stratifié, de la moquette ou un tapis, et éventuellement de laver la surface à nettoyer simultanément à une opération d'aspiration.The present invention relates to the field of autonomous cleaning devices equipped with a wet cleaning device, and more particularly to the field of robot vacuum cleaners which can move autonomously on a surface to be cleaned and make it possible to suck 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 to wash the surface to be cleaned simultaneously with a vacuuming operation.

Etat de la techniqueState of the art

Les robots de nettoyage autonomes sont devenus d'un usage commun de nos jours, ceux-ci permettant de nettoyer des surfaces complètes d'une habitation sans aucune assistance de l'utilisateur dès l'instant où ces surfaces sont planes, c'est-à-dire sur un même niveau. Ils offrent ainsi un gain de temps considérable aux utilisateurs pour pratiquer d'autres activités.Autonomous cleaning robots have become common nowadays, allowing complete surfaces of a home to be cleaned without any assistance from the user as long as these surfaces are flat, i.e. i.e. on the same level. They thus offer a considerable saving of time to the users to practice other activities.

Le document EP3257416A1 divulgue un robot de nettoyage autonome comprenant :

  • un corps principal comportant une face inférieure qui est configurée pour être orientée vers une surface à nettoyer et une ouverture d'aspiration prévue dans une partie avant du corps principal et débouchant dans la face inférieure du corps principal,
  • un dispositif de nettoyage humide comportant deux supports de serpillère qui sont chacun montés mobiles en translation par rapport au corps principal selon une direction de translation, et deux serpillères montées de manière amovible respectivement sur les deux supports de serpillère, les serpillères étant configurées pour être en contact avec la surface à nettoyer, et
  • deux roues motrices configurées pour rouler sur la surface à nettoyer et montées mobiles en rotation sur le corps principal respectivement autour de deux axes de rotation qui sont sensiblement parallèles.
Selon le document EP3257416A1 , les deux supports de serpillère sont montés respectivement sur une partie avant du corps principal et sur une partie arrière du corps principal, et sont disposés de part et d'autre des axes de rotation des roues motrices. En outre, selon le document EP3257416A1 , la direction de translation des supports de serpillère s'étend parallèlement à une direction de déplacement principale du robot de nettoyage autonome, c'est-à-dire selon une direction longitudinale du robot de nettoyage autonome.The document EP3257416A1 discloses an autonomous cleaning robot comprising:
  • a main body comprising a lower face which is configured to be oriented towards a surface to be cleaned and a suction opening provided in a front part of the main body and opening into the lower face of the main body,
  • a wet cleaning device comprising two mop supports which are each mounted movable in translation relative to the main body in a direction of translation, and two mops mounted in a removable manner respectively on the two mop supports, the mops being configured to be in contact with the surface to be cleaned, and
  • two drive wheels configured to roll on the surface to be cleaned and mounted rotatably on the main body respectively about two axes of rotation which are substantially parallel.
According to the document EP3257416A1 , the two mop supports are respectively mounted on a front part of the main body and on a rear part of the main body, and are arranged on either side of the axes of rotation of the drive wheels. Furthermore, according to the document EP3257416A1 , the direction of translation of the mop supports extends parallel to a main direction of movement of the autonomous cleaning robot, that is to say along a longitudinal direction of the autonomous cleaning robot.

Le fait que les supports de serpillère se déplacent parallèlement à la direction de déplacement principale du robot de nettoyage humide augmente sensiblement les risques de patinage des roues motrices sur la surface à nettoyer lorsque les serpillères n'exercent pas les mêmes forces de frottement sur le sol à nettoyer (par exemple en raison d'une usure ou d'un encrassement différents d'une serpillère par rapport à l'autre, ou d'un déplacement des deux serpillères sur deux surfaces à nettoyer différentes).The fact that the mop supports move parallel to the main direction of movement of the wet mopping robot significantly increases the chances of the drive wheels slipping on the surface to be cleaned when the mops do not exert the same frictional forces on the floor. to be cleaned (e.g. due to different wear or soiling of one mop compared to the other, or movement of the two mops on two different surfaces to be cleaned).

Or, de tels patinages sont susceptibles de nuire à la navigation autonome du robot de nettoyage autonome, nécessitant alors au robot de nettoyage autonome de stopper l'opération de nettoyage en cours et de communiquer avec sa station d'accueil pour se repositionner dans l'espace (ce qui augmente la durée de nettoyage d'un sol et réduit les performances de nettoyage du robot de nettoyage autonome). Pour pallier un tel inconvénient, il pourrait être envisagé d'équiper le robot de nettoyage autonome d'une unité de commande plus complexe et onéreuse (qui serait capable de tenir compte des patinages précitées pour contrôler la navigation du robot de nettoyage autonome), ce qui augmenterait toutefois sensiblement les coûts de fabrication du robot de nettoyage autonome.
En outre, en raison de la disposition des supports de serpillère respectivement à l'avant et à l'arrière des roues motrices, les forces d'appui exercées sur le sol à nettoyer par chacune des serpillères sont faibles car ces forces d'appui sont reprises principalement par les roues latérales disposées entre les deux supports de serpillère, ce qui limite les performances de nettoyage du robot de nettoyage décrit dans le document EP3257416A1 .However, such skidding is likely to harm the autonomous navigation of the autonomous cleaning robot, thus requiring the autonomous cleaning robot to stop the cleaning operation in progress and to communicate with its docking station to reposition itself in the space (which increases the cleaning time of a floor and reduces the cleaning performance of the autonomous cleaning robot). To overcome such a drawback, it could be envisaged to equip the autonomous cleaning robot with a more complex and expensive control unit (which would be able to take into account the aforementioned skids to control the navigation of the autonomous cleaning robot), this which would, however, significantly increase the manufacturing costs of the robot of self-cleaning.
In addition, due to the arrangement of the mop supports respectively at the front and at the rear of the drive wheels, the pressing forces exerted on the floor to be cleaned by each of the mops are low because these pressing forces are taken up mainly by the side wheels arranged between the two mop supports, which limits the cleaning performance of the cleaning robot described in the document EP3257416A1 .

Résumé de l'inventionSummary of the invention

La présente invention vise à remédier à ces inconvénients.The present invention aims to remedy these drawbacks.

Le problème technique à la base de l'invention consiste notamment à fournir un robot de nettoyage autonome qui soit de structure simple, économique et compacte, tout en présentant des performances de nettoyage élevées.The technical problem underlying the invention consists in particular in providing an autonomous cleaning robot which is of simple, economical and compact structure, while having high cleaning performance.

A cet effet, l'invention a pour objet un robot de nettoyage autonome comprenant :

  • un corps principal comportant une face inférieure qui est configurée pour être orientée vers une surface à nettoyer et une ouverture d'aspiration prévue dans une partie avant du corps principal et débouchant dans la face inférieure du corps principal,
  • une unité d'aspiration qui est logée au moins en partie dans le corps principal et qui est configurée pour générer un flux d'air à travers l'ouverture d'aspiration,
  • un dispositif de nettoyage humide comportant deux supports de serpillère qui sont chacun montés mobiles en translation par rapport au corps principal selon une direction de translation, et deux serpillères montées de manière amovible respectivement sur les deux supports de serpillère, les serpillères étant configurées pour être en contact avec la surface à nettoyer, et
  • deux roues motrices configurées pour rouler sur la surface à nettoyer et montées mobiles en rotation sur le corps principal respectivement autour de deux axes de rotation qui sont sensiblement parallèles.
To this end, the subject of the invention is an autonomous cleaning robot comprising:
  • a main body comprising a lower face which is configured to be oriented towards a surface to be cleaned and a suction opening provided in a front part of the main body and opening into the lower face of the main body,
  • a suction unit which is housed at least partly in the main body and which is configured to generate a flow of air through the suction opening,
  • a wet cleaning device comprising two mop supports which are each mounted movable in translation relative to the main body in a direction of translation, and two mops removably mounted respectively on the two mop supports, the mops being configured to be in contact with the surface to be cleaned, and
  • two-wheel drive configured to roll over the surface to be cleaned and rotatably mounted on the main body respectively around two axes of rotation which are substantially parallel.

Les deux supports de serpillère sont situés à l'arrière des axes de rotation des roues motrices, et la direction de translation s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices. En d'autre termes, la direction de translation s'étend transversalement à une direction de déplacement principale du robot de nettoyage autonome.The two mop supports are located behind the axes of rotation of the drive wheels, and the direction of translation extends substantially parallel to the axes of rotation of the two drive wheels. In other words, the direction of translation extends transversely to a main direction of movement of the autonomous cleaning robot.

Une telle disposition des supports de serpillère, à savoir à l'arrière des axes de rotation des roues motrices, permet d'augmenter la force d'appui exercée par chacune des serpillères sur la surface à nettoyer, et donc d'augmenter les frottements du dispositif de nettoyage humide sur la surface à nettoyer, du fait du poids exercé par le corps principal sur le dispositif de nettoyage humide. Ainsi, une telle disposition des supports de serpillère augmente l'efficacité de grattage du dispositif de nettoyage humide sur le sol et donc la qualité de nettoyage du robot de nettoyage autonome.Such an arrangement of the mop supports, namely at the rear of the axes of rotation of the drive wheels, makes it possible to increase the pressing force exerted by each of the mops on the surface to be cleaned, and therefore to increase the friction of the wet cleaning device on the surface to be cleaned, due to the weight exerted by the main body on the wet cleaning device. Thus, such an arrangement of the mop supports increases the scraping efficiency of the wet cleaning device on the floor and therefore the cleaning quality of the autonomous cleaning robot.

De plus, une telle disposition des supports de serpillère permet d'éviter aux roues motrices de rouler sur une zone humide venant d'être nettoyée par les serpillères, et donc d'éviter l'apparition de traces qui seraient susceptibles de nuire à la qualité du nettoyage réalisé.In addition, such an arrangement of the mop supports makes it possible to prevent the drive wheels from rolling over a wet area that has just been cleaned by the mops, and therefore to avoid the appearance of traces which would be likely to affect the quality. of the cleaning carried out.

En outre, le fait que les supports de serpillère se déplacent parallèlement aux axes de rotation des deux roues motrices, c'est-à-dire transversalement à la direction de déplacement principale du robot de nettoyage humide, et non pas par exemple parallèlement à la direction de déplacement principale, limite sensiblement les risques de patinage des roues motrices sur la surface à nettoyer lorsque les serpillères n'exercent pas les mêmes forces de frottement sur le sol à nettoyer (par exemple en raison d'une usure ou d'un encrassement différents d'une serpillère par rapport à l'autre, ou d'un déplacement des deux serpillères sur deux surfaces à nettoyer différentes).Furthermore, the fact that the mop supports move parallel to the axes of rotation of the two drive wheels, i.e. transversely to the main direction of movement of the wet cleaning robot, and not, for example, parallel to the main direction of movement, significantly reduces the risk of the drive wheels slipping on the surface to be cleaned when the mops do not exert the same frictional forces on the floor to be cleaned (for example due to wear or dirt different from one mop to the other, or a movement of the two mops on two different surfaces to be cleaned).

