Boundary detection mechanism and cleaning robot

Abstract

A boundary detection mechanism and a cleaning robot relate to the technical field of automatic cleaning equipment. The boundary detection mechanism comprises a first detection part capable of moving in the first direction relative to the shell, a second detection part used for abutting against a to-be-cleaned face and capable of moving in the second direction relative to the first detection part when moving out of the to-be-cleaned face, a trigger part and an inductor. The trigger part is configured to be driven by the first detection part and the second detection part and trigger the inductor to generate an induction signal; the second detection part is configured to drive the first detection part to move relative to the shell in the first direction when the second detection part moves forwards out of the to-be-cleaned face and is squeezed and collided forwards, then the trigger part is driven to trigger the inductor to generate an induction signal, and the second detection part moves relative to the first detection part in the direction opposite to the second direction when the second detection part moves backwards and is squeezed and collided. According to the scheme, the gap of the spliced glass can be detected, and the defect that gas leakage and even falling are easily caused due to the fact that the gap of the spliced glass cannot be detected in the prior art is overcome.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic cleaning equipment, in particular to a boundary detection mechanism and a cleaning robot. Background Art

[0002] Chinese patent document CN220212810U discloses a boundary detection module, which can be used for boundary detection of framed glass and frameless glass. When a cleaning robot using the boundary detection module moves to the edge of framed glass, the first detection component is squeezed by the glass frame and moves along the first direction and drives the trigger component to move from the first position to the second position, triggering the sensor to generate a sensing signal; when the cleaning robot using the boundary detection module moves to the edge of frameless glass, the second detection component originally against the glass surface slides from the outside of the glass edge. After losing the glass support function, the second detection component moves along the second direction and drives the trigger component to move from the first position to the third position, triggering the sensor to generate a sensing signal.

[0003] There is a risk when a cleaning robot using the above-mentioned boundary detection module walks on spliced ​​glass. The reason is that: some spliced ​​glass joints have gaps due to lack of glue, and the bottom end of the second detection component is a hemispherical structure. When the cleaning robot moves to the joint, a part of the bottom end of the second detection component will slide into the gap at the joint. However, the downward movement distance of the second detection component is small, and it cannot drive the trigger component to trigger the sensor to generate a sensing signal, and the existence of the gap cannot be detected. The cleaning robot will maintain its walking direction unchanged and pass through the gap, resulting in air leakage. Since the cleaning robot relies on suction to adhere to the glass surface, when the air leakage is serious, the machine will fall off the glass surface due to insufficient suction. Utility Model Content

[0004] One of the purposes of the utility model is to provide a boundary detection mechanism capable of detecting the gap between spliced ​​glasses.

[0005] In order to achieve the above-mentioned object, the utility model adopts the following technical solution: a boundary detection mechanism, comprising a first detection component capable of moving relative to a housing in a first direction, a second detection component for abutting against a surface to be cleaned and capable of moving relative to the first detection component in a second direction when moving out of the surface to be cleaned, a trigger component and a sensor, wherein the trigger component is configured to be driven by the first detection component and the second detection component and trigger the sensor to generate a sensing signal;

[0006] The second detection component is configured to drive the first detection component to move in a first direction relative to the shell when it moves forward out of the surface to be cleaned and is squeezed from the front, thereby driving the trigger component to trigger the sensor to generate a sensing signal, and to move in the opposite direction of the second direction relative to the first detection component when it retreats backward and is squeezed.

[0007] Furthermore, the second detection component includes a first contact surface for receiving front impact after it moves forward out of the surface to be cleaned, and a second contact surface for receiving rear impact during its backward retreat; the first contact surface is perpendicular to the surface to be cleaned, and the second contact surface is an arc surface or an inclined surface inclined relative to the first contact surface.

[0008] Furthermore, the first detection component includes a support connected to the shell, and the support is restricted to be able to move along a first direction relative to the shell after being squeezed and to reset after the squeezing force is cancelled; the second detection component includes a rod movably connected to the support and restricted to be able to move back and forth only relative to the support along a second direction perpendicular to the surface to be cleaned, and an elastic component for applying a force to the rod so that its bottom end abuts against the surface to be cleaned.

[0009] Furthermore, a rotatable roller is sleeved on the outer ring of the support, and the bottom peripheral edge of the roller is chamfered or rounded.

[0010] Furthermore, a rotatable roller is sleeved on the outer ring of the support, and an inner concave portion is provided on the circumferential edge of the bottom of the roller.

[0011] Furthermore, the bottom end of the rod is used to receive front impact after the rod moves forward out of the surface to be cleaned and to receive rear impact during its backward retreat, and the bottom end of the rod is shaped like a quarter sphere or an eighth sphere.

