A floor cleaning robot and a method for detecting, controlling and cleaning thereof

Abstract

A floor-sweeping robot and a method for detecting, controlling and cleaning the same. The floor-sweeping robot includes a detection module and a motion module. The detection module is movably installed on the body of the floor-sweeping robot. The motion module is used to control the detection module to extend outward relative to the body, so that the detection module is movably arranged on the body to obtain information for the work planning of the floor-sweeping robot. A method for detecting, controlling and cleaning includes the following steps: extending the detection module outward to obtain the overall environmental information around the floor-sweeping robot; determining the running direction of the cleaning work according to the overall environmental information; the floor-sweeping robot performs the cleaning work, and at the same time the detection module continuously detects to obtain the local environmental information around the floor-sweeping robot. In the present invention, the detection module can extend outward relative to the body, reducing the detection blind area, so as to detect a larger range of overall environmental information, plan a complete cleaning route, and improve the cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the field of floor cleaning robots, and particularly to a floor cleaning robot and a method for detecting, controlling and cleaning the same. Background Art

[0002] A floor cleaning robot, an intelligent household appliance, automatically completes the floor cleaning work indoors by virtue of a certain artificial intelligence. With the progress of the times, floor cleaning robots have successively appeared in every household and play an important role in people's daily lives, greatly improving people's quality of life.

[0003] Generally, it adopts a brushing and vacuuming method to first suck the ground debris into its own garbage collection box, thereby completing the function of floor cleaning. Generally speaking, robots that complete cleaning, dust suction, and mopping work are also uniformly classified as floor cleaning robots.

[0004] The detection modules of existing floor cleaning robots are basically fixedly arranged on the side walls of the floor cleaning robots, and the detection vision is changed by the rotation of the floor cleaning robots themselves; the following deficiencies exist: firstly, the detection vision is fixed, the detection blind area is large, it is difficult to obtain the overall environmental information of the room, and the cleaning route planning is incomplete; secondly, it is difficult to obtain the local environmental information around the floor cleaning robot in real time, and collisions are likely to occur. Summary of the Invention

[0005] Aiming at the above defects, the purpose of the present invention is to provide a floor cleaning robot and a method for detecting, controlling and cleaning the same, so that the detection module can expand the detection vision, reduce the detection blind area, improve the cleaning efficiency, and can detect the surrounding environment of the floor cleaning robot in real time, especially accurately detect the obstacles around the floor cleaning robot in real time.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: A floor cleaning robot includes a detection module and a motion module. The detection module is movably installed on the body of the floor cleaning robot, and the motion module is used to control the detection module to extend outward relative to the body, so that the detection module is telescopically movably arranged on the body.

[0007] Further, the detection module extends outward or retracts and resets relative to the top of the body through the motion module.

[0008] Further, the motion module is located inside the floor cleaning robot. The motion module includes a telescopic component that moves relative to the body. The detection module is installed on the telescopic component. The included angle between the telescopic direction of the telescopic component and the vertical central axis of the floor cleaning robot is φ, where 0° ≤ φ ≤ 60°.

[0009] Further, the motion module further includes a swing assembly, the swing assembly includes a base and a swing driver, the telescopic assembly is installed on the base, the swing driver is arranged below the base, a transmission member is provided between the swing driver and the base, and the swing driver swings the base through the transmission member, thereby changing the telescopic direction of the telescopic assembly, so that the included angle φ between the telescopic direction of the detection module and the vertical central axis of the floor sweeping robot is variable.

[0010] Further, the telescopic assembly includes a movable part and a driving part, the movable part includes a telescopic column, the driving part includes an electric driver, the detection module is arranged on the telescopic column, and a transmission and cooperation member is provided between the telescopic column and the electric driver, and the electric driver drives the telescopic column to extend or retract through the transmission and cooperation member.

[0011] Further, the transmission and cooperation member includes a driving gear and a rack that cooperate with each other, the rack is vertically and fixedly arranged on the bottom end surface of the telescopic column, and the driving gear is arranged on the driving shaft of the electric driver.

[0012] Further, the detection module is provided with a rotation driver, and the rotation axis of the rotation driver is arranged on the axis of the telescopic movement direction of the detection module, so that the detection module rotates with the axis of the telescopic movement direction as the center line to detect the situation in all directions.

