Sensor module and cleaning robot

Abstract

The invention relates to a sensor module and a cleaning robot, the sensor module comprises a first moving part, a second moving part and a switch module which are arranged on a chassis of the cleaning robot, and the second moving part is provided with a trigger part used for changing the working state of the switch module; the first moving part is configured to move along a first direction relative to the chassis, and the second moving part is configured to move along a second direction relative to the chassis; when the cleaning robot is collided, the second moving part moves in the second direction, so that the trigger part changes the working state of the switch module; when the cleaning robot is suspended, the first moving part moves in the first direction, the second moving part is driven to move through the linkage structure, and then the working state of the switch module is changed through the trigger part. In the application, the same switch module can respond to collision detection and also can respond to suspension detection, so that the sensor layout of the cleaning robot is simplified, the number of parts is reduced, and the system cost and complexity are reduced.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a sensor module and a cleaning robot. Background Technology

[0002] With the automation of high-altitude cleaning operations, window cleaning robots have been widely used in the cleaning of building curtain walls and high-rise residential windows. These robots adhere to and move on vertical or inclined glass surfaces to perform cleaning tasks, and their working environment is characterized by high altitude, high risk, and complex surfaces. Therefore, the reliability and compactness requirements of their safety protection systems are much higher than those of ground cleaning robots. Among them, collision avoidance detection and fall prevention detection are the two core functions to ensure their safe operation: collision avoidance detection allows the robot to adjust its posture or path in time when it comes into contact with protruding objects such as window frames, rubber strips, and handles to avoid jamming or damage; fall prevention detection must quickly identify the moment when the robot is about to leave the glass surface and lose its adhesion, and immediately activate emergency measures (such as tightening adhesion or sounding an alarm), which is the key to preventing the machine from falling from a height.

[0003] In existing technologies, window cleaning robots rely heavily on two separate sensing systems for collision avoidance and fall prevention. Collision avoidance is typically achieved through microswitches, infrared, or ultrasonic sensors around the robot body; fall prevention usually relies on vacuum sensors for suction control, or contact probes or infrared reflective cliff sensors specifically placed at the robot's edge to indirectly determine the robot's contact status with the glass. However, this separate design leads to the following problems with window cleaning robots:

[0004] First, the internal space of the window cleaning robot is extremely compact, requiring the integration of a vacuum adsorption system, a walking drive system, a cleaning system, and a control module. Two separate sets of sensors and their wiring further encroach on the already limited space, severely restricting the product's design towards thinness and integration, and potentially affecting the integrity of the adsorption air path.

[0005] Second, the reflective and transparent properties of glass surfaces, as well as complex outdoor lighting conditions, can easily interfere with the normal operation of optical fall protection sensors. Mechanical probes may also experience poor contact or sticking on damp or dirty glass surfaces. Summary of the Invention

[0006] Therefore, it is necessary to provide a sensor module and a cleaning robot to address the aforementioned problems with cleaning robots.

[0007] A sensor module is applied to a cleaning robot, including a first motion part, a second motion part, and a switch module disposed on the chassis of the cleaning robot. The second motion part is provided with a trigger part for changing the working state of the switch module.

[0008] The first moving part is configured to move relative to the chassis in a first direction, and the second moving part is configured to move relative to the chassis in a second direction;

[0009] When the cleaning robot collides, the second moving part moves along the second direction, causing the triggering part to change the working state of the switch module;

[0010] When the cleaning robot is suspended in the air, the first moving part moves along the first direction and drives the second moving part to move through the linkage structure, thereby changing the working state of the switch module through the trigger part.

[0011] The first direction is the height direction of the cleaning robot, and the second direction is the walking direction of the cleaning robot.

[0012] This application discloses a sensor module that includes a first motion part and a second motion part that can move along a first direction and a second direction, respectively. A trigger part for changing the working state of a switch module is provided on the second motion part. When the cleaning robot collides, the collision force directly drives the second motion part to move along the second direction and triggers the switch module to change its working state. When the cleaning robot is suspended in the air, the first motion part moves along the first direction while the second motion part moves through a linkage structure, thereby triggering the switch module to change its working state. This allows the same switch module to respond to both collision detection and suspension detection, thereby simplifying the sensor layout of the cleaning robot, reducing the number of parts, reducing system cost and complexity, and saving internal space in the robot chassis.