[0012] Furthermore, the sensor is a reflective sensor or an interruption sensor, and the trigger component is a baffle fixedly arranged on the top end of the rod.

[0013] Another object of the present utility model is to provide a cleaning robot, which comprises a shell, and the shell is provided with the above-mentioned boundary detection mechanism.

[0014] Similar to the existing boundary detection module, the boundary detection mechanism of the utility model can also be applied to the boundary detection of framed glass and frameless glass. The difference is that the boundary detection mechanism of the utility model can also be applied to the gap detection between spliced ​​glass. When the cleaning robot using the boundary detection mechanism moves to the joint of the spliced ​​glass, the second detection component originally against the rear glass surface will slide from the edge of the glass to the gap at the joint, and collide with the front glass at the joint. The squeezed second detection component will drive the first detection component to move relative to the shell along the first direction, and then drive the trigger component to trigger the sensor to generate a sensing signal, thereby detecting the existence of the gap between the spliced ​​glass, prompting the machine to retreat, and preventing the machine from passing through the gap; and when the cleaning robot retreats backward, the second detection component will collide with the edge of the rear glass, and the squeezed second detection component will move in the opposite direction of the second direction, and then move to the top of the glass surface and against the glass surface. The utility model improves the existing boundary detection module, which well compensates for the shortcomings of the existing cleaning robot that is prone to air leakage or even falling due to the inability to detect the gap between the spliced ​​glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional diagram of a cleaning robot housing in an embodiment;

[0016] Figure 2 for Figure 1 A magnified schematic diagram of the middle A area;

[0017] Figure 3 A bottom view of the cleaning robot housing in the embodiment;

[0018] Figure 4 for Figure 3 A magnified schematic diagram of the B part;

[0019] Figure 5 The three-dimensional structure of the boundary detection mechanism in the embodiment Figure 1 ;

[0020] Figure 6 The three-dimensional structure of the boundary detection mechanism in the embodiment Figure 2 ;

[0021] Figure 7 is a cross-sectional view of a boundary detection mechanism in an embodiment;

[0022] Figure 8 is a three-dimensional diagram of a rod member in an embodiment;

[0023] Fig. 9 It is a three-dimensional diagram of the support in the embodiment.

[0024] In the figure:

[0025] 1——housing 1a——sliding groove

[0026] 2——First detection component 2a——Support

[0027] 2b——Roller 2c——Reset component

[0028] 3——Second detection component 3a——Rod

[0029] 3a1——first contact surface 3a2——second contact surface

[0030] 3b——Elastic component 4——Trigger component

[0031] 4a——First trigger part 4b——Second trigger part

[0032] 5——Sensor. DETAILED DESCRIPTION

[0033] Aiming at the problem that the existing cleaning robot cannot detect the gap between the spliced ​​glasses, the utility model improves the existing boundary detection module and designs a boundary detection mechanism that can detect the gap between the spliced ​​glasses.

[0034] Similar to the existing boundary detection module, the boundary detection mechanism involved in the utility model also includes: a first detection component 2 capable of moving along a first direction relative to the shell 1 is installed on the shell 1 of the cleaning robot, and a second detection component 3 capable of moving along a second direction relative to the first detection component 2 is movably installed on the first detection component 2, and during the operation of the cleaning robot, the second detection component 3 is pressed against the surface to be cleaned ("surface to be cleaned" refers to the surface of a flat plate-like component to be cleaned, such as the surface of window glass. For ease of understanding, the following description will take window glass as an example), a trigger component 4 is arranged on the second detection component 3, and a sensor 5 is fixedly installed on the shell 1 of the cleaning robot.

[0035] Similar to the existing boundary detection module, the boundary detection mechanism of the utility model can also perform boundary detection of framed glass and frameless glass, specifically in the following manner: in the process of the cleaning robot cleaning the framed window glass, when the first detection component 2 is squeezed and collided with the frame of the glass, under the pushing action of the frame, the first detection component 2 drives the second detection component 3 and the trigger component 4 arranged on the second detection component 3 to move relative to the housing 1 along the first direction, so that the trigger component 4 moves from the original first position (non-trigger position) to the second position (trigger position), thereby triggering the sensor 5 to form a sensing signal. In the process of the cleaning robot cleaning the frameless window glass, when the cleaning robot walks to the edge of the glass, the first detection component 2 will not be displaced due to the lack of obstruction of the frame, and when the second detection component 3 moves to the outside of the glass and hangs in the air, due to the loss of support from the glass, it will move relative to the first detection component 2 along the second direction, thereby causing the trigger component 4 to move from the original first position (non-trigger position) to the third position (trigger position), and triggering the sensor 5 to form a sensing signal.