Comparativement à un robot de nettoyage autonome équipé de supports de serpillère se déplaçant longitudinalement, un déplacement transversal des supports de serpillère limite également l'encombrement en longueur du robot de nettoyage autonome, tout en optimisant la surface des serpillères qui sera vue par une tâche lors d'un déplacement du robot de nettoyage autonome. En effet, en raison des mouvements alternatifs des supports de serpillère et de la proximité des roues motrices, il serait nécessaire soit de réduire les dimensions des serpillères selon une direction longitudinale de manière à ne pas impacter l'encombrement longitudinal du robot de nettoyage autonome (ce qui serait préjudiciable pour la qualité de nettoyage du robot de nettoyage autonome), soit d'augmenter les dimensions du robot de nettoyage autonome pour permettre des déplacements longitudinaux de serpillères de grandes dimensions.Compared to an autonomous cleaning robot equipped with supports of mop moving longitudinally, a transverse displacement of the mop supports also limits the overall length of the autonomous cleaning robot, while optimizing the surface of the mops which will be seen by a task during movement of the autonomous cleaning robot. Indeed, due to the alternating movements of the mop supports and the proximity of the drive wheels, it would be necessary either to reduce the dimensions of the mops in a longitudinal direction so as not to impact the longitudinal size of the autonomous cleaning robot ( which would be detrimental to the quality of cleaning of the autonomous cleaning robot), or to increase the dimensions of the autonomous cleaning robot to allow longitudinal movements of large mops.

Le robot de nettoyage autonome objet de la présente invention est conçu, comme la majorité des robots de nettoyage autonome, pour nettoyer efficacement les sols lorsqu'il se déplace selon une direction de déplacement parallèle à l'axe longitudinal du robot de nettoyage autonome et selon un sens de déplacement prédéterminé. La direction de déplacement parallèle à l'axe longitudinal du robot de nettoyage autonome et le sens de déplacement prédéterminé définissent une direction de déplacement principale du robot de nettoyage autonome objet de la présente invention. Ainsi, une partie avant ou une partie arrière du corps principal du robot de nettoyage autonome est identifiée par rapport à la direction de déplacement principale du robot de nettoyage autonome.The autonomous cleaning robot object of the present invention is designed, like the majority of autonomous cleaning robots, to effectively clean the floors when it moves in a direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and according to a predetermined direction of movement. The direction of movement parallel to the longitudinal axis of the autonomous cleaning robot and the predetermined direction of movement define a main direction of movement of the autonomous cleaning robot which is the subject of the present invention. Thus, a front part or a rear part of the main body of the autonomous cleaning robot is identified with respect to the main direction of movement of the autonomous cleaning robot.

Le robot de nettoyage autonome peut en outre présenter une ou plusieurs des caractéristiques suivantes, prises seules ou en combinaison.The autonomous cleaning robot may further have one or more of the following characteristics, taken alone or in combination.

Selon un mode de réalisation de l'invention, l'ouverture d'aspiration est située à l'avant des axes de rotation des roues motrices.According to one embodiment of the invention, the suction opening is located in front of the axes of rotation of the driving wheels.

Selon un mode de réalisation de l'invention, les deux supports de serpillère sont disposés côté à côté.According to one embodiment of the invention, the two mop supports are arranged side by side.

Selon un mode de réalisation de l'invention, les axes de rotation des deux roues motrices sont colinéaires.According to one embodiment of the invention, the axes of rotation of the two drive wheels are collinear.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide est disposé dans une partie arrière du corps principal.According to one embodiment of the invention, the wet cleaning device is arranged in a rear part of the main body.

Selon un mode de réalisation de l'invention, les supports de serpillère sont montés mobiles l'un par rapport à l'autre entre une configuration rapprochée dans laquelle les deux supports de serpillère sont rapprochés l'un de l'autre et une configuration éloignée dans laquelle les deux supports de serpillère sont éloignés l'un de l'autre.According to one embodiment of the invention, the mop supports are mounted movable with respect to each other between a close configuration in which the two mop supports are close to each other and a remote configuration in which the two mop supports are remote from each other.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un mécanisme d'entraînement en translation configuré pour déplacer en translation les supports de serpillère selon la direction de translation, et de préférence selon des mouvements alternatifs.According to one embodiment of the invention, the autonomous cleaning robot comprises a drive mechanism in translation configured to move the mop supports in translation according to the direction of translation, and preferably according to alternating movements.

Selon un mode de réalisation de l'invention, le mécanisme d'entraînement en translation est configuré pour déplacer en translation les supports de serpillère selon la direction de translation et alternativement entre la configuration rapprochée et la configuration éloignée.According to one embodiment of the invention, the drive mechanism in translation is configured to move the mop supports in translation in the direction of translation and alternately between the close configuration and the remote configuration.

Selon un mode de réalisation de l'invention, le mécanisme d'entraînement en translation est situé au moins en partie au-dessus de l'un des supports de serpillère.According to one embodiment of the invention, the translation drive mechanism is located at least partly above one of the mop supports.

Selon un mode de réalisation de l'invention, le mécanisme d'entraînement en translation est configuré pour déplacer en translation les deux supports de serpillère en opposition de phase. En d'autres termes, le mécanisme d'entraînement en translation est configuré pour déplacer en translation les deux supports de serpillère selon des mouvements alternatifs et dans des sens de déplacement opposés.According to one embodiment of the invention, the translation drive mechanism is configured to move the two mop supports in translation in phase opposition. In other words, the translation drive mechanism is configured to move the two mop supports in translation according to alternating movements and in opposite directions of movement.

Selon un mode de réalisation de l'invention, chacune des serpillères est configurée pour exercer une force d'appui sur la surface à nettoyer lorsque le robot de nettoyage autonome repose sur la surface à nettoyer. Avantageusement, la force d'appui est supérieure à 5 N, et par exemple supérieure ou égale à 9 N.According to one embodiment of the invention, each of the mops is configured to exert a pressing force on the surface to be cleaned when the autonomous cleaning robot rests on the surface to be cleaned. Advantageously, the support force is greater than 5 N, and for example greater than or equal to 9 N.

Selon un mode de réalisation de l'invention, les deux supports de serpillère sont disposés de part et d'autre d'un plan longitudinal médian du corps principal. Dans le présent document, on entend par « plan longitudinal médian », un plan vertical qui est parallèle à la direction de déplacement principale et qui divise le corps principal en deux parties sensiblement égales.According to one embodiment of the invention, the two mop supports are arranged on either side of a median longitudinal plane of the main body. In this document, the term "median longitudinal plane" means a vertical plane which is parallel to the main direction of movement and which divides the main body into two substantially equal parts.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome est configuré de telle sorte que, lorsque le robot de nettoyage autonome repose sur une surface à nettoyer, une partie arrière du robot de nettoyage autonome repose sur ladite surface à nettoyer directement par les deux serpillères. Une telle configuration du robot de nettoyage autonome permet aux serpillères de reprendre directement au moins une partie de la masse du robot de nettoyage autonome, et donc d'augmenter encore la force d'appui exercer par chacune des serpillères sur le sol à nettoyer. Ainsi, une telle configuration du robot de nettoyage autonome permet d'améliorer encore la qualité de nettoyage du robot de nettoyage autonome.According to one embodiment of the invention, the autonomous cleaning robot is configured such that, when the autonomous cleaning robot rests on a surface to be cleaned, a rear part of the autonomous cleaning robot rests on said surface to be cleaned directly by the two mops. Such a configuration of the autonomous cleaning robot allows the mops to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further increase the bearing force exerted by each of the mops on the floor to be cleaned. Thus, such a configuration of the autonomous cleaning robot makes it possible to further improve the quality of cleaning of the autonomous cleaning robot.

Selon un mode de réalisation de l'invention, les deux supports de serpillère sont positionnés par rapport au corps principal de telle sorte que les deux supports de serpillère ne sont coupés par aucun plan vertical passant par des axes de rotation de roues équipant le robot de nettoyage autonome, et de telle sorte que les deux supports de serpillère ne sont pas situés au moins en partie entre deux plans verticaux passant respectivement par deux axes de rotation de roues équipant le robot de nettoyage autonome. Une telle configuration du robot de nettoyage autonome permet également aux serpillères de reprendre directement au moins une partie de la masse du robot de nettoyage autonome, et donc d'améliorer encore la qualité de nettoyage du robot de nettoyage autonome. Au contraire, si les supports de serpillère étaient coupés par un plan vertical passant par des axes de rotation de roues équipant le robot de nettoyage autonome (et par exemple des deux roues motrices) ou disposés entre des roues du robot de nettoyage autonome dont les axes de rotation sont parallèles (par exemple entre les axes de rotation des roues motrices et l'axe de rotation d'une roue arrière), les forces résultants de la masse du robot de nettoyage autonome seraient reprises par les roues et non par les supports de serpillère.According to one embodiment of the invention, the two mop supports are positioned relative to the main body in such a way that the two mop supports are not intersected by any vertical plane passing through axes of rotation of wheels fitted to the robot of autonomous cleaning, and in such a way that the two mop supports are not located at least in part between two vertical planes passing respectively through two axes of rotation of wheels fitted to the autonomous cleaning robot. Such a configuration of the autonomous cleaning robot also allows the mops to directly take up at least part of the mass of the autonomous cleaning robot, and therefore to further improve the quality of cleaning of the autonomous cleaning robot. On the contrary, if the mop supports were cut by a vertical plane passing through axes of rotation of wheels equipping the autonomous cleaning robot (and for example two-wheel drive) or arranged between wheels of the autonomous cleaning robot whose axes of rotation are parallel (for example between the axes of rotation of the driving wheels and the axis of rotation of a rear wheel), the forces resulting from the mass of the autonomous cleaning robot would be picked up by the wheels and not by the mop brackets.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome est dépourvu de roue additionnelle située à l'arrière des axes de rotation des deux roues motrices.According to one embodiment of the invention, the autonomous cleaning robot does not have an additional wheel located at the rear of the axes of rotation of the two driving wheels.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte des roues additionnelles montées mobiles en rotation sur le corps principal et configurées pour rouler sur la surface à nettoyer, toutes les roues additionnelles étant situées à l'avant des axes de rotation des deux roues motrices.According to one embodiment of the invention, the autonomous cleaning robot comprises additional wheels mounted mobile in rotation on the main body and configured to roll on the surface to be cleaned, all the additional wheels being located at the front of the axes of rotation of the two drive wheels.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte une batterie d'alimentation configurée pour alimenter électriquement le robot de nettoyage autonome, la batterie d'alimentation étant située au moins en partie au-dessus de l'un des supports de serpillère. Une telle disposition de la batterie d'alimentation permet d'augmenter la force d'appui exercée par au moins l'une des serpillères sur la surface à nettoyer, et donc d'augmenter encore l'efficacité de grattage du dispositif de nettoyage humide sur le sol et ainsi la qualité de nettoyage du robot de nettoyage autonome.According to one embodiment of the invention, the autonomous cleaning robot comprises a power supply battery configured to electrically supply the autonomous cleaning robot, the power supply battery being located at least partly above one of the mop holders. Such an arrangement of the power supply battery makes it possible to increase the pressing force exerted by at least one of the mops on the surface to be cleaned, and therefore to further increase the scraping efficiency of the wet cleaning device on the floor and thus the cleaning quality of the autonomous cleaning robot.

Selon un mode de réalisation de l'invention, le centre de gravité de la batterie d'alimentation est situé au-dessus de l'un des supports de serpillère.According to one embodiment of the invention, the center of gravity of the supply battery is located above one of the mop supports.

Selon un mode de réalisation de l'invention, la batterie d'alimentation est entièrement située au-dessus de l'un des supports de serpillère.According to one embodiment of the invention, the power supply battery is located entirely above one of the mop supports.

Selon un mode de réalisation de l'invention, l'unité d'aspiration est située au moins en partie au-dessus de l'un des supports de serpillère. Une telle disposition de l'unité d'aspiration permet d'augmenter la force d'appui exercée par au moins l'une des serpillères sur la surface à nettoyer, et donc d'augmenter encore l'efficacité de grattage du dispositif de nettoyage humide sur le sol et ainsi la qualité de nettoyage du robot de nettoyage autonome.According to one embodiment of the invention, the suction unit is located at least partly above one of the mop holders. Such an arrangement of the suction unit makes it possible to increase the pressing force exerted by at least one of the mops on the surface to be cleaned, and therefore to further increase the scraping efficiency of the wet cleaning device on the floor and thus the cleaning quality of the autonomous cleaning robot.