[0013] In one embodiment, the second moving part is provided with a second groove extending along the length of the second direction and the chassis is provided with a second limiting part, or the second moving part is provided with a second limiting part and the chassis is provided with a second groove extending along the length of the second direction.

[0014] In one embodiment, one of the first moving part and the chassis is provided with a first sliding groove extending along the length of the first direction, and the other is provided with a first limiting part, which is slidably disposed on the first sliding groove.

[0015] In one embodiment, a second spring is provided between the second moving part and the chassis. One end of the second spring is connected to the second moving part, and the other end is connected to the chassis. The second spring is used to reset the second moving part after the cleaning robot escapes the collision. By providing a second spring between the second moving part and the chassis, when a collision occurs, the external force pushes the second moving part to move in a second direction against the elastic force of the second spring, causing the trigger part to change the working state of the switch module. Once the external force of the collision disappears, the elastic potential energy stored in the compressed second spring will be released, driving the second moving part back to its initial stationary position. In addition, at the same time as the second moving part resets, the trigger part leaves the trigger area of ​​the switch module, thereby ensuring that the working state of the switch module is reset along with the second moving part. This achieves the technical effect that the sensor module can automatically return to the detection state after each collision without external intervention, providing a guarantee for continuous detection.

[0016] In one embodiment, a first spring is provided between the first moving part and the chassis. One end of the first spring is connected to the first moving part, and the other end is connected to the chassis. The first spring is used to drive the first moving part to move when the cleaning robot is suspended in the air. By providing a first spring between the first moving part and the chassis, when the cleaning robot is suspended in the air, the first moving part loses the support of the window glass, and the elastic potential energy stored in the first spring is released, driving the first moving part to move in a first direction. Then, through a linkage structure, the movement of the first moving part in the first direction is converted into driving the second moving part to move in a second direction, thereby changing the working state of the switching module through a trigger.

[0017] In one embodiment, one of the first moving part and the second moving part is provided with a third limiting part, and the other is provided with a guide surface. The guide surface is designed to be inclined with respect to the second direction, and the third limiting part and the guide surface slide and abut against each other to form the linkage structure.

[0018] When the cleaning robot does not collide with anything and is not suspended in mid-air, the elastic potential energy of the first spring is greater than that of the second spring.

[0019] When the first spring drives the first moving part to move along the first direction, the third limiting part slides on the guide surface, and the second moving part is driven to move along the second direction by the compression of the guide surface by the third limiting part.

[0020] In one embodiment,

[0021] The switching module is a through-beam photoelectric sensor or a slot-type photoelectric sensor, and the triggering part is a block structure that extends into the optical path of the switching module to block it.

[0022] or,

[0023] The switch module is a magnetic switch, and the triggering part is a magnetic structure;

[0024] or,

[0025] The switch module is a micro switch, and the trigger part is a protruding structure.

[0026] In one embodiment, the first direction and the second direction are perpendicular to each other.

[0027] A cleaning robot, comprising the sensor module described in any of the above claims.

[0028] In one embodiment, the number of sensor modules is no less than two. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the assembly of the sensor module and the chassis in one embodiment. Figure 1 ;

[0030] Figure 2 This is a schematic diagram of the assembly of the sensor module and the chassis in one embodiment. Figure 2 (The sensor module is in its initial state)

[0031] Figure 3 This is a schematic diagram of the assembly of the sensor module and the chassis in one embodiment. Figure 3 (The cleaning robot collided with something.)

[0032] Figure 4 This is a schematic diagram of the assembly of the sensor module and the chassis in one embodiment. Figure 4 (The cleaning robot appears to be suspended in mid-air.)

[0033] The correspondence between the reference numerals and the component names is as follows:

[0034] 110 First moving part, 120 Second moving part, 130 Switch module, 111 Third limiting part, 121 Trigger part, 122 Guide surface, 141 First spring, 142 Second spring, 101 First slide groove, 102 Second slide groove.

[0035] 200 chassis, 211 first limit part, 212 second limit part. Detailed Implementation

[0036] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0037] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0038] The sensor module and cleaning robot of some embodiments of the present invention are described below with reference to the accompanying drawings.

[0039] like Figures 1 to 4 As shown, this embodiment discloses a sensor module applied to a cleaning robot, including a first motion part 110, a second motion part 120 and a switch module 130 disposed on the chassis 200 of the cleaning robot. The second motion part 120 is provided with a trigger part 121 for changing the working state of the switch module 130.