[0036] Unlike the existing boundary detection module, the boundary detection mechanism of the utility model can also perform gap detection between spliced ​​glass. The specific method is as follows: when the cleaning robot is cleaning the spliced ​​glass, when the cleaning robot walks to the joint of the spliced ​​glass, the first detection component 2 will not be displaced due to the lack of the frame obstruction. When the second detection component 3 moves to the top of the gap of the spliced ​​glass and hangs in the air, it will move in the second direction relative to the first detection component 2 and slip into the gap due to the loss of support from the glass. However, due to the short moving distance, the trigger component 4 driven by it cannot move from the first position (non-trigger position) to the third position (trigger position), that is, it cannot trigger the sensor 5 to form a sensing signal. However, the second detection component 3 After the second detection component 3 slides into the gap, it will collide with the front glass. Under the pushing action of the front glass, the second detection component 3 will drive the first detection component 2 and the trigger component 4 arranged on the second detection component 3 to move relative to the shell 1 along the first direction, thereby driving the trigger component 4 to move from the first position (non-trigger position) to the second position (trigger position), and triggering the sensor 5 to form a sensing signal, thereby detecting the existence of the gap between the spliced ​​glasses, prompting the machine to retreat, and preventing the machine from passing through the gap; and when the cleaning robot retreats backwards, the second detection component 3 can move in the opposite direction of the second direction relative to the first detection component 2 under the pushing action of the rear glass, and move to the top of the glass surface and press against the glass surface.

[0037] In order to help those skilled in the art to more clearly understand the concept of the present invention, the present invention is further described below in conjunction with embodiments and drawings.

[0038] Figure 1-4The structure of the cleaning robot in this embodiment is shown. It can be seen from the figure that, similar to the structure of the existing cleaning robot, the cleaning robot involved in this embodiment also includes a shell 1 (to simplify the description, only the bottom shell part of the shell 1 is shown in the figure), and a plurality of boundary detection mechanisms are also arranged at the outer peripheral edge of the shell 1.

[0039] Specific structure reference for a single boundary detection mechanism Figure 5-7 As shown, it mainly includes a first detection component 2, a second detection component 3, a trigger component 4 and a sensor 5. In this embodiment, the sensor 5 is an interruption sensor, and of course it can also be other types of sensors, such as a reflective sensor, as long as the sensor 5 can trigger the sensing signal by the position movement of the trigger component 4. In addition, the trigger component 4 can trigger the sensing signal by contacting the sensor 5 to trigger the sensing signal, or it can be a non-contact trigger, such as blocking or changing the original signal transmission path of the sensor 5 to trigger the sensing signal. In view of the need to generate a sensing signal when the trigger component 4 moves from the first position to the second position (corresponding to the boundary detection of framed glass) and from the first position to the third position (corresponding to the boundary detection of frameless glass), the first trigger part 4a and the second trigger part 4b are set on the trigger component 4 in this embodiment. When the trigger component 4 moves from the first position to the second position, the first trigger part 4a blocks the original signal transmission path of the sensor 5 to trigger the sensor 5 to generate a sensing signal. When the trigger component 4 moves from the first position to the third position, the second trigger part 4b blocks the original signal transmission path of the sensor 5 to trigger the sensing signal.

[0040] exist Figure 6 , 7In 9, the first detection component 2 is mainly composed of a support 2a, a roller 2b and a reset component 2c. A sliding groove 1a is provided on the housing 1, and the support 2a is movably mounted in the sliding groove 1a and can move in the sliding groove 1a. In this embodiment, the extension direction of the sliding groove 1a (i.e., the first direction) is consistent with the moving direction of the cleaning robot. Of course, the extension direction of the sliding groove 1a can also deviate from the moving direction of the cleaning robot by a certain angle, as long as the support 2a can move along the sliding groove 1a when it is squeezed by the front during the movement of the cleaning robot. The reset component 2c includes but is not limited to a coil spring, which can be arranged between the support 2a and the housing 1, for example, between the support 2a and the end of the sliding groove 1a, and one end of the reset component 2c is fixed on the support 2a, and the other end is fixed on the end of the sliding groove 1a. The roller 2b is sleeved outside the support 2a and is rotatable. The roller 2b is arranged at the bottom of the housing 1 and its side exceeds the edge of the housing 1. When the cleaning robot cleans the framed glass, when the roller 2b is squeezed against the frame of the window glass, the squeezed roller 2b will drive the support 2a to move along the sliding groove 1a (along the first direction), and in this process, the reset component 2c will be elastically deformed. When the squeezing force is removed, the support 2a and the roller 2b are reset under the drive of the reset component 2c.

[0041] Generally speaking, the bottom edge of the roller 2b of the existing boundary detection module is close to being set at a right angle and is relatively sharp. When there is a sealing strip (such as glass glue) at the bottom of the