Selon un mode de réalisation de l'invention, l'unité d'aspiration comprend un moteur d'aspiration et un ventilateur qui est couplé au moteur d'aspiration et qui est configuré pour générer le flux d'air à travers l'ouverture d'aspiration.According to one embodiment of the invention, the suction unit comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate the flow of air through the opening of aspiration.

Selon un mode de réalisation de l'invention, le centre de gravité de l'unité d'aspiration est situé au-dessus de l'un des supports de serpillère.According to one embodiment of the invention, the center of gravity of the suction unit is located above one of the mop supports.

Selon un mode de réalisation de l'invention, l'unité d'aspiration est entièrement située au-dessus de l'un des supports de serpillère.According to one embodiment of the invention, the suction unit is located entirely above one of the mop holders.

Selon un mode de réalisation de l'invention, l'unité d'aspiration et la batterie d'alimentation sont disposées de part et d'autre du plan longitudinal médian du corps principal. Une telle disposition de l'unité d'aspiration et de la batterie d'alimentation permet de mieux répartir les masses du robot de nettoyage autonome et donc d'équilibrer les forces d'appui exercées par les deux serpillères sur la surface à nettoyer. Ces dispositions confèrent ainsi des performances de nettoyage encore améliorées au robot de nettoyage autonome.According to one embodiment of the invention, the suction unit and the power supply battery are arranged on either side of the median longitudinal plane of the main body. Such an arrangement of the suction unit and of the power supply battery makes it possible to better distribute the masses of the autonomous cleaning robot and therefore to balance the support forces exerted by the two mops on the surface to be cleaned. These provisions thus confer further improved cleaning performance on the autonomous cleaning robot.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide est monté de manière amovible par rapport au corps principal.According to one embodiment of the invention, the wet cleaning device is removably mounted relative to the main body.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide est configuré pour être retiré du corps principal par un mouvement de translation dirigé vers l'arrière du corps principal. Ainsi, le retrait du dispositif de nettoyage humide peut être réalisé sans soulever le robot de nettoyage autonome, et donc sans risque de chute du robot de nettoyage autonome en cas de mauvaise manipulation de ce dernier par l'utilisateur.According to one embodiment of the invention, the wet cleaning device is configured to be removed from the main body by a translational movement directed towards the rear of the main body. Thus, the removal of the wet cleaning device can be carried out without lifting the autonomous cleaning robot, and therefore without risk of the autonomous cleaning robot falling in the event of mishandling of the latter by the user.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide comporte un logement interne dans lequel est disposé le mécanisme d'entraînement en translation.According to one embodiment of the invention, the wet cleaning device comprises an internal housing in which the translation drive mechanism is arranged.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide comporte des premiers moyens de guidage configurés pour coopérer avec des deuxièmes moyens de guidage prévus sur le corps principal lors d'un montage du dispositif de nettoyage humide sur le corps principal, de manière à guider le dispositif de nettoyage humide selon une direction de guidage.According to one embodiment of the invention, the wet cleaning device comprises first guide means configured to cooperate with second guide means provided on the main body when mounting the wet cleaning device on the main body, so as to guide the wet cleaning device in a guiding direction.

Selon un mode de réalisation de l'invention, les premiers moyens de guidage comportent au moins une nervure de guidage, et les deuxièmes moyens de guidage comportent au moins une rainure de guidage.According to one embodiment of the invention, the first guide means comprise at least one guide rib, and the second guide means comprise at least one guide groove.

Selon un mode de réalisation de l'invention, les deuxièmes moyens de guidage sont prévus sur la face inférieure du corps principal.According to one embodiment of the invention, the second guide means are provided on the underside of the main body.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide comporte un premier connecteur électrique configuré pour coopérer avec un deuxième connecteur électrique monté sur le corps principal lors d'un montage du dispositif de nettoyage humide sur le corps principal selon une direction de montage qui est dirigée vers l'avant du corps principal. Une telle configuration des premier et deuxième connecteurs électriques permet d'assurer une connexion aisée et automatique de ces derniers lors du montage du dispositif de nettoyage humide sur le corps principal.According to one embodiment of the invention, the wet cleaning device comprises a first electrical connector configured to cooperate with a second electrical connector mounted on the main body when the wet cleaning device is mounted on the main body in a direction mounting bracket that faces the front of the main body. Such a configuration of the first and second electrical connectors makes it possible to ensure easy and automatic connection of the latter when mounting the wet cleaning device on the main body.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un mécanisme de verrouillage configuré pour verrouiller le dispositif de nettoyage humide sur le corps principal. Un tel mécanisme de verrouillage permet de limiter les risques de retrait intempestif du dispositif de nettoyage humide.According to one embodiment of the invention, the autonomous cleaning robot comprises a locking mechanism configured to lock the wet cleaning device to the main body. Such a locking mechanism makes it possible to limit the risks of inadvertent withdrawal of the wet cleaning device.

Selon un mode de réalisation de l'invention, le mécanisme de verrouillage comporte un organe de verrouillage, tel qu'un bouton de verrouillage, qui est actionnable par un utilisateur et qui est prévu sur le corps principal ou le dispositif de nettoyage humide, l'organe de verrouillage étant monté mobile entre une position de verrouillage dans laquelle l'organe de verrouillage est configuré pour coopérer avec un élément de verrouillage prévu sur le dispositif de nettoyage humide ou le corps principal de manière à verrouiller le dispositif de nettoyage humide sur le corps principal et une position de libération dans laquelle l'organe de verrouillage est configuré pour libérer l'élément de verrouillage de manière à autoriser un retrait du dispositif de nettoyage humide du corps principal.According to one embodiment of the invention, the locking mechanism comprises a locking member, such as a locking button, which is operable by a user and which is provided on the main body or the wet cleaning device, the the locking member being mounted to move between a locking position in which the locking member is configured to cooperate with a locking element provided on the cleaning device or the main body so as to lock the wet cleaning device to the main body and a release position in which the locking member is configured to release the locking element so as to allow removal of the wet cleaning device of the main body.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un organe d'éjection configuré pour éjecter le dispositif de nettoyage humide à distance du corps principal et vers l'arrière du corps principal lorsque l'organe de verrouillage est déplacé dans la position de libération. La présence d'un tel organe d'éjection permet de faciliter le retrait du dispositif de nettoyage humide.According to one embodiment of the invention, the autonomous cleaning robot comprises an ejection member configured to eject the wet cleaning device away from the main body and towards the rear of the main body when the locking member is moved in the release position. The presence of such an ejection member facilitates removal of the wet cleaning device.

Selon un mode de réalisation de l'invention, l'organe d'éjection comporte une face d'éjection configurée pour prendre appui contre le dispositif de nettoyage humide. De façon avantageuse, l'organe d'éjection est logé au moins en partie dans une cavité de réception prévue sur le corps principal.According to one embodiment of the invention, the ejection member comprises an ejection face configured to bear against the wet cleaning device. Advantageously, the ejection member is housed at least partly in a receiving cavity provided on the main body.

Selon un mode de réalisation de l'invention, l'organe d'éjection est déplaçable entre une position rétractée dans laquelle la face d'éjection de l'organe d'éjection est située en retrait ou à proximité d'une ouverture d'insertion de la cavité de réception, et une position déployée dans laquelle la face d'éjection de l'organe d'éjection fait saillie de la cavité de réception et est située à distance de l'ouverture d'insertion de la cavité de réception.According to one embodiment of the invention, the ejection member is movable between a retracted position in which the ejection face of the ejection member is located set back or close to an insertion opening of the receiving cavity, and a deployed position in which the ejection face of the ejection member protrudes from the receiving cavity and is located at a distance from the insertion opening of the receiving cavity.

Selon un mode de réalisation de l'invention, le dispositif de nettoyage humide est configuré pour déplacer l'organe d'éjection dans la position rétractée lorsque le dispositif de nettoyage humide est monté sur le corps principal.According to one embodiment of the invention, the wet cleaning device is configured to move the ejector member into the retracted position when the wet cleaning device is mounted on the main body.

Selon un mode de réalisation de l'invention, l'organe d'éjection est monté coulissant par rapport au corps principal selon une direction de coulissement qui est sensiblement parallèle à la direction de déplacement principale du robot de nettoyage autonome, c'est-à-dire sensiblement perpendiculairement aux axes de rotation des deux roues motrices.According to one embodiment of the invention, the ejection member is mounted to slide relative to the main body in a direction of sliding which is substantially parallel to the main direction of movement of the autonomous cleaning robot, i.e. ie substantially perpendicular to the axes of rotation of the two drive wheels.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un élément de sollicitation, tel qu'un ressort de compression, configuré pour solliciter l'organe d'éjection vers la position déployée.According to one embodiment of the invention, the autonomous cleaning robot comprises a biasing element, such as a compression spring, configured to bias the ejection member towards the deployed position.

Selon un mode de réalisation de l'invention, l'organe de verrouillage est déplaçable en translation selon une direction d'actionnement qui est sensiblement verticale lorsque le robot de nettoyage autonome repose sur une surface horizontale.According to one embodiment of the invention, the locking member is movable in translation along an actuation direction which is substantially vertical when the autonomous cleaning robot rests on a horizontal surface.

Selon un mode de réalisation de l'invention, le mécanisme de verrouillage comporte un organe de sollicitation, tel qu'un ressort de compression, configuré pour solliciter l'organe de verrouillage vers la position de verrouillage.According to one embodiment of the invention, the locking mechanism comprises a biasing member, such as a compression spring, configured to urge the locking member towards the locking position.

Selon un mode de réalisation de l'invention, l'organe de verrouillage est prévu sur une partie arrière du corps principal.According to one embodiment of the invention, the locking member is provided on a rear part of the main body.

Selon un mode de réalisation de l'invention, l'organe de verrouillage comporte un doigt de verrouillage, et l'élément de verrouillage comporte un logement de verrouillage configuré pour coopérer avec le doigt de verrouillage.According to one embodiment of the invention, the locking member comprises a locking finger, and the locking element comprises a locking housing configured to cooperate with the locking finger.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un réservoir de liquide de nettoyage, et le dispositif de nettoyage humide comporte une pluralité d'orifices de sortie de liquide qui sont configurés pour être reliés fluidiquement au réservoir de liquide de nettoyage et qui sont configurés pour alimenter en liquide de nettoyage les serpillères montées sur les supports de serpillère, les orifices de sortie de liquide étant situés à l'avant des supports de serpillère.According to one embodiment of the invention, the autonomous cleaning robot comprises a reservoir of cleaning liquid, and the wet cleaning device comprises a plurality of liquid outlets which are configured to be fluidly connected to the liquid reservoir and which are configured to supply cleaning liquid to the mops mounted on the mop holders, the liquid outlets being located at the front of the mop holders.

Selon un mode de réalisation de l'invention, le réservoir de liquide de nettoyage est monté, par exemple de manière amovible, sur le corps principal.According to one embodiment of the invention, the cleaning liquid reservoir is mounted, for example in a removable manner, on the main body.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte un circuit d'alimentation en liquide de nettoyage prévu sur le corps principal et configuré pour relier fluidiquement les orifices de sortie de liquide au réservoir de liquide de nettoyage. De façon avantageuse, le circuit d'alimentation en liquide de nettoyage comporte un distributeur logé dans le corps principal, le distributeur comprenant une chambre de collecte qui s'étend transversalement à la direction de déplacement principal du robot de nettoyage autonome et qui est reliée fluidiquement au réservoir de liquide de nettoyage, et une pluralité d'orifices d'évacuation débouchant dans la chambre de collecte et répartis le long de la chambre de collecte.According to one embodiment of the invention, the autonomous cleaning robot comprises a cleaning liquid supply circuit provided on the main body and configured to fluidically connect the outlet orifices of liquid to the cleaning liquid tank. Advantageously, the cleaning liquid supply circuit comprises a distributor housed in the main body, the distributor comprising a collection chamber which extends transversely to the main direction of movement of the autonomous cleaning robot and which is fluidly connected to the cleaning liquid reservoir, and a plurality of discharge orifices opening into the collection chamber and distributed along the collection chamber.