[0013] A method for detecting and controlling cleaning includes the following steps:

[0014] Extend the detection module outward to obtain the overall environmental information around the floor sweeping robot;

[0015] Determine the running direction of the cleaning work according to the overall environmental information;

[0016] The floor sweeping robot performs the cleaning work, and at the same time the detection module continuously detects to obtain the local environmental information around the floor sweeping robot;

[0017] When the floor sweeping robot detects an obstacle at a certain height in the running direction, the detection module retracts toward the floor sweeping robot so that the floor sweeping robot can pass through the obstacle;

[0018] After the floor sweeping robot crosses the obstacle, the detection module extends again to continue the detection work.

[0019] Further, the process of obtaining the overall environmental information around the floor sweeping robot is as follows:

[0020] The floor sweeping robot extends the detection module, and the detection module rotates itself through the rotation driver to obtain the overall environmental information around the floor sweeping robot at present.

[0021] Further, the process of obtaining the local environmental information around the floor cleaning robot is as follows:

[0022] The floor cleaning robot changes the telescopic stroke and / or the telescopic movement direction of the detection module through the movement module, so that the detection field of view of the detection module moves up and down, adjusts the detection range of the detection module, and obtains the local environment around the floor cleaning robot in real time.

[0023] Further, the floor cleaning robot establishes a map and performs positioning through the detection module and the sensors built in the floor cleaning robot.

[0024] Further, when the floor cleaning robot detects an obstacle at a certain height in the running direction, the detection module obtains the ground clearance, direction and distance information of the obstacle. When the detection module avoids the obstacle, the movement module controls the detection module to retract towards the floor cleaning robot, records and calculates the running path record. After passing the obstacle, the detection module extends again to continue to detect the surrounding environment of the floor cleaning robot in real time.

[0025] Further, the included angle between the telescopic movement direction of the detection module and the vertical central axis of the floor cleaning robot is φ, where 0° ≤ φ ≤ 60°.

[0026] Further, the vertical direction stroke of the detection module relative to the floor cleaning robot is H, where 0 mm ≤ H ≤ 70 mm.

[0027] Further, the detection angle of the detection module in the up and down directions directly in front of the detection end is β, where -30° ≤ β ≤ 50°.

[0028] Further, after the floor cleaning robot finishes the cleaning task, the detection module retracts into the floor cleaning robot for storage.

[0029] Further, after the full-area cleaning is completed, the floor cleaning robot finds the charging pile according to the map established by the detection module and the sensors built in the floor cleaning robot for recharging.

[0030] Based on the above, the present invention provides a floor cleaning robot and a method for detecting, controlling and cleaning. The detection module is installed on the main body of the floor cleaning robot through the movement module. The movement module is used to control the detection module to extend outward relative to the main body, so that the detection module is telescopically movably arranged on the main body.

[0031] Therefore, the detection module can extend outward relative to the main body, expand the detection field of view, reduce the detection blind area, so as to detect the overall environmental information in a larger range, plan a complete cleaning route, and improve the cleaning efficiency.

[0032] During the cleaning process, the floor sweeping robot continuously detects in a large range in real time the surrounding environment of the floor sweeping robot, especially accurately and in real time detects the obstacles around the floor sweeping robot, so as to avoid meaningless collisions of the floor sweeping robot and avoid damage to the detection module that extends out.

[0033] When the detection module detects an obstacle at a certain height in the running direction, the motion module controls the detection module to retract into the floor sweeping robot by the corresponding height, reducing the height of the detection module, facilitating the floor sweeping robot to pass through the obstacle, so that the floor sweeping robot can enter a low space for cleaning. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of one embodiment of the present invention;

[0035] Figure 2 is a schematic structural diagram of the telescopic assembly and the detection module of one embodiment of the present invention, where β is the detection angle of the detection module in the up and down directions directly in front of the detection end;

[0036] Figure 3 is a schematic structural diagram of the telescopic assembly and the detection module of one embodiment of the present invention, where β is the detection angle of the detection module in the up and down directions directly in front of the detection end;

[0037] Figure 4 is a combined schematic diagram of the detection module and the motion module of one embodiment of the present invention;

[0038] Figure 5 is a combined schematic diagram of the detection module and the motion module of one embodiment of the present invention, where φ is the included angle between the telescopic movement direction of the detection module and the vertical central axis of the floor sweeping robot.