[0040] The first motion unit 110 is configured to move relative to the chassis 200 in a first direction, and the second motion unit 120 is configured to move relative to the chassis 200 in a second direction.

[0041] When the cleaning robot collides, the second motion unit 120 moves along the second direction, causing the trigger unit 121 to change the working state of the switch module 130.

[0042] When the cleaning robot is suspended in the air, the first motion unit 110 moves along the first direction and drives the second motion unit 120 to move through the linkage structure, thereby changing the working state of the switch module 130 through the trigger unit 121.

[0043] The first direction is the height direction of the cleaning robot, and the second direction is the walking direction of the cleaning robot.

[0044] This application discloses a sensor module that includes a first motion part 110 and a second motion part 120 that can move along a first direction and a second direction, respectively. A trigger part 121 for changing the working state of a switch module 130 is provided on the second motion part 120. When the cleaning robot collides, the collision force directly drives the second motion part 120 to move along the second direction and triggers the switch module 130 to change its working state. When the cleaning robot is suspended in the air, the first motion part 110 moves along the first direction and drives the second motion part 120 to move through a linkage structure, thereby triggering the switch module 130 to change its working state. This allows the same switch module 130 to respond to both collision detection and suspension detection, thereby simplifying the sensor layout of the cleaning robot, reducing the number of parts, reducing system cost and complexity, and saving internal space of the robot chassis 200.

[0045] Among them, the cleaning robot can be a floor sweeping robot or a window cleaning robot. The working principle of the sensor module will be explained below using a window cleaning robot as an example.

[0046] The chassis 200 of the cleaning robot can be used as a mounting base for the sensor module;

[0047] The switch module 130 can be fixed on the chassis 200. The switch module 130 can have an on state and an off state. The control system of the cleaning robot can determine whether the cleaning robot is currently in a trapped state based on the working state of the switch module 130, such as a collision or suspension. For example, when the control system receives a signal that the switch module 130 is in the on state, the control system determines that the cleaning robot is in a normal working state. When the control system receives a signal that the switch module 130 is in the off state, the control system determines that the cleaning robot is in a trapped state. At this time, the control system controls the cleaning robot to perform a combination of one or more of the following operations: backward operation, turning operation, or remaining stationary.

[0048] The first motion unit 110 may be disposed on the chassis 200 and may move relative to the chassis 200 in a first direction. When the cleaning robot is suspended in the air, for example, when the leading edge of the cleaning robot leaves the glass, the first motion unit 110 responds to the suspended state of the cleaning robot and moves relative to the chassis 200 in the first direction.

[0049] The second motion unit 120 may be mounted on the chassis 200 and can move relative to the chassis 200 in a second direction. When the cleaning robot collides, for example, when the leading edge of the cleaning robot collides with the window frame, the second motion unit 120 responds to the collision state of the cleaning robot and moves relative to the chassis 200 in a second direction. The second motion unit 120 may be provided with a trigger unit 121, which can move synchronously with the second motion unit 120. The change in the position of the trigger unit 121 can change the working state of the switch module 130.

[0050] The linkage structure can be used to convert the movement of the first moving part 110 along the first direction into a force or displacement that drives the second moving part 120 to move along the second direction; it should be noted that the first direction is different from the second direction.

[0051] Specifically, the sensor module of this application has two working modes: collision detection mode and suspension detection mode.

[0052] In collision detection mode, when the second moving part 120 collides with the outer shell of the second moving part 120 or the window frame, the collision force causes the second moving part 120 to move directly in the second direction, and the trigger part 121 on the second moving part 120 moves accordingly, thereby directly changing the working state of the switch module 130.

[0053] In the suspended detection mode, the cleaning robot partially or completely leaves the glass surface, and the first motion unit 110 or the outer shell connected to the first motion unit 110 loses the support of the glass. The first motion unit 110 moves along the first direction. At the same time, the movement of the first motion unit 110 is transmitted to the second motion unit 120 through the linkage structure. The linkage structure drives the second motion unit 120 to move, causing the trigger part 121 on the second motion unit 120 to move accordingly, thereby directly changing the working state of the switch module 130.