Selon un mode de réalisation de l'invention, chaque orifice d'évacuation est situé en regard d'un orifice de passage respectif qui est prévu sur le corps principal et qui débouche dans la face inférieure du corps principal. De façon avantageuse, chaque orifice de passage est situé en regard d'un orifice de sortie de liquide respectif.According to one embodiment of the invention, each discharge orifice is located opposite a respective passage orifice which is provided on the main body and which opens into the underside of the main body. Advantageously, each passage orifice is located opposite a respective liquid outlet orifice.

Selon un mode de réalisation de l'invention, les orifices de sortie de liquide sont situés à l'avant des serpillères. De façon avantageuse, les orifices de sortie de liquide sont situés à l'arrière des axes de rotations des roues motrices.According to one embodiment of the invention, the liquid outlet orifices are located at the front of the mops. Advantageously, the liquid outlet orifices are located behind the axes of rotation of the drive wheels.

Selon un mode de réalisation de l'invention, les orifices de sortie de liquide sont sensiblement alignés selon une direction d'alignement qui s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices, c'est-à-dire transversalement à la direction de déplacement principale du robot de nettoyage autonome. Une telle disposition des orifices de sortie de liquide permet une dispersion plus homogène du liquide de nettoyage sur les serpillères, ce qui permet d'améliorer encore la qualité de nettoyage du robot de nettoyage autonome selon la présente invention.According to one embodiment of the invention, the liquid outlet orifices are substantially aligned along an alignment direction which extends substantially parallel to the axes of rotation of the two drive wheels, that is to say transversely to the main direction of movement of the autonomous cleaning robot. Such an arrangement of the liquid outlet orifices allows a more homogeneous dispersion of the cleaning liquid on the mops, which makes it possible to further improve the quality of cleaning of the autonomous cleaning robot according to the present invention.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comporte une rampe de soulèvement qui s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices, c'est-à-dire transversalement à la direction de déplacement principale du robot de nettoyage autonome, et qui est située à l'avant des supports de serpillère, la rampe de soulèvement comportant une surface de soulèvement qui est orientée vers une surface à nettoyer et qui est inclinée vers l'arrière et vers le bas, la surface de soulèvement étant configurée pour entraîner un soulèvement d'une partie arrière du corps principal lorsqu'un obstacle, se présentant frontalement au robot de nettoyage autonome lors d'un déplacement vers l'avant du corps principal, vient en contact avec ladite surface de soulèvement et glisse sur ladite surface de soulèvement. La présence d'une telle rampe de soulèvement permet de faciliter le franchissement des obstacles frontaux rencontrés par le robot de nettoyage autonome.According to one embodiment of the invention, the autonomous cleaning robot comprises a lifting ramp which extends substantially parallel to the axes of rotation of the two drive wheels, that is to say transversely to the main direction of movement of the autonomous cleaning robot, and which is located in front of the mop supports, the cleaning ramp lifting comprising a lifting surface which is oriented towards a surface to be cleaned and which is inclined backwards and downwards, the lifting surface being configured to cause a lifting of a rear part of the main body when an obstacle, presenting itself frontally to the autonomous cleaning robot during a forward movement of the main body, comes into contact with said lifting surface and slides on said lifting surface. The presence of such a lifting ramp facilitates the crossing of frontal obstacles encountered by the autonomous cleaning robot.

Selon un mode de réalisation de l'invention, la surface de soulèvement est configurée pour être inclinée par rapport à l'horizontale d'un angle d'inclinaison compris entre 10 et 40° lorsque le robot de nettoyage autonome repose sur une surface horizontale. De façon avantageuse, l'angle d'inclinaison est compris entre 20 et 30°, et est par exemple d'environ 25°.According to one embodiment of the invention, the lifting surface is configured to be inclined with respect to the horizontal by an angle of inclination comprised between 10 and 40° when the autonomous cleaning robot rests on a horizontal surface. Advantageously, the angle of inclination is between 20 and 30°, and is for example around 25°.

Selon un mode de réalisation de l'invention, les orifices de sortie de liquide sont prévus sur la rampe de soulèvement et sont réparties le long de la rampe de soulèvement. De façon avantageuse, les orifices de sortie de liquide débouchent dans la surface de soulèvement.According to one embodiment of the invention, the liquid outlet orifices are provided on the lifting ramp and are distributed along the lifting ramp. Advantageously, the liquid outlet orifices open into the lifting surface.

Selon un mode de réalisation de l'invention, la rampe de soulèvement présente une longueur correspondant sensiblement à la distance entre les deux roues motrices.According to one embodiment of the invention, the lifting ramp has a length corresponding substantially to the distance between the two driving wheels.

Selon un mode de réalisation de l'invention, la rampe de soulèvement est prévue sur le dispositif de nettoyage humide.According to one embodiment of the invention, the lifting ramp is provided on the wet cleaning device.

Selon un mode de réalisation de l'invention, le robot de nettoyage autonome comprend une brosse de nettoyage rotative montée mobile en rotation dans le corps principal autour d'un axe de rotation de brosse. De façon avantageuse, l'axe de rotation de brosse s'étend sensiblement parallèlement aux axes de rotation des roues motrices. En d'autres termes, l'axe de rotation de brosse s'étend transversalement à la direction de déplacement principale du robot de nettoyage autonome.According to one embodiment of the invention, the autonomous cleaning robot comprises a rotating cleaning brush rotatably mounted in the main body about a brush rotation axis. Advantageously, the brush rotation axis extends substantially parallel to the rotation axes of the drive wheels. In other words, the brush rotation axis extends transversely to the main direction of movement of the autonomous cleaning robot.

Selon une caractéristique avantageuse de l'invention, les deux roues motrices sont des roues latérales du robot de nettoyage autonome.According to an advantageous characteristic of the invention, the two driving wheels are side wheels of the autonomous cleaning robot.

Brève description des figuresBrief description of figures

On comprendra mieux les buts, aspects et avantages de la présente invention, d'après la description donnée ci-après d'un mode particulier de réalisation de l'invention présenté à titre d'exemple non limitatif, en se référant aux dessins annexés dans lesquels :

  • La figure 1 est une vue en perspective de dessus d'un robot de nettoyage autonome selon la présente invention.
  • La figure 2 est une vue en perspective de dessous du robot de nettoyage autonome de la figure 1.
  • La figure 3 est une vue partielle en perspective de dessous du robot de nettoyage autonome de la figure 1.
  • La figure 4 est une vue de dessous du robot de nettoyage autonome de la figure 1.
  • La figure 5 est une vue de côté du robot de nettoyage autonome de la figure 1.
  • La figure 6 est une vue en coupe longitudinale du robot de nettoyage autonome de la figure 1.
  • La figure 7 est une vue à l'échelle agrandie d'un détail de la figure 6.
  • La figure 8 est vue partielle en coupe longitudinale du robot de nettoyage autonome de la figure 1 montrant un dispositif de nettoyage humide retiré d'un corps principal du robot de nettoyage autonome.
  • La figure 9 est vue en perspective de dessus du robot de nettoyage autonome de la figure 1 montrant le dispositif de nettoyage humide retiré du corps principal.
  • La figure 10 est vue en perspective avant du dispositif de nettoyage humide.
  • La figure 11 est vue partielle en perspective avant du dispositif de nettoyage humide.
  • La figure 12 est vue partielle en perspective de dessous du robot de nettoyage autonome de la figure 1 dans laquelle le dispositif de nettoyage humide a été déposé.
  • La figure 13 est vue en perspective de dessus du robot de nettoyage autonome de la figure 1 montrant un module de remplacement en cours de montage sur le corps principal.
  • La figure 14 est vue partielle en coupe longitudinale du robot de nettoyage autonome de la figure 1 montrant le module de remplacement en cours de montage sur le corps principal.
The aims, aspects and advantages of the present invention will be better understood from the description given below of a particular embodiment of the invention presented by way of non-limiting example, with reference to the appended drawings in which :
  • The figure 1 is a top perspective view of an autonomous cleaning robot according to the present invention.
  • The picture 2 is a perspective view from below of the autonomous cleaning robot of the figure 1 .
  • The picture 3 is a partial perspective view from below of the autonomous cleaning robot of the figure 1 .
  • The figure 4 is a bottom view of the autonomous cleaning robot of the figure 1 .
  • The figure 5 is a side view of the autonomous cleaning robot of the figure 1 .
  • The figure 6 is a longitudinal sectional view of the autonomous cleaning robot of the figure 1 .
  • The figure 7 is an enlarged scale view of a detail of the figure 6 .
  • The figure 8 is a partial longitudinal sectional view of the autonomous cleaning robot of the figure 1 showing a wet cleaning device removed from a main body of the autonomous cleaning robot.
  • The figure 9 is a top perspective view of the autonomous cleaning robot of the figure 1 showing the wet cleaning device removed from the main body.
  • The figure 10 is a front perspective view of the wet cleaning device.
  • The figure 11 is a partial front perspective view of the wet cleaning device.
  • The figure 12 is a partial perspective view from below of the autonomous cleaning robot of the figure 1 in which the wet cleaning device has been deposited.
  • The figure 13 is a top perspective view of the autonomous cleaning robot of the figure 1 showing a replacement module being fitted to the main body.
  • The figure 14 is a partial longitudinal sectional view of the autonomous cleaning robot of the figure 1 showing the replacement module being fitted to the main body.

Description détailléedetailed description

Seuls les éléments nécessaires à la compréhension de l'invention sont représentés. Pour faciliter la lecture des dessins, les mêmes éléments portent les mêmes références d'une figure à l'autre.Only the elements necessary for understanding the invention are represented. To facilitate reading of the drawings, the same elements bear the same references from one figure to another.

On notera que dans ce document, les termes "horizontal", "vertical", "inférieur", "supérieur", "haut", "dessous" employés pour décrire le robot de nettoyage autonome ou le corps principal font références au robot de nettoyage autonome en situation d'usage lorsqu'il repose par ses roues sur un sol à nettoyer qui est plat et horizontal.It should be noted that in this document, the terms "horizontal", "vertical", "lower", "upper", "top", "below" used to describe the autonomous cleaning robot or the main body refer to the cleaning robot autonomous in a situation of use when it rests by its wheels on a floor to be cleaned which is flat and horizontal.

Les figures 1 à 14 représentent un robot de nettoyage autonome 2, et plus particulièrement un aspirateur robot, configuré pour se déplacer de manière autonome sur une surface à nettoyer.The figures 1 to 14 represent an autonomous cleaning robot 2, and more particularly a robot vacuum cleaner, configured to move autonomously over a surface to be cleaned.