[0039] Wherein: 1. Floor sweeping robot; 11. Detection module; 12. Motion module; 121. Telescopic assembly; 122. Swing assembly; 31. Telescopic column; 32. Electric drive; 33. Lifting platform; 34. Oblique section; 35. Connecting rod; 36. Pulley; 41. Base; 42. Swing drive; 43. Transmission member; 431. Driving gear; 432. Driven gear; 44. Transmission fitting; 441. Driving gear; 442. Rack; 3. Vertical central axis. Detailed Embodiments

[0040] The technical solution of the present invention will be further described below with reference to the drawings and through specific embodiments.

[0041] Such as Figures 1-5As shown in the figure, a floor cleaning robot includes a detection module 11 and a motion module 12. The detection module 11 is movably installed on the body of the floor cleaning robot 1, and the motion module 12 is used to control the detection module 11 to extend outward relative to the body, so that the detection module 11 is telescopically movably arranged on the body.

[0042] Specifically, the detection module 11 can be an infrared detection module, an ultrasonic detection module, a laser detection module, a vision detection module, etc.

[0043] The detection module 11 is used to obtain external environment information, build a map, locate and detect obstacles. Since the detection module 11 in this embodiment is movably installed on the body of the floor cleaning robot 1, the motion module 12 is used to control the detection module 11 to extend outward or retract and reset relative to the body, so that the detection module 11 is movably arranged on the body.

[0044] Therefore, the detection module 11 can extend outward relative to the body, expand the detection field of view, reduce the detection blind area, so as to detect the overall environmental information in a larger range, plan a complete cleaning route, and improve the cleaning efficiency.

[0045] Through a floor cleaning robot 1 of this embodiment, continuous large-range detection is carried out during the cleaning process, the surrounding environment of the floor cleaning robot 1 is detected in real time, especially the obstacles around the floor cleaning robot 1 are accurately detected in real time, so that the floor cleaning robot 1 can avoid meaningless collisions and avoid damage to the extended detection module 11.

[0046] Further, the detection module 11 extends outward relative to the top of the floor cleaning robot 1 through the motion module 12.

[0047] The detection module 11 can extend outward relative to the top, bottom or side wall of the floor cleaning robot 1. More preferably, the detection module 11 extends outward relative to the top of the floor cleaning robot 1 through the motion module 12. Since there is a large space above the top of the floor cleaning robot 1, the detection module 11 has a large extension space and a low collision probability. The movement of the detection module 11 does not need to consider whether the floor to be cleaned is uneven, which is convenient for the detection module 11 to extend, thereby expanding the detection field of view of the detection module 11. Therefore, the detection module 11 is arranged to extend outward relative to the top of the floor cleaning robot 1.

[0048] Further, the motion module 12 is located inside the floor cleaning robot 1. The motion module 12 includes a telescopic component 121 that is movable relative to the main body. The detection module 11 is installed on the telescopic component 121, such as on the telescopic end face of the telescopic component 121, so that the detection module 11 is partially or fully installed inside the floor cleaning robot 1. Specifically, the included angle between the telescopic direction of the telescopic component 121 and the vertical central axis 3 of the floor cleaning robot 1 is φ, where 0° ≤ φ ≤ 60°. For example, Figure 5 as shown, the vertical central axis 3 refers to the central axis in the vertical direction of the floor cleaning robot 1.