[0054] In some embodiments, the first moving part 110 is a long strip-shaped block structure, and the first moving part 110 is distributed on the chassis 200 along a first direction;

[0055] In some embodiments, the second moving part 120 is a long strip-shaped block structure. The second moving part 120 is distributed on the chassis 200 along the second direction, and the end of the second moving part 120 away from the chassis 200 is bent to form a collision part. The collision part can be used to contact and receive the protruding structure of the external collision force, which can significantly increase the effective area of ​​the collision force and guide the collision contact point to a more outward and more easily touched position, thereby improving the sensitivity and reliability of collision detection and ensuring that even a slight side collision can be effectively captured and transmitted.

[0056] like Figures 2 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second moving part 120 is provided with a second sliding groove 102 extending along the length of the second direction and the chassis 200 is provided with a second limiting part 212, or the second moving part 120 is provided with a second limiting part 212 and the chassis 200 is provided with a second sliding groove 102 extending along the length of the second direction.

[0057] The second slide groove 102 can be formed on one of the second moving part 120 and the chassis 200, and the second limiting part 212 is formed on the other of the second moving part 120 and the chassis 200. For example, the second moving part 120 is provided with the second slide groove 102, and the chassis 200 is provided with the second limiting part 212. The second slide groove 102 and the second limiting part 212 constitute a guiding mechanism, which constrains and guides the sliding of the second moving part 120 in the second slide groove 102, so that the second moving part 120 can only slide along the length direction of the second slide groove 102 and cannot deviate or rotate in other directions.

[0058] like Figures 2 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: one of the first moving part 110 and the chassis 200 is provided with a first sliding groove 101 extending along the length of the first direction, and the other is provided with a first limiting part 211, the first limiting part 211 being slidably disposed on the first sliding groove 101.

[0059] The first slide groove 101 may be formed on one of the components of the first moving part 110 and the chassis 200, and the first limiting part 211 may be provided on the other component of the first moving part 110 and the chassis 200. For example, the first moving part 110 is provided with the first slide groove 101, and the chassis 200 is provided with the first limiting part 211. The length extension direction of the first slide groove 101 is consistent with the first direction, and the first slide groove 101 and the first limiting part 211 together constitute a linear guide mechanism. This mechanism constrains and guides the movement of the first moving part 110 relative to the chassis 200 along the length direction of the first slide groove 101, preventing it from deviating or rotating in other directions.

[0060] like Figures 1 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: a second spring 142 is provided between the second moving part 120 and the chassis 200, one end of the second spring 142 is connected to the second moving part 120 and the other end is connected to the chassis 200, and the second spring 142 is used to reset the second moving part 120 after the cleaning robot is freed from the collision.

[0061] The sensor module in the above embodiment, by setting a second spring 142 between the second moving part 120 and the chassis 200, when a collision occurs with the cleaning robot, an external force pushes the second moving part 120 to move in the second direction against the elastic force of the second spring 142, causing the trigger part 121 to change the working state of the switch module 130. Once the collision force disappears, the elastic potential energy stored in the compressed second spring 142 will be released, driving the second moving part 120 back to the initial stationary position. In addition, at the same time as the second moving part 120 resets, the trigger part 121 leaves the trigger area of ​​the switch module 130, thereby ensuring that the working state of the switch module 130 is reset along with the second moving part 120. This achieves the technical effect that the sensor module can automatically return to the detection state after each collision without external intervention, providing a guarantee for continuous detection.

[0062] like Figures 1 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: a first spring 141 is provided between the first moving part 110 and the chassis 200, one end of the first spring 141 is connected to the first moving part 110 and the other end is connected to the chassis 200, and the first spring 141 is used to drive the first moving part 110 to move when the cleaning robot is suspended in the air.

[0063] In the sensor module of the above embodiment, a first spring 141 is provided between the first moving part 110 and the chassis 200. When the cleaning robot is suspended in the air, the first moving part 110 loses the support of the window glass, and the elastic potential energy stored in the first spring 141 will be released, driving the first moving part 110 to move in the first direction. Then, through the linkage structure, the movement of the first moving part 110 in the first direction is converted into driving the second moving part 120 to move in the second direction, and then the working state of the switch module 130 is changed by the trigger part 121.

[0064] like Figures 1 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: one of the first moving part 110 and the second moving part 120 is provided with a third limiting part 111, and the other is provided with a guide surface 122. The guide surface 122 is designed to be inclined with the second direction, and the third limiting part 111 and the guide surface 122 slide and abut against each other to form a linkage structure.