Le robot de nettoyage autonome 2 comprend un corps principal 3 comportant une face inférieure 4 qui est configurée pour être orientée vers la surface à nettoyer, et une ouverture d'aspiration 5 qui est prévue dans une partie avant 3.1 du corps principal 3 et qui débouche dans la face inférieure 4 du corps principal 3. De façon avantageuse, l'ouverture d'aspiration 5 est allongée et s'étend transversalement, et plus particulièrement perpendiculairement, à une direction de déplacement principale D du robot de nettoyage autonome 2.The autonomous cleaning robot 2 comprises a main body 3 comprising a lower face 4 which is configured to be oriented towards the surface to be cleaned, and a suction opening 5 which is provided in a part front 3.1 of the main body 3 and which opens into the lower face 4 of the main body 3. Advantageously, the suction opening 5 is elongated and extends transversely, and more particularly perpendicularly, to a main direction of movement D of the autonomous cleaning robot 2.

Le robot de nettoyage autonome 2 comprend de plus une brosse de nettoyage rotative 6 montée mobile en rotation dans le corps principal 3 autour d'un axe de rotation de brosse qui s'étend transversalement, et plus particulièrement perpendiculairement, à la direction de déplacement principale D. De façon avantageuse, l'axe de rotation de brosse est sensiblement horizontal lorsque le robot de nettoyage autonome 2 repose sur une surface horizontale.The autonomous cleaning robot 2 further comprises a rotating cleaning brush 6 rotatably mounted in the main body 3 around a brush rotation axis which extends transversely, and more particularly perpendicularly, to the main direction of movement. D. Advantageously, the axis of brush rotation is substantially horizontal when the autonomous cleaning robot 2 rests on a horizontal surface.

Le robot de nettoyage autonome 2 comprend également un mécanisme d'entraînement (non visible sur les figures) qui est configuré pour entraîner en rotation la brosse de nettoyage rotative 6 autour de l'axe de rotation de brosse.The autonomous cleaning robot 2 also includes a drive mechanism (not visible in the figures) which is configured to rotate the rotating cleaning brush 6 around the brush rotation axis.

Comme montré plus particulièrement sur les figures 2 à 4, le robot de nettoyage autonome 2 comprend deux roues motrices 7 qui sont configurées pour rouler sur la surface à nettoyer. Les deux roues motrices 7 sont montées mobiles en rotation par rapport au corps principal 3, et présentent des axes de rotation qui sont parallèles, et avantageusement colinéaires. De façon avantageuse, les axes de rotation des roues motrices 7 s'étendent perpendiculairement à la direction de déplacement principale D.As shown more particularly on the figures 2 to 4 , the autonomous cleaning robot 2 comprises two drive wheels 7 which are configured to roll over the surface to be cleaned. The two driving wheels 7 are mounted so as to be able to rotate with respect to the main body 3, and have axes of rotation which are parallel, and advantageously collinear. Advantageously, the axes of rotation of the drive wheels 7 extend perpendicular to the main direction of movement D.

Les deux roues motrices 7 sont configurées pour faire saillie de la face inférieure 4 du corps principal 3, et sont disposées de part et d'autre d'un plan longitudinal médian P du corps principal 3. De façon avantageuse, les deux roues motrices 7 sont disposées de manière symétrique par rapport au plan longitudinal médian P du corps principal 3, et sont des roues latérales du robot de nettoyage autonome 2.The two drive wheels 7 are configured to project from the lower face 4 of the main body 3, and are arranged on either side of a median longitudinal plane P of the main body 3. Advantageously, the two drive wheels 7 are arranged symmetrically with respect to the median longitudinal plane P of the main body 3, and are side wheels of the autonomous cleaning robot 2.

Les deux roues motrices 7 sont avantageusement motorisées indépendamment l'une de l'autre. Ainsi, le robot de nettoyage autonome 2 comprend deux mécanismes d'entraînement en rotation 8 logés dans le corps principal 3 et configurés chacun pour entraîner en rotation une roue motrice 7 respective parmi les deux roues motrices 7. Chaque mécanisme d'entraînement en rotation 8 comporte un moteur d'entraînement couplé en rotation à la roue motrice 7 respective et disposé par exemple dans une partie latérale respective du corps principal 3. Selon la commande des deux moteurs d'entraînement précités, le corps principal 3 peut pivoter à gauche, à droite ou sur lui-même, avancer ou encore reculer.The two drive wheels 7 are advantageously motorized independently of each other. Thus, the autonomous cleaning robot 2 comprises two rotation drive mechanisms 8 housed in the main body 3 and each configured to drive in rotation a respective drive wheel 7 among the two drive wheels 7. Each rotation drive mechanism 8 comprises a drive motor coupled in rotation to the respective drive wheel 7 and arranged for example in a respective side part of the main body 3. According to the control of the two aforementioned drive motors, the main body 3 can pivot to the left, to the right or on itself, to advance or back down.

Selon le mode de réalisation représenté sur les figures, le robot de nettoyage autonome 2 comporte des roues additionnelles 9 montées libre en rotation par rapport au corps principal 3, et par exemple deux roues additionnelles 9 disposées sur la partie avant 3.1 du corps principal 3. De façon avantageuse, toutes les roues additionnelles 9 sont situées à l'avant des axes de rotation des deux roues motrices 7, de telle sorte que le robot de nettoyage autonome 2 est dépourvu de roue additionnelle située à l'arrière des axes de rotation des deux roues motrices 7.According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises additional wheels 9 mounted free to rotate relative to the main body 3, and for example two additional wheels 9 arranged on the front part 3.1 of the main body 3. Advantageously, all the additional wheels 9 are located at the front of the axes of rotation of the two drive wheels 7, such that the autonomous cleaning robot 2 has no additional wheel located at the rear of the axes of rotation of the two-wheel drive 7.

Le robot de nettoyage autonome 2 comprend en outre une unité d'aspiration 11 qui est logée dans le corps principal 3. L'unité d'aspiration 11 comprend un moteur d'aspiration et un ventilateur qui est couplé au moteur d'aspiration et qui est configuré pour générer un flux d'air à travers l'ouverture d'aspiration 5.The autonomous cleaning robot 2 further comprises a suction unit 11 which is housed in the main body 3. The suction unit 11 comprises a suction motor and a fan which is coupled to the suction motor and which is configured to generate an airflow through the suction opening 5.

Le robot de nettoyage autonome 2 comprend également un dispositif de collecte de déchets 12 (voir la figure 6) qui est disposé en amont de l'unité d'aspiration 11 et qui est traversé par le flux d'air généré par le ventilateur lorsque le robot de nettoyage autonome 2 est en fonctionnement.The autonomous cleaning robot 2 also includes a waste collection device 12 (see the figure 6 ) which is arranged upstream of the suction unit 11 and which is traversed by the flow of air generated by the fan when the autonomous cleaning robot 2 is in operation.

Le robot de nettoyage autonome 2 comporte également une batterie d'alimentation 13 configurée pour alimenter électriquement le robot de nettoyage autonome 2. De façon avantageuse, la batterie d'alimentation 13 est rechargeable et est logée dans le corps principal 3.The autonomous cleaning robot 2 also comprises a power supply battery 13 configured to electrically power the autonomous cleaning robot 2. Advantageously, the power supply battery 13 is rechargeable and is housed in the main body 3.

Comme montré notamment sur la figure 2, le robot de nettoyage autonome 2 comprend en outre un dispositif de nettoyage humide 14 qui est disposé dans une partie arrière 3.2 du corps principal 3. De façon avantageuse, le dispositif de nettoyage humide 14 est disposé à l'opposé de la brosse de nettoyage rotative 6 par rapport aux axes de rotation des roues motrices 7.As shown in particular on the figure 2 , the autonomous cleaning robot 2 further comprises a wet cleaning device 14 which is arranged in a rear part 3.2 of the main body 3. Advantageously, the wet cleaning device 14 is arranged opposite the cleaning brush rotating 6 with respect to the axes of rotation of the drive wheels 7.

Le dispositif de nettoyage humide 14 comporte deux supports de serpillère 15 qui sont disposés côté à côté et qui sont situés à l'arrière des axes de rotation des roues motrices 7. De façon avantageuse, les deux supports de serpillère 15 sont disposés de part et d'autre du plan longitudinal médian P du corps principal 3, et sont configurés pour s'étendre sensiblement horizontalement lorsque le corps principal 3 repose sur une surface horizontale.The wet cleaning device 14 comprises two mop supports 15 which are arranged side by side and which are located behind the axes of rotation of the drive wheels 7. Advantageously, the two mop supports 15 are arranged on either side other side of the median longitudinal plane P of the main body 3, and are configured to extend substantially horizontally when the main body 3 rests on a horizontal surface.

Comme montré plus particulièrement sur la figure 3, les deux supports de serpillère 15 sont positionnés par rapport au corps principal 3 de telle sorte que les deux supports de serpillère 15 ne sont coupés par aucun plan vertical passant par des axes de rotation de roues équipant le robot de nettoyage autonome 2, et de telle sorte que les deux supports de serpillère 15 ne sont pas situés au moins en partie entre deux plans verticaux passant respectivement par deux axes de rotation de roues équipant le robot de nettoyage autonome 2.As shown more particularly on the picture 3 , the two mop supports 15 are positioned relative to the main body 3 in such a way that the two mop supports 15 are not intersected by any vertical plane passing through axes of rotation of wheels fitted to the autonomous cleaning robot 2, and such that the two mop supports 15 are not located at least partly between two vertical planes passing respectively through two axes of rotation of wheels fitted to the autonomous cleaning robot 2.

De façon avantageuse, la batterie d'alimentation 13 est située au moins en partie, et par exemple entièrement, au-dessus de l'un des supports de serpillère 15, et l'unité d'aspiration 11 est située au moins en partie, et par exemple entièrement, au-dessus de l'autre des supports de serpillère 15. Ainsi, l'unité d'aspiration 11 et la batterie d'alimentation 13 sont disposées de part et d'autre du plan longitudinal médian P du corps principal 3.Advantageously, the supply battery 13 is located at least partly, and for example entirely, above one of the mop holders 15, and the suction unit 11 is located at least partly, and for example entirely, above the other of the mop supports 15. Thus, the suction unit 11 and the power supply battery 13 are arranged on either side of the median longitudinal plane P of the main body 3.

Les deux supports de serpillère 15 sont chacun montés mobiles en translation par rapport au corps principal 3 selon une direction de translation T qui s'étend transversalement, et avantageusement perpendiculairement, à la direction de déplacement principale D du robot de nettoyage autonome 2.The two mop supports 15 are each mounted to move in translation relative to the main body 3 in a direction of translation T which extends transversely, and advantageously perpendicularly, to the main direction of movement D of the autonomous cleaning robot 2.

De façon avantageuse, les supports de serpillère 15 sont montés mobiles l'un par rapport à l'autre entre une configuration rapprochée dans laquelle les deux supports de serpillère 15 sont rapprochés l'un de l'autre, et une configuration éloignée dans laquelle les deux supports de serpillère 15 sont éloignés l'un de l'autre.Advantageously, the mop supports 15 are movably mounted relative to each other between a close configuration in which the two mop supports 15 are close to each other, and a remote configuration in which the two mop supports 15 are distant from each other 'other.

Le dispositif de nettoyage humide 14 comporte également un mécanisme d'entraînement en translation 16 configuré pour déplacer en translation les supports de serpillère 15 selon la direction de translation T et alternativement entre la configuration rapprochée et la configuration éloignée. Ainsi, le mécanisme d'entraînement en translation 16 est configuré pour déplacer en translation les deux supports de serpillère 15 en opposition de phase. De façon avantageuse, le mécanisme d'entraînement en translation 16 est situé au moins en partie au-dessus des supports de serpillère 15.The wet cleaning device 14 also comprises a drive mechanism in translation 16 configured to move the mop supports 15 in translation in the direction of translation T and alternately between the close configuration and the remote configuration. Thus, the translation drive mechanism 16 is configured to move the two mop supports 15 in translation in phase opposition. Advantageously, the translation drive mechanism 16 is located at least partly above the mop supports 15.