[0049] The telescopic component 121 can be a cylinder telescopic component, a hydraulic telescopic component, or a motor-driven telescopic component 121. More preferably, a motor-driven telescopic component 121 is selected. The motor-driven telescopic component 121 has a lower structural cost, higher reliability, and relatively simple fault repair. For example, Figure 2 as shown, the motor-driven telescopic component 121 includes a movable part and a driving part. The movable part includes a telescopic column 31, and the driving part includes an electric driver 32. The electric driver 32 can be a DC motor, an AC motor, a servo motor, or other motors. The detection module 11 is arranged on the telescopic column 31. A transmission fitting 44 is arranged between the telescopic column 31 and the electric driver 32. The electric driver 32 drives the telescopic column 31 to extend or retract through the transmission fitting 44. Among them, the transmission fitting 44 includes a driving gear 441 and a rack 442 that cooperate with each other. The rack 442 is vertically and fixedly arranged on the bottom end face of the telescopic column 31, and the driving gear 441 is arranged on the driving shaft of the electric driver 32. By driving the driving gear 441 to rotate through the electric driver 32, the driving gear 441 drives the rack 442 to move up and down, thereby driving the telescopic column 31 to expand and contract.

[0050] In addition, the motor-driven telescopic component 121 can also be as Figure 3As shown, the movable part includes a guide cavity and a telescopic column 31. The detection module 11 is installed on the upper end surface of the telescopic column 31. The driving part includes a power driver 32 and a lifting platform 33. The power driver 32 drives the lifting platform 33 to rotate circumferentially. An inclined section 34 is provided at the top of the lifting platform 33. A connecting rod 35 is provided between the movable part and the driving part. One end of the connecting rod 35 is fixedly arranged on the lower end surface of the telescopic column 31, and the other end of the connecting rod 35 is movably arranged on the inclined section 34. The connecting rod 35 is supported by the inclined section 34, and a pulley 36 is provided between the connecting rod 35 and the inclined section 34. The power driver 32 drives the lifting platform 33 to rotate, the pulley 36 slides along the inclined section 34, and the connecting rod 35 drives the telescopic column 31 to move due to the height change of the inclined section 34, thereby realizing the telescoping of the detection module 11.

[0051] Further, the motion module 12 further includes a swinging assembly 122. The swinging assembly 122 includes a base 41 and a swinging driver 42. The telescopic assembly 121 is installed on the upper end surface of the base 41. The swinging driver 42 is arranged below the base 41. A transmission member 43 is provided between the swinging driver 42 and the base 41. The swinging driver 42 swings the base 41 through the transmission member 43, thereby changing the telescoping direction of the telescopic assembly 121, so that the angle φ between the telescoping direction of the detection module 11 and the vertical central axis 3 is variable.

[0052] The swinging driver 42 can be a motor such as a DC motor, an AC motor, or a servo motor, and the transmission member 43 can be a transmission member such as a gear or a connecting rod. More preferably, a gear transmission is selected. The transmission member 43 includes a driving gear 431 and a driven gear 432. The driven gear 432 is arranged on the lower end surface of the base 41. The driving gear 431 is driven to rotate by the swinging driver 42, and the driving gear 431 drives the driven gear 432 to rotate, realizing the up-and-down swinging of the base 41, thereby changing the telescoping direction of the telescopic assembly 121, so that the angle φ between the telescoping direction of the detection module 11 and the vertical central axis 3 is variable. In addition, it can also be the cooperation of a gear and a rack. Specifically, the movement of the rack can be driven by a motor, a cylinder, or a hydraulic cylinder, so as to realize the rotation of the gear and the change of the angle φ. By changing the angle φ between the telescoping direction of the detection module 11 and the vertical central axis 3, the detection field of view of the detection module 11 is swung up and down, the detection range is expanded, the detection blind area is reduced, which is beneficial for the detection module 11 to accurately and real-time detect the obstacles around the sweeping robot 1, reduce meaningless collisions, and avoid damage to the extended detection module 11.

[0053] Further, the detection module 11 is provided with a rotation driver, and the rotation axis of the rotation driver is arranged on the axis of the telescopic movement direction of the detection module 11, so that the detection module 11 rotates with the axis of the telescopic movement direction as the center line to detect the situations in all directions.

[0054] The rotation driver is a rotation driver such as a motor. The detection module 11 rotates around the axis of the telescopic movement direction as the center line through the rotation driver, so as to realize that the detection module 11 comprehensively detects the overall environment around the sweeping robot 1, which is beneficial to planning a complete cleaning route.