[0065] When the cleaning robot does not collide with anything and is not suspended in mid-air, the elastic potential energy of the first spring 141 is greater than that of the second spring 142.

[0066] When the first spring 141 drives the first moving part 110 to move in the first direction, the third limiting part 111 slides on the guide surface 122 and drives the second moving part 120 to move in the second direction by pressing the guide surface 122 with the third limiting part 111.

[0067] In the sensor module of the above embodiment, the elastic potential energy of the first spring 141 is greater than that of the second spring 142 in the initial state, and the inclined transmission mechanism formed by the cooperation of the third limiting part 111 and the inclined guide surface 122 serves as a linkage structure. The driving force of the first spring 141 causes the sliding of the third limiting part 111 on the guide surface 122 to generate a force component along the second direction, thereby enabling the second moving part 120 to overcome the resistance of the second spring 142 and ensuring that the trigger part 121 can change the working state of the switch module 130.

[0068] The third limiting part 111 may be disposed on one of the first moving part 110 and the second moving part 120, and the guide surface 122 may be disposed on the other of the first moving part 110 and the second moving part 120; the third limiting part 111 contacts and cooperates with the inclined guide surface 122 to form an inclined plane transmission mechanism; for example, the first moving part 110 is provided with the third limiting part 111, and the second moving part 120 is provided with the guide surface 122.

[0069] Specifically, when the cleaning robot is suspended in the air, the first spring 141 is released, driving the first moving part 110 to move along the first direction. Since the first moving part 110 and the second moving part 120 are linked with the guide surface 122 through the third limiting part 111, and in the initial state, the elastic potential energy of the first spring 141 is greater than that of the second spring 142, the movement of the first moving part 110 forces the third limiting part 111 to slide on the inclined guide surface 122. The third limiting part 111 exerts pressure on the guide surface 122. This pressure is perpendicular to the guide surface 122. Since the guide surface 122 is inclined, this pressure can be decomposed into two components: one component is canceled out along the guide surface 122, and the other component moves along the second direction, pushing the second moving part 120 to overcome the resistance of the second spring 142 and move along the second direction, causing the trigger part 121 to change the working state of the switch module 130.

[0070] like Figures 1 to 4 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the switch module 130 is a through-beam photoelectric sensor or a slot-type photoelectric sensor, and the trigger part 121 is a block structure that extends into the optical path of the switch module 130 to block it.

[0071] The switch module 130 can be a through-beam photoelectric sensor or a slotted photoelectric sensor, the core of which is to determine the state by whether the optical path between a transmitter and a receiver is blocked; the trigger unit 121 can be a blocking structure that extends into the optical path of the switch module 130 to block the light. The blocking structure can be set on the second moving part 120. When the blocking structure moves between the transmitter and the receiver, the blocking structure cuts off the optical path, thereby changing the output signal of the sensor.

[0072] In addition to the features of the above embodiments, this embodiment further specifies that: the switch module 130 is a magnetic switch and the trigger part 121 is a magnetic structure;

[0073] The switch module 130 can be a magnetic switch, such as a reed switch or a Hall sensor. The magnetic switch changes its electrical state by sensing changes in the magnetic field strength. The trigger part 121 can be a magnetic structure, such as a magnet. The magnetic structure can be set on the second moving part 120. When the second moving part 120 moves, it causes the magnetic structure to move closer to or away from the magnetic switch. The change in its magnetic field strength will change the working state of the switch module 130.

[0074] In addition to the features of the above embodiments, this embodiment further specifies that: the switch module 130 is a micro switch and the trigger part 121 is a protruding structure.

[0075] The switch module 130 can also be a micro switch, which changes the on / off state of its internal contacts by physically pressing its spring or button; the trigger part 121 can be a protruding structure, which can be disposed on the second moving part 120. When the second moving part 120 moves, the protruding structure presses the trigger mechanism of the micro switch, thereby changing the working state of the switch module 130.

[0076] like Figures 2 to 4 As shown, in addition to the features of the above embodiments, this embodiment further defines that the first direction and the second direction are perpendicular to each other.

[0077] This embodiment provides a cleaning robot, including the sensor module described above.

[0078] like Figure 1 As shown, in addition to the features of the above embodiments, this embodiment further specifies that the number of sensor modules is not less than two.