Selon le mode de réalisation représenté sur les figures, le mécanisme d'entraînement en translation 16 comporte un moteur d'entraînement 16.1, un vilebrequin 16.2 couplé en rotation au moteur d'entraînement 16.1 et configuré pour être entraîné en rotation par le moteur d'entraînement 16.1, et deux bielles 16.3 comprenant chacune une première portion d'extrémité montée articulée sur le vilebrequin 16.2 et une deuxième portion d'extrémité montée articulée sur un support de serpillère 15 respectif.According to the embodiment shown in the figures, the translation drive mechanism 16 comprises a drive motor 16.1, a crankshaft 16.2 coupled in rotation to the drive motor 16.1 and configured to be driven in rotation by the drive motor. drive 16.1, and two connecting rods 16.3 each comprising a first end portion hingedly mounted on the crankshaft 16.2 and a second end portion hingedly mounted on a respective mop support 15.

Le dispositif de nettoyage humide 14 comporte en outre deux serpillères 17 montées de manière amovible respectivement sur les deux supports de serpillère 15. Les serpillères 17 sont configurées pour être en contact avec la surface à nettoyer, et plus particulièrement pour exercer une force d'appui sur la surface à nettoyer, lorsque le robot de nettoyage autonome 2 repose sur la surface à nettoyer. La force d'appui peut par exemple être supérieure ou égale à 9 N.The wet cleaning device 14 further comprises two mops 17 removably mounted respectively on the two mop supports 15. The mops 17 are configured to be in contact with the surface to be cleaned, and more particularly to exert a pressing force on the surface to be cleaned, when the autonomous cleaning robot 2 rests on the surface to be cleaned. The support force can for example be greater than or equal to 9 N.

De façon avantageuse, le robot de nettoyage autonome 2 est configuré de telle sorte que, lorsque le robot de nettoyage autonome 2 repose sur une surface à nettoyer, une partie arrière du robot de nettoyage autonome 2 repose sur ladite surface à nettoyer directement par les deux serpillères 17.Advantageously, the autonomous cleaning robot 2 is configured such that, when the autonomous cleaning robot 2 rests on a surface to be cleaned, a rear part of the autonomous cleaning robot 2 rests on said surface to be cleaned directly by the two mops 17.

Comme montré plus particulièrement sur les figures 8 à 12, le dispositif de nettoyage humide 14 est monté de manière amovible par rapport au corps principal 3, et le corps principal 3 comporte un logement de réception 18 dans lequel est reçu au moins en partie le dispositif de nettoyage humide 14. Le dispositif de nettoyage humide 14 est avantageusement configuré pour être retiré du corps principal 3 par un mouvement de translation dirigé vers l'arrière du corps principal 3.As shown more particularly on the figures 8 to 12 , the wet cleaning device 14 is removably mounted relative to the main body 3, and the main body 3 comprises a receiving housing 18 in which the wet cleaning device 14 is received at least in part. 14 is advantageously configured to be removed from the main body 3 by a translational movement directed towards the rear of the main body 3.

Selon le mode de réalisation représenté sur les figures, le dispositif de nettoyage humide 14 comporte un corps de support 19 comportant plus particulièrement une plaque de support 19.1 qui comprend une surface inférieure sur laquelle sont montés mobiles les supports de serpillère 15, et un capot de protection 19.2 qui est fixé sur une surface supérieure de la plaque de support 19.1. La plaque de support 19.1 et le capot de protection 19.2 délimitent un logement interne 19.3 dans lequel est disposé le mécanisme d'entraînement en translation 16. Le corps de support 19 comporte en outre une paroi latérale 19.4 qui s'étend vers le haut à partir de la plaque de support 19.1 et qui est configurée pour recouvrir au moins en partie le logement de réception 18.According to the embodiment shown in the figures, the wet cleaning device 14 comprises a support body 19 comprising more particularly a support plate 19.1 which comprises a lower surface on which the mop supports 15 are movably mounted, and a protection 19.2 which is fixed on an upper surface of the support plate 19.1. The support plate 19.1 and the protective cover 19.2 delimit an internal housing 19.3 in which the translation drive mechanism 16 is arranged. The support body 19 further comprises a side wall 19.4 which extends upwards from of the support plate 19.1 and which is configured to at least partially cover the receiving housing 18.

Comme montré sur les figures 9 à 13, le dispositif de nettoyage humide 14 comporte des premiers moyens de guidage configurés pour coopérer avec des deuxièmes moyens de guidage prévus sur le corps principal 3 lors d'un montage du dispositif de nettoyage humide 14 sur le corps principal 3 et lors d'un retrait du dispositif de nettoyage humide 14 du corps principal 3, de manière à guider le dispositif de nettoyage humide 14 selon une direction de guidage qui est sensiblement perpendiculaire à la direction de déplacement principale D. Les premiers moyens de guidage peuvent par exemple comporter deux nervures de guidage 21, telles que des nervures de guidage en T, prévues sur la surface supérieure de la plaque de support 19.1, et les deuxièmes moyens de guidage peuvent par exemple comporter deux rainures de guidage 22, telles que des rainures de guidage en T, prévues sur la face inférieure 4 du corps principal 3.As shown on the figures 9 to 13 , the wet cleaning device 14 comprises first guide means configured to cooperate with second guide means provided on the main body 3 during mounting of the wet cleaning device 14 on the main body 3 and during removal of the wet cleaning device 14 of the main body 3, so as to guide the wet cleaning device 14 along a guide direction which is substantially perpendicular to the main direction of movement D. The first guide means may for example comprise two ribs of guide 21, such as T-guide ribs, provided on the upper surface of the support plate 19.1, and the second guide means may for example comprise two guide grooves 22, such as T-guide grooves, provided on the underside 4 of the main body 3.

Selon le mode de réalisation représenté sur les figures, le dispositif de nettoyage humide 14 comporte en outre un premier connecteur électrique 23, tel qu'un connecteur mâle ou femelle, configuré pour coopérer avec un deuxième connecteur électrique 24, tel qu'un connecteur femelle ou mâle, monté sur le corps principal 3 lors d'un montage du dispositif de nettoyage humide 14 sur le corps principal 3 selon une direction de montage qui est dirigée vers l'avant du corps principal 3.According to the embodiment shown in the figures, the wet cleaning device 14 further comprises 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 connector or male, mounted on the main body 3 when mounting the wet cleaning device 14 on the main body 3 in a mounting direction which is directed towards the front of the main body 3.

Le robot de nettoyage autonome 2 comporte également un mécanisme de verrouillage configuré pour verrouiller le dispositif de nettoyage humide 14 sur le corps principal 3. Le mécanisme de verrouillage comporte un organe de verrouillage 25 qui est actionnable par un utilisateur et qui est prévu sur une partie arrière du corps principal 3, et par exemple sur une face arrière du corps principal 3.The autonomous cleaning robot 2 also comprises a locking mechanism configured to lock the wet cleaning device 14 on the main body 3. The locking mechanism comprises a locking member 25 which is operable by a user and which is provided on a part rear of the main body 3, and for example on a rear face of the main body 3.

L'organe de verrouillage 25 est monté mobile entre une position de verrouillage dans laquelle l'organe de verrouillage 25 est configuré pour coopérer avec un élément de verrouillage 26 prévu sur le dispositif de nettoyage humide 14 de manière à verrouiller le dispositif de nettoyage humide 14 sur le corps principal 3, et une position de libération dans laquelle l'organe de verrouillage 25 est configuré pour libérer l'élément de verrouillage 26 de manière à autoriser un retrait du dispositif de nettoyage humide 14 du corps principal 3. L'organe de verrouillage 25 peut par exemple comporter un doigt de verrouillage, et l'élément de verrouillage 26 peut par exemple comporter un logement de verrouillage configuré pour recevoir le doigt de verrouillage.The locking member 25 is mounted movable between a locking position in which the locking member 25 is configured to cooperate with a locking element 26 provided on the wet cleaning device 14 so as to lock the wet cleaning device 14 on the main body 3, and a release position in which the locking member 25 is configured to release the locking element 26 so as to allow removal of the wet cleaning device 14 from the main body 3. The locking member lock 25 may for example comprise a locking finger, and the locking element 26 may for example comprise a locking housing configured to receive the locking finger.

De façon avantageuse, l'organe de verrouillage 25 est monté mobile en translation par rapport au corps principal 3 selon une direction d'actionnement qui est sensiblement verticale lorsque le robot de nettoyage autonome 2 repose sur une surface horizontale.Advantageously, the locking member 25 is mounted to move in translation relative to the main body 3 along an actuation direction which is substantially vertical when the autonomous cleaning robot 2 rests on a horizontal surface.

Selon le mode de réalisation représenté sur les figures, le mécanisme de verrouillage comporte un organe de sollicitation 27, tel qu'un ressort de compression, configuré pour solliciter l'organe de verrouillage 25 vers la position de verrouillage.According to the embodiment shown in the figures, the locking mechanism comprises a biasing member 27, such as a compression, configured to urge the locking member 25 towards the locking position.

Selon le mode de réalisation représenté sur les figures, le robot de nettoyage autonome 2 comporte également un organe d'éjection 28 configuré pour éjecter le dispositif de nettoyage humide 14 à distance du corps principal 3 et vers l'arrière du corps principal 3 lorsque l'organe de verrouillage 25 est déplacé dans la position de libération. De façon avantageuse, l'organe d'éjection 28 est logé en partie dans une cavité de réception 29 prévue sur le corps principal 3, et comporte une face d'éjection 28.1 configurée pour prendre appui contre le dispositif de nettoyage humide 14.According to the embodiment shown in the figures, the autonomous cleaning robot 2 also comprises an ejection member 28 configured to eject the wet cleaning device 14 away from the main body 3 and towards the rear of the main body 3 when the the locking member 25 is moved into the release position. Advantageously, the ejection member 28 is partly housed in a receiving cavity 29 provided on the main body 3, and comprises an ejection face 28.1 configured to bear against the wet cleaning device 14.

L'organe d'éjection 28 est monté coulissant par rapport au corps principal 3 selon une direction de coulissement, qui est parallèle à la direction de déplacement principale D du robot de nettoyage autonome 2, et entre une position rétractée (voir la figure 7) dans laquelle la face d'éjection 28.1 de l'organe d'éjection 28 est située en retrait ou à proximité d'une ouverture d'insertion de la cavité de réception 29, et une position déployée (voir la figure 12) dans laquelle la face d'éjection 28.1 de l'organe d'éjection 28 fait saillie de la cavité de réception 29 et est située à distance de l'ouverture d'insertion de la cavité de réception 29. De façon avantageuse, le dispositif de nettoyage humide 14 est configuré pour déplacer l'organe d'éjection 28 dans la position rétractée lorsque le dispositif de nettoyage humide 14 est monté sur le corps principal 3.The ejection member 28 is mounted to slide relative to the main body 3 along a sliding direction, which is parallel to the main direction of movement D of the autonomous cleaning robot 2, and between a retracted position (see figure 7 ) in which the ejection face 28.1 of the ejection member 28 is located set back or close to an insertion opening of the reception cavity 29, and a deployed position (see the figure 12 ) in which the ejection face 28.1 of the ejection member 28 protrudes from the reception cavity 29 and is located at a distance from the insertion opening of the reception cavity 29. Advantageously, the device wet cleaning device 14 is configured to move the ejection member 28 to the retracted position when the wet cleaning device 14 is mounted on the main body 3.

Comme montré plus particulièrement sur la figure 7, le robot de nettoyage autonome 2 comporte un élément de sollicitation 31, tel qu'un ressort de compression, configuré pour solliciter l'organe d'éjection 28 vers la position déployée.As shown more particularly on the figure 7 , the autonomous cleaning robot 2 comprises a biasing element 31, such as a compression spring, configured to bias the ejection member 28 towards the deployed position.