[0055] A method for detecting and controlling cleaning includes the following steps:

[0056] Extend the detection module 11 outwards to obtain the overall environmental information around the sweeping robot 1;

[0057] Determine the running direction of the cleaning work according to the overall environmental information;

[0058] The sweeping robot 1 performs the cleaning work, and at the same time, the detection module 11 continuously detects to obtain the local environmental information around the sweeping robot 1;

[0059] When the sweeping robot 1 detects an obstacle at a certain height in the running direction, the detection module 11 retracts towards the sweeping robot 1 by the corresponding height so that the sweeping robot 1 can pass through the obstacle;

[0060] After the sweeping robot 1 crosses the obstacle, the detection module 11 extends out again to continue the detection work.

[0061] Since the detection module 11 of this embodiment is installed on the body of the sweeping robot 1 through the motion module 12, and the motion module 12 is used to control the detection module 11 to extend outwards relative to the body, so that the detection module 11 is movably arranged on the body.

[0062] Therefore, the detection module 11 can extend outwards relative to the body, reducing the detection blind area, so as to detect more comprehensive overall environmental information, plan a complete cleaning route, and improve the cleaning efficiency.

[0063] During the cleaning process, the sweeping robot 1 continuously detects in a large range, and real-time detects the surrounding environment of the sweeping robot 1, especially accurately and real-time detects the obstacles around the sweeping robot 1, so that the sweeping robot 1 can avoid meaningless collisions.

[0064] When the detection module 11 detects an obstacle at a certain height in the running direction, the movement module 12 controls the detection module 11 to retract towards the floor cleaning robot 1 by the corresponding height. The calculation of the corresponding height can be the distance from the lowest point of the obstacle to the ground minus the distance from the current detection module 11 to the ground, reducing the height of the detection module 11 to facilitate the floor cleaning robot 1 to pass through the obstacle, so that the floor cleaning robot 1 can enter a low space for cleaning.

[0065] Further, the process of obtaining the overall environmental information around the floor cleaning robot 1 is as follows:

[0066] The floor cleaning robot 1 extends the detection module 11, and the detection module 11 rotates itself through the rotation driver to obtain the overall environmental information around the current floor cleaning robot 1.

[0067] The movement module 12 is used to control the detection module 11 to extend outwards relative to the body, and then the detection module 11 is rotated through the rotation driver to detect the overall environment around the floor cleaning robot 1 in all directions, obtaining the overall environmental information for the work planning of the floor cleaning robot 1, which is beneficial to planning a complete cleaning route.

[0068] Further, the process of obtaining the local environmental information around the floor cleaning robot 1 is as follows:

[0069] The floor cleaning robot 1 changes the telescopic stroke or / and the telescopic movement direction of the detection module 11 through the movement module 12, so that the detection field of view of the detection module 11 moves up and down, adjusting the detection range of the detection module 11 to obtain the local environment around the floor cleaning robot 1 in real time.

[0070] By changing the telescopic stroke of the detection module 11 through the movement module 12, the detection field of view of the detection module 11 moves up and down, adjusting the detection range of the detection module 11 to facilitate the detection module 11 to detect the local environment around the floor cleaning robot 1 in real time; by changing the telescopic direction of the detection module 11 through the movement module 12, the detection module 11 swings up and down to provide a wider detection field of view, facilitating the detection module 11 to make a more accurate detection.

[0071] Further, the floor cleaning robot 1 establishes a map and performs positioning through the detection module 11 and the sensors built in the floor cleaning robot 1.

[0072] Among them, the sensors built in the floor cleaning robot 1 can be inertial measurement units such as gyroscopes or acceleration sensors. During the cleaning process, the environmental information around the floor cleaning robot 1 is obtained through the detection module 11 and the sensors, establishing a more accurate and three-dimensional map, which is beneficial to determining the planned cleaning path and reducing collisions.

[0073] Further, when the floor cleaning robot 1 detects an obstacle at a certain height in the running direction, the detection module 11 obtains the ground clearance, direction and distance information of the obstacle. When the detection module 11 avoids the obstacle, the motion module 12 controls the detection module 11 to retract into the floor cleaning robot 1 by a corresponding height, records and calculates the running path record. After passing the obstacle, the detection module 11 extends out again and continues to detect the surrounding environment of the floor cleaning robot 1 in real time.