[0079] The cleaning robot described in the above embodiment forms a certain functional redundancy at the system level by configuring no fewer than two sensor modules on the cleaning robot. This ensures that when one sensor module temporarily fails due to dirt, mechanical failure, or being at an unfavorable detection angle, the other modules can still maintain basic safety protection functions, thereby enhancing the robustness and fault tolerance of the cleaning robot's safety protection system.

[0080] It should be noted that by using multiple sensor modules to form a distributed detection system, for example, deploying independent sensor modules in different key areas such as the front, rear, left, and right of the cleaning robot chassis 200, the physical position information of each module when the switch signal is triggered can be used to enable the cleaning robot's control system not only to know that an abnormal event has occurred, but also to preliminarily determine the location of the event, such as a collision to the left front or suspension to the right. This provides the cleaning robot with decision-making basis, enabling it to execute more precise obstacle avoidance or escape strategies.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A sensor module applied to a cleaning robot, characterized in that, It includes a first motion part (110), a second motion part (120) and a switch module (130) disposed on the chassis (200) of the cleaning robot. The second motion part (120) is provided with a trigger part (121) for changing the working state of the switch module (130). The first moving part (110) is configured to be movable relative to the chassis (200) in a first direction, and the second moving part (120) is configured to be movable relative to the chassis (200) in a second direction; When the cleaning robot collides, the second motion unit (120) moves along the second direction, causing the trigger unit (121) to change the working state of the switch module (130); When the cleaning robot is suspended in the air, the first motion unit (110) moves along the first direction and drives the second motion unit (120) to move through the linkage structure, thereby changing the working state of the switch module (130) through the trigger unit (121); The first direction is the height direction of the cleaning robot, and the second direction is the walking direction of the cleaning robot.

2. The sensor module according to claim 1, characterized in that, The second moving part (120) is provided with a second groove (102) extending along the length of the second direction and the chassis (200) is provided with a second limiting part (212), or the second moving part (120) is provided with a second limiting part (212) and the chassis (200) is provided with a second groove (102) extending along the length of the second direction.

3. The sensor module according to claim 1, characterized in that, One of the first moving part (110) and the chassis (200) is provided with a first sliding groove (101) extending along the length of the first direction, and the other is provided with a first limiting part (211), which is slidably disposed on the first sliding groove (101).

4. The sensor module according to any one of claims 1 to 3, characterized in that, A second spring (142) is provided between the second moving part (120) and the chassis (200). One end of the second spring (142) is connected to the second moving part (120), and the other end is connected to the chassis (200). The second spring (142) is used to reset the second moving part (120) after the cleaning robot is freed from the collision.

5. The sensor module according to claim 1, characterized in that, A first spring (141) is provided between the first moving part (110) and the chassis (200). One end of the first spring (141) is connected to the first moving part (110), and the other end is connected to the chassis (200). The first spring (141) is used to drive the first moving part (110) to move when the cleaning robot is suspended in the air.

6. The sensor module according to claim 5, characterized in that, One of the first moving part (110) and the second moving part (120) is provided with a third limiting part (111), and the other is provided with a guide surface (122). The guide surface (122) is designed to be inclined with respect to the second direction. The third limiting part (111) and the guide surface (122) slide and abut against each other to form the linkage structure. When the cleaning robot does not collide and is not suspended in the air, the elastic potential energy of the first spring (141) is greater than that of the second spring (142). When the first spring (141) drives the first moving part (110) to move along the first direction, the third limiting part (111) slides on the guide surface (122) and drives the second moving part (120) to move along the second direction by squeezing the guide surface (122) by the third limiting part (111).

7. The sensor module according to claim 1, characterized in that, The switch module (130) is a through-beam photoelectric sensor or a slot-type photoelectric sensor, and the trigger part (121) is a block structure that extends into the optical path of the switch module (130) to block it. or, The switch module (130) is a magnetic switch, and the trigger part (121) is a magnetic structure; or, The switch module (130) is a micro switch, and the trigger part (121) is a protruding structure.

8. The sensor module according to claim 1, characterized in that, The first direction and the second direction are perpendicular to each other.

9. A cleaning robot, characterized in that, Includes the sensor module as described in any one of claims 1-8 above.

10. The cleaning robot according to claim 9, characterized in that, The number of sensor modules shall be no less than two.

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