Le robot de nettoyage autonome 2 comporte également un réservoir de liquide de nettoyage 32 qui est monté, par exemple de manière amovible, sur le corps principal 3. De façon avantageuse, le réservoir de liquide de nettoyage 32 et le dispositif de collecte de déchets 12 sont superposés, et sont solidaires l'un de l'autre. Ainsi, le robot de nettoyage autonome 2 peut par exemple comporter un réservoir amovible comportant un premier compartiment formant le réservoir de liquide de nettoyage 32 et un deuxième compartiment formant le dispositif de collecte de déchets 12. Toutefois, selon une variante de réalisation de l'invention, le réservoir de liquide de nettoyage 32 pourrait être prévu directement sur le dispositif de nettoyage humide 14, et donc être distinct du dispositif de collecte de déchets 12.The autonomous cleaning robot 2 also comprises a tank of cleaning liquid 32 which is mounted, for example in a removable manner, on the main body 3. Advantageously, the tank of cleaning liquid 32 and the waste collection device 12 are superimposed, and are integral with one the other. Thus, the autonomous cleaning robot 2 can for example comprise a removable reservoir comprising a first compartment forming the cleaning liquid reservoir 32 and a second compartment forming the waste collection device 12. However, according to a variant embodiment of the invention, the cleaning liquid reservoir 32 could be provided directly on the wet cleaning device 14, and therefore be separate from the waste collection device 12.

Le dispositif de nettoyage humide 14 comporte en outre une pluralité d'orifices de sortie de liquide 33 qui sont configurés pour être reliés fluidiquement au réservoir de liquide de nettoyage 32 et qui sont configurés pour alimenter en liquide de nettoyage les serpillères 17 montées sur les supports de serpillère 15.The wet cleaning device 14 further comprises a plurality of liquid outlet ports 33 which are configured to be fluidly connected to the cleaning liquid reservoir 32 and which are configured to supply cleaning liquid to the mops 17 mounted on the supports. of mop 15.

Selon le mode de réalisation représenté sur les figures, les orifices de sortie de liquide 33 sont alignés selon une direction d'alignement qui s'étend perpendiculairement à la direction de déplacement principale D du robot de nettoyage autonome 2, et sont régulièrement espacés les uns des autres. De façon avantageuse, les orifices de sortie de liquide 33 sont situés à l'avant des supports de serpillère 15, et par exemple à l'avant des serpillères 17, et sont configurés pour être orientés vers la surface à nettoyer.According to the embodiment shown in the figures, the liquid outlet orifices 33 are aligned along an alignment direction which extends perpendicularly to the main direction of movement D of the autonomous cleaning robot 2, and are regularly spaced from each other. others. Advantageously, the liquid outlet orifices 33 are located at the front of the mop supports 15, and for example at the front of the mops 17, and are configured to be oriented towards the surface to be cleaned.

Le robot de nettoyage autonome 2 comporte également un circuit d'alimentation en liquide de nettoyage prévu sur le corps principal 3 et configuré pour relier fluidiquement les orifices de sortie de liquide 33 au réservoir de liquide de nettoyage 32.The autonomous cleaning robot 2 also comprises a cleaning liquid supply circuit provided on the main body 3 and configured to fluidically connect the liquid outlet orifices 33 to the cleaning liquid reservoir 32.

De façon avantageuse, le circuit d'alimentation en liquide de nettoyage comporte un distributeur 35 (voir la figure 7) logé dans le corps principal 3. Le distributeur 35 comprend une chambre de collecte qui s'étend transversalement à la direction de déplacement principal du robot de nettoyage autonome 2 et qui est reliée fluidiquement au réservoir de liquide de nettoyage 32, et une pluralité d'orifices d'évacuation (non visibles sur les figures) qui sont prévus sur une face inférieure du distributeur, qui débouchent dans la chambre de collecte et qui sont répartis le long de la chambre de collecte. De façon avantageuse, chaque orifice d'évacuation est situé en regard d'un orifice de passage 37 respectif (voir la figure 12) qui est prévu sur le corps principal 3 et qui débouche dans la face inférieure 4 du corps principal 3, et chaque orifice de passage 37 est situé en regard d'un orifice de sortie de liquide 33 respectif.Advantageously, the cleaning liquid supply circuit comprises a distributor 35 (see the figure 7 ) housed in the main body 3. The dispenser 35 comprises a collection chamber which extends transversely to the main direction of movement of the autonomous cleaning robot 2 and which is fluidly connected to the cleaning liquid reservoir 32, and a plurality of evacuation orifices (not visible in the figures) which are provided on an underside of the distributor, which open into the collection chamber and which are distributed along the collection chamber. Advantageously, each evacuation orifice is located opposite a respective passage orifice 37 (see the figure 12 ) which is provided on the main body 3 and which opens into the lower face 4 of the main body 3, and each passage orifice 37 is located opposite a respective liquid outlet orifice 33.

Selon le mode de réalisation représenté sur les figures, le robot de nettoyage autonome 2 comporte une rampe de soulèvement 38 qui s'étend transversalement à la direction de déplacement principale D du robot de nettoyage autonome 2 et qui est située à l'avant des supports de serpillère 15. La rampe de soulèvement 38 peut par exemple présenter une longueur correspondant sensiblement à la distance entre les deux roues motrices 7. De façon avantageuse, la rampe de soulèvement 38 est prévue sur le dispositif de nettoyage humide 14, et est par exemple fixée au corps de support 19.According to the embodiment shown in the figures, the autonomous cleaning robot 2 comprises a lifting ramp 38 which extends transversely to the main direction of movement D of the autonomous cleaning robot 2 and which is located in front of the supports mop 15. The lifting ramp 38 may for example have a length corresponding 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 support body 19.

La rampe de soulèvement 38 comporte une surface de soulèvement 38.1 qui est orientée vers une surface à nettoyer et qui est inclinée vers l'arrière et vers le bas. De façon avantageuse, la surface de soulèvement 38.1 est sensiblement plane. La surface de soulèvement 38.1 est plus particulièrement configurée pour entraîner un soulèvement de la partie arrière 3.2 du corps principal 3 lorsqu'un obstacle, se présentant frontalement au robot de nettoyage autonome 2 lors d'un déplacement vers l'avant du corps principal 3, vient en contact avec ladite surface de soulèvement 38.1 et glisse sur ladite surface de soulèvement 38.1.The lifting ramp 38 has a lifting surface 38.1 which faces a surface to be cleaned and which slopes backwards and downwards. Advantageously, the lifting surface 38.1 is substantially planar. The lifting surface 38.1 is more particularly configured to cause lifting of the rear part 3.2 of the main body 3 when an obstacle, presenting itself frontally to the autonomous cleaning robot 2 during a forward movement of the main body 3, comes into contact with said lifting surface 38.1 and slides on said lifting surface 38.1.

De façon avantageuse, la surface de soulèvement 38.1 est configurée pour être inclinée par rapport à l'horizontale d'un angle d'inclinaison compris entre 10 et 40°, et par exemple d'environ 25°, lorsque le robot de nettoyage autonome repose sur une surface horizontale.Advantageously, the lifting surface 38.1 is configured to be inclined with respect to the horizontal by an angle of inclination comprised between 10 and 40°, and for example approximately 25°, when the autonomous cleaning robot is resting. on a horizontal surface.

Selon le mode de réalisation représenté sur les figures, les orifices de sortie de liquide 33 sont prévus sur la rampe de soulèvement 38 et sont réparties le long de la rampe de soulèvement 38. De façon avantageuse, les orifices de sortie de liquide 33 débouchent dans la surface de soulèvement 38.1.According to the embodiment shown in the figures, the liquid outlet orifices 33 are provided on the lifting ramp 38 and are distributed along the lifting ramp 38. Advantageously, the liquid outlet 33 open into the lifting surface 38.1.

Comme montré sur les figures 13 et 14, le robot de nettoyage autonome comporte également un module de remplacement 41 qui est configuré pour être monté sur le corps principal 3 à la place du dispositif de nettoyage humide 14 en particulier lorsqu'un nettoyage humide d'une surface à nettoyer n'est pas souhaité. Le module de remplacement 41 est dépourvu de serpillère et peut par exemple être installé sur le corps principal à la place du dispositif de nettoyage humide 14 lorsque l'aspiration d'un sol mou, tel qu'un tapis, est souhaitée ou lorsqu'un nettoyage humide d'un sol dur n'est pas souhaité.As shown on the figure 13 and 14 , the autonomous cleaning robot also comprises a replacement module 41 which is configured to be mounted on the main body 3 in place of the wet cleaning device 14 in particular when wet cleaning of a surface to be cleaned is not wish. The replacement module 41 does not have a mop and can for example be installed on the main body in place of the wet cleaning device 14 when vacuuming a soft floor, such as a carpet, is desired or when a wet cleaning of a hard floor is not desired.

De façon avantageuse, le module de remplacement 41 comporte des moyens de guidage 41.1 identiques aux nervures de guidage 21 prévues sur le dispositif de nettoyage humide 14, et également une paroi de fond 41.2 et une paroi arrière 41.3 respectivement similaires à la plaque de support 19.1 et à la paroi latéral 19.4 du corps de support 19.Advantageously, the replacement module 41 comprises guide means 41.1 identical to the guide ribs 21 provided on the wet cleaning device 14, and also a bottom wall 41.2 and a rear wall 41.3 respectively similar to the support plate 19.1 and to the side wall 19.4 of the support body 19.

Selon une variante de réalisation de l'invention, le module de remplacement 41 pourrait être pourvu d'un support de module configuré pour être monté sur le corps principal 3 à la place du dispositif de nettoyage humide 14, et d'au moins une serpillère passive, c'est-à-dire qui est montée immobile par rapport au support de module. Un tel module de remplacement 41 permet à un utilisateur de réaliser un essuyage du sol à nettoyer, qui peut être humide ou sec en fonction des besoins de l'utilisateur.According to a variant embodiment of the invention, the replacement module 41 could be provided with a module support configured to be mounted on the main body 3 in place of the wet cleaning device 14, and with at least one mop passive, that is to say which is mounted immobile with respect to the module support. Such a replacement module 41 allows a user to wipe the floor to be cleaned, which can be wet or dry depending on the user's needs.

Selon une autre variante de réalisation de l'invention, le module de remplacement 41 pourrait être pourvu d'un élément de traitement de sol, autre qu'une serpillère, configuré pour réaliser un traitement mécanique, chimique, thermique ou rayonnant du sol.According to another alternative embodiment of the invention, the replacement module 41 could be provided with a ground treatment element, other than a mop, configured to carry out a mechanical, chemical, thermal or radiant treatment of the ground.

Bien entendu, l'invention n'est nullement limitée au mode de réalisation décrit et illustré qui n'a été donné qu'à titre d'exemple. Des modifications restent possibles, notamment du point de vue de la constitution des divers éléments ou par substitution d'équivalents techniques, sans sortir pour autant du domaine de protection de l'invention.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, in particular from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the field of protection of the invention.