[0074] In this embodiment, the detection module 11 extends outwards relative to the top of the floor cleaning robot 1. During the cleaning process, the overall thickness of the floor cleaning robot is increased. When the detection module 11 detects an obstacle at a certain height in the running direction, for example, when the floor cleaning robot 1 needs to enter a low space such as under a table or under a cabinet, the detection module 11 obtains information such as the ground clearance, direction and distance of the obstacle. When the detection module 11 avoids the obstacle, the motion module 12 controls the detection module 11 to retract into the floor cleaning robot 1 by a corresponding height, reducing the height of the detection module 11 to facilitate the floor cleaning robot 1 to pass through the obstacle; records and calculates the running path record. After passing the obstacle, the detection module 11 extends out again and continues to detect the surrounding environment of the floor cleaning robot 1 in real time. Among them, the detection module 11 only retracts a certain distance and can still detect within a certain height range, and can identify whether the current state has passed the obstacle.

[0075] Further, the included angle between the telescopic movement direction of the detection module 11 and the vertical central axis 3 is φ, where 0° ≤ φ ≤ 60°.

[0076] Further, the vertical stroke of the detection module 11 relative to the floor cleaning robot 1 is H, where 0mm ≤ H ≤ 70mm.

[0077] Further, the detection angle of the detection module 11 in the up and down directions directly in front of the detection end is β, where -30° ≤ β ≤ 50°, where the detection angle below the horizontal line is negative and the detection angle above the horizontal line is positive.

[0078] Further, after the floor cleaning robot 1 finishes the cleaning task, the detection module 11 retracts into the floor cleaning robot 1 for storage.

[0079] When the floor cleaning robot 1 finishes the cleaning task, the motion module 12 controls the detection module 11 to retract into the floor cleaning robot 1 for storage, avoiding the exposure of the detection module 11 and improving the service life of the detection module 11.

[0080] Furthermore, after the cleaning of the entire area is completed, the cleaning robot 1 finds a charging pile for recharging according to the map established by the detection module 11 and the built-in sensor of the cleaning robot 1 .

[0081] After receiving the positioning signal from the charging pile within a certain range, the positioning is performed in combination with the positioning signal to improve the control accuracy of the recharging position. After the sweeping robot 1 returns to the charging pile for charging, it is ensured that there is enough power for the next cleaning work of the sweeping robot 1.

[0082] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A floor cleaning robot, characterized in that: It includes a detection module (11) and a motion module (12). The detection module (11) is movably installed on the body of the floor sweeping robot (1), and the motion module (12) is used to control the detection module (11) to extend outwards relative to the body, so that the detection module (11) is telescopically movably arranged on the body; The motion module (12) is located inside the floor sweeping robot (1). The motion module (12) includes a telescopic component (121) that is movable relative to the body. The detection module (11) is installed on the telescopic component (121). The included angle between the telescopic direction of the telescopic component (121) and the vertical central axis (3) of the floor sweeping robot (1) is φ, where 0° ≤ φ ≤ 60°; The motion module (12) further includes a swing component (122). The swing component (122) includes a base (41) and a swing driver (42). The telescopic component (121) is installed on the base (41). The swing driver (42) is arranged below the base (41). There is a transmission member (43) between the swing driver (42) and the base (41). The swing driver (42) swings the base (41) through the transmission member (43), thereby changing the telescopic direction of the telescopic component (121), so that the included angle φ between the telescopic direction of the detection module (11) and the vertical central axis (3) is variable; The detection module (11) is provided with a rotation driver. The rotation axis of the rotation driver is arranged on the axis of the telescopic movement direction of the detection module (11), so that the detection module (11) rotates with the axis of the telescopic movement direction as the center line; The telescopic component (121) includes a movable part and a driving part. The movable part includes a telescopic column (31). The driving part includes an electric driver (32). The detection module (11) is arranged on the telescopic column (31). There is a transmission and cooperation member (44) between the telescopic column (31) and the electric driver (32). The electric driver (32) drives the telescopic column (31) to extend or retract through the transmission and cooperation member (44); The movable part includes a guide cavity and a telescopic column (31). The detection module (11) is installed on the upper end face of the telescopic column (31). The driving part includes an electric driver (32) and a lifting platform (33). The electric driver (32) drives the lifting platform (33) to rotate circumferentially. The top of the lifting platform (33) is provided with an inclined section (34). There is a connecting rod (35) between the movable part and the driving part. One end of the connecting rod (35) is fixedly arranged on the lower end face of the telescopic column (31). The other end of the connecting rod (35) is movably arranged on the inclined section (34). The connecting rod (35) is supported by the inclined section (34). There is a pulley (36) between the connecting rod (35) and the inclined section (34); The transmission member (43) includes a driving gear (431) and a driven gear (432). The driven gear (432) is arranged on the lower end surface of the base (41). The driving gear (431) is driven to rotate by the swing driver (42), and the driving gear (431) drives the driven gear (432) to rotate.

2. The floor sweeping robot according to claim 1, characterized in that: The detection module (11) extends outwards or retracts and resets relative to the top of the body through the motion module (12).

3. The floor sweeping robot according to claim 1, characterized in that: The transmission and cooperation member (44) includes a driving gear (441) and a rack (442) that cooperate with each other. The rack (442) is vertically and fixedly arranged on the bottom end surface of the telescopic column (31), and the driving gear (441) is arranged on the driving shaft of the electric driver (32).

4. A method for detecting and controlling cleaning, characterized in that: Applied to a floor cleaning robot according to any one of claims 1 to 3; Comprising the following steps: Extend out the detection module (11) to obtain the overall environmental information around the floor cleaning robot (1); Determine the running direction of the cleaning work according to the overall environmental information; The floor cleaning robot (1) performs the cleaning work, and at the same time the detection module (11) continuously detects to obtain the local environmental information around the floor cleaning robot (1); When the floor cleaning robot (1) detects an obstacle at a certain height in the running direction, the detection module (11) retracts towards the floor cleaning robot (1) so that the floor cleaning robot (1) can pass through the obstacle; After the floor cleaning robot (1) crosses the obstacle, drive the detection module (11) to extend out again and continue the detection work; The process of obtaining the local environmental information around the floor cleaning robot (1) is as follows: The floor cleaning robot (1) changes the telescopic stroke and / or the telescopic movement direction of the detection module (11) through the motion module (12), so that the detection field of view of the detection module (11) moves up and down, adjusts the detection range of the detection module (11), and obtains the local environment around the floor cleaning robot (1) in real time; The included angle between the telescopic movement direction of the detection module (11) and the vertical central axis (3) is φ, where 0° ≤ φ ≤ 60°; The detection angle of the detection module (11) in the up and down directions directly in front of the detection end is β, where -30° ≤ β ≤ 50°.

5. The method for detecting and controlling cleaning according to claim 4, wherein: The process of obtaining the overall environmental information around the floor cleaning robot (1) is as follows: The floor cleaning robot (1) extends out the detection module (11), and the detection module (11) rotates self by the rotation driver to obtain the overall environmental information around the floor cleaning robot (1) at present.

6. The method for detecting and controlling cleaning according to claim 4, characterized in that: The floor cleaning robot (1) establishes a map and performs positioning through the detection module (11) and the sensors built in the floor cleaning robot (1).

7. A method for detecting and controlling cleaning according to claim 4, characterized in that: When the floor cleaning robot (1) detects an obstacle at a certain height in the running direction, the detection module (11) obtains the ground clearance, direction and distance information of the obstacle. When the detection module (11) avoids the obstacle, the motion module (12) controls the detection module (11) to retract towards the floor cleaning robot (1), records and calculates the running path record. After passing the obstacle, the detection module (11) extends out again and continues to detect the surrounding environment of the floor cleaning robot (1) in real time.

8. A method for detecting and controlling cleaning according to claim 4, characterized in that: The vertical direction travel of the detection module (11) relative to the floor cleaning robot (1) is H, where 0mm ≤ H ≤ 70mm.

9. The method for detecting and controlling cleaning according to claim 4, wherein: After the floor cleaning robot (1) finishes the cleaning task, the detection module (11) retracts into the floor cleaning robot (1) for storage.

10. A method for detecting and controlling cleaning according to claim 4, characterized in that: After the whole area cleaning is completed, the floor cleaning robot (1) finds the charging pile for recharging according to the map established by the detection module (11) and the built-in sensors of the floor cleaning robot (1).

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