Claims (15)

Robot de nettoyage autonome (2) comprenant : - un corps principal (3) comportant une face inférieure (4) qui est configurée pour être orientée vers une surface à nettoyer et une ouverture d'aspiration (5) prévue dans une partie avant du corps principal (3) et débouchant dans la face inférieure (4) du corps principal (3), - une unité d'aspiration (11) qui est logée au moins en partie dans le corps principal (3) et qui est configurée pour générer un flux d'air à travers l'ouverture d'aspiration (5), - un dispositif de nettoyage humide (14) comportant deux supports de serpillère (15) qui sont chacun montés mobiles en translation par rapport au corps principal (3) selon une direction de translation (T), et deux serpillères (17) montées de manière amovible respectivement sur les deux supports de serpillère (15), les serpillères (17) étant configurées pour être en contact avec la surface à nettoyer, et - deux roues motrices (7) configurées pour rouler sur la surface à nettoyer et montées mobiles en rotation sur le corps principal (3) respectivement autour de deux axes de rotation qui sont sensiblement parallèles, caractérisé en ce que les deux supports de serpillère (15) sont situés à l'arrière des axes de rotation des roues motrices (7), et en ce que la direction de translation (T) s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices (7).Autonomous cleaning robot (2) comprising: - a main body (3) comprising a lower face (4) which is configured to be oriented towards a surface to be cleaned and a suction opening (5) provided in a front part of the main body (3) and opening into the face bottom (4) of the main body (3), - a suction unit (11) which is housed at least partly in the main body (3) and which is configured to generate an air flow through the suction opening (5), - a wet cleaning device (14) comprising two mop supports (15) which are each mounted movable in translation relative to the main body (3) in a direction of translation (T), and two mops (17) mounted in such a way removable respectively on the two mop supports (15), the mops (17) being configured to be in contact with the surface to be cleaned, and - two drive wheels (7) configured to roll on the surface to be cleaned and mounted to rotate on the main body (3) respectively around two axes of rotation which are substantially parallel, characterized in that the two mop supports (15) are located behind the axes of rotation of the drive wheels (7), and in that the direction of translation (T) extends substantially parallel to the axes of rotation of the two-wheel drive (7). Robot de nettoyage autonome (2) selon la revendication 1, dans lequel les supports de serpillère (15) sont montés mobiles l'un par rapport à l'autre entre une configuration rapprochée dans laquelle les deux supports de serpillère (15) sont rapprochés l'un de l'autre et une configuration éloignée dans laquelle les deux supports de serpillère (15) sont éloignés l'un de l'autre.A self-contained cleaning robot (2) according to claim 1, wherein the mop supports (15) are movably mounted relative to each other between a close configuration in which the two mop supports (15) are close together away from each other and a remote configuration in which the two mop supports (15) are remote from each other. Robot de nettoyage autonome (2) selon la revendication 1 ou 2, dans lequel les deux supports de serpillère (15) sont disposés de part et d'autre d'un plan longitudinal médian (P) du corps principal (3).Autonomous cleaning robot (2) according to Claim 1 or 2, in which the two mop supports (15) are arranged on either side of a median longitudinal plane (P) of the main body (3). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 3, lequel est configuré de telle sorte que, lorsque le robot de nettoyage autonome (2) repose sur une surface à nettoyer, une partie arrière du robot de nettoyage autonome (2) repose sur ladite surface à nettoyer directement par les deux serpillères (17).Autonomous cleaning robot (2) according to any one of claims 1 to 3, which is configured such that when the autonomous cleaning robot (2) rests on a surface to be cleaned, a rear part of the autonomous cleaning robot (2) rests on said surface to be cleaned directly by the two mops (17). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 4, dans lequel les deux supports de serpillère (15) sont positionnés par rapport au corps principal (3) de telle sorte que les deux supports de serpillère (15) ne sont coupés par aucun plan vertical passant par des axes de rotation de roues équipant le robot de nettoyage autonome (2), et de telle sorte que les deux supports de serpillère (15) ne sont pas situés au moins en partie entre deux plans verticaux passant respectivement par deux axes de rotation de roues équipant le robot de nettoyage autonome (2).Autonomous cleaning robot (2) according to any one of claims 1 to 4, in which the two mop supports (15) are positioned with respect to the main body (3) in such a way that the two mop supports (15) are not intersected by any vertical plane passing through axes of rotation of wheels equipping the autonomous cleaning robot (2), and in such a way that the two mop supports (15) are not located at least partly between two vertical planes respectively passing through two axes of rotation of wheels fitted to the autonomous cleaning robot (2). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 5, lequel comporte une batterie d'alimentation (13) configurée pour alimenter électriquement le robot de nettoyage autonome (2), la batterie d'alimentation (13) étant située au moins en partie au-dessus de l'un des supports de serpillère (15).Autonomous cleaning robot (2) according to any one of claims 1 to 5, which comprises a power supply battery (13) configured to electrically supply the autonomous cleaning robot (2), the power supply battery (13) being located at least partly above one of the mop supports (15). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 6, dans lequel l'unité d'aspiration (11) est située au moins en partie au-dessus de l'un des supports de serpillère (15).Autonomous cleaning robot (2) according to any one of claims 1 to 6, in which the suction unit (11) is located at least partly above one of the mop supports (15). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 7, dans lequel le dispositif de nettoyage humide (14) est monté de manière amovible par rapport au corps principal (3).Autonomous cleaning robot (2) according to any one of claims 1 to 7, wherein the wet cleaning device (14) is removably mounted relative to the main body (3). Robot de nettoyage autonome (2) selon la revendication 8, dans lequel le dispositif de nettoyage humide (14) est configuré pour être retiré du corps principal (3) par un mouvement de translation dirigé vers l'arrière du corps principal (3).Autonomous cleaning robot (2) according to claim 8, wherein 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). Robot de nettoyage autonome (2) selon la revendication 8 ou 9, dans lequel le dispositif de nettoyage humide (14) comporte un premier connecteur électrique (23) configuré pour coopérer avec un deuxième connecteur électrique (24) monté sur le corps principal (3) lors d'un montage du dispositif de nettoyage humide (14) sur le corps principal (3) selon une direction de montage qui est dirigée vers l'avant du corps principal (3).Autonomous cleaning robot (2) according to claim 8 or 9, in which the wet cleaning device (14) comprises a first electrical connector (23) configured to cooperate with a second electrical connector (24) mounted on the main body (3 ) when mounting the wet cleaning device (14) on the main body (3) in a mounting direction which is directed towards the front of the main body (3). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 8 à 10, lequel comporte un mécanisme de verrouillage configuré pour verrouiller le dispositif de nettoyage humide (14) sur le corps principal (3).Autonomous cleaning robot (2) according to any one of claims 8 to 10, which comprises a locking mechanism configured to lock the wet cleaning device (14) to the main body (3). Robot de nettoyage autonome (2) selon la revendication 11, dans lequel le mécanisme de verrouillage comporte un organe de verrouillage (25) qui est actionnable par un utilisateur et qui est prévu sur le corps principal (3) ou le dispositif de nettoyage humide (14), l'organe de verrouillage (25) étant monté mobile entre une position de verrouillage dans laquelle l'organe de verrouillage (25) est configuré pour coopérer avec un élément de verrouillage (26) prévu sur le dispositif de nettoyage humide (14) ou le corps principal (3) de manière à verrouiller le dispositif de nettoyage humide (14) sur le corps principal (3) et une position de libération dans laquelle l'organe de verrouillage (25) est configuré pour libérer l'élément de verrouillage (26) de manière à autoriser un retrait du dispositif de nettoyage humide (14) du corps principal (3).Autonomous cleaning robot (2) according to claim 11, wherein the locking mechanism comprises a locking member (25) which is operable by a user and which is provided on the main body (3) or the wet cleaning device ( 14), the locking member (25) being mounted to move between a locking position in which 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 as to lock the wet cleaning device (14) on the main body (3) and a release position in which the locking member (25) is configured to release the element lock (26) so as to allow removal of the wet cleaning device (14) from the main body (3). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 12, dans lequel le robot de nettoyage autonome (2) comporte un réservoir de liquide de nettoyage (32), et le dispositif de nettoyage humide (14) comporte une pluralité d'orifices de sortie de liquide (33) qui sont configurés pour être reliés fluidiquement au réservoir de liquide de nettoyage (32) et qui sont configurés pour alimenter en liquide de nettoyage les serpillères (17) montées sur les supports de serpillère (15), les orifices de sortie de liquide (33) étant situés à l'avant des supports de serpillère (15).Self-contained cleaning robot (2) according to any one of claims 1 to 12, wherein the self-contained cleaning robot (2) comprises a cleaning liquid tank (32), and the wet cleaning device (14) comprises a plurality of liquid outlet ports (33) which are configured to be fluidly connected to the cleaning liquid reservoir (32) and which are configured to supply cleaning liquid to the mops (17) mounted on the mop supports (15 ), the liquid outlets (33) being located at the front of the mop supports (15). Robot de nettoyage autonome (2) selon l'une quelconque des revendications 1 à 13, lequel comporte une rampe de soulèvement (38) qui s'étend sensiblement parallèlement aux axes de rotation des deux roues motrices et qui est située à l'avant des supports de serpillère (15), la rampe de soulèvement (38) comportant une surface de soulèvement (38.1) qui est orientée vers une surface à nettoyer et qui est inclinée vers l'arrière et vers le bas, la surface de soulèvement (38.1) étant configurée pour entraîner un soulèvement d'une partie arrière du corps principal (3) lorsqu'un obstacle, se présentant frontalement au robot de nettoyage autonome (2) lors d'un déplacement vers l'avant du corps principal (3), vient en contact avec ladite surface de soulèvement (38.1) et glisse sur ladite surface de soulèvement (38.1).Autonomous cleaning robot (2) according to any one of Claims 1 to 13, which comprises a lifting ramp (38) which extends substantially parallel to the axes of rotation of the two drive wheels and which is located in front of the mop holders (15), the lifting ramp (38) having a lifting surface (38.1) which faces a surface to be cleaned and which slopes backwards and downwards, the lifting surface (38.1) being configured to cause a lifting of a rear part of the main body (3) when an obstacle, presenting itself frontally to the autonomous cleaning robot (2) during a forward movement of the main body (3), comes in contact with said lifting surface (38.1) and sliding on said lifting surface (38.1). Robot de nettoyage autonome (2) selon les revendications 13 et 14, dans lequel les orifices de sortie de liquide (33) sont prévus sur la rampe de soulèvement (38) et sont réparties le long de la rampe de soulèvement (38).Autonomous cleaning robot (2) according to claims 13 and 14, wherein the liquid outlets (33) are provided on the lifting ramp (38) and are distributed along the lifting ramp (38).
EP22182721.5A 2021-07-07 2022-07-04 Autonomous cleaning robot provided with a wet cleaning device Active EP4115785B1 (en)

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FR2107358A FR3124935B1 (en) 2021-07-07 2021-07-07 Autonomous cleaning robot equipped with a wet cleaning device

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120088314A (en) * 2011-01-31 2012-08-08 엘지전자 주식회사 A robot cleaner comprising a mop mounting plate which is able to reciprocate
EP3257416A1 (en) 2016-06-15 2017-12-20 Hobot Technology Inc. Automatic cleaning machine
US20190191952A1 (en) * 2017-12-22 2019-06-27 Bissell Homecare, Inc. Robotic cleaner with sweeper and rotating dusting pads
US20200383547A1 (en) * 2019-06-05 2020-12-10 Sharkninja Operating, Llc Robotic cleaner

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120088314A (en) * 2011-01-31 2012-08-08 엘지전자 주식회사 A robot cleaner comprising a mop mounting plate which is able to reciprocate
EP3257416A1 (en) 2016-06-15 2017-12-20 Hobot Technology Inc. Automatic cleaning machine
US20190191952A1 (en) * 2017-12-22 2019-06-27 Bissell Homecare, Inc. Robotic cleaner with sweeper and rotating dusting pads
US20200383547A1 (en) * 2019-06-05 2020-12-10 Sharkninja Operating, Llc Robotic cleaner

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CN117615693A (en) 2024-02-27
FR3124935A1 (en) 2023-01-13
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WO2023281191A1 (en) 2023-01-12
EP4115785B1 (en) 2024-04-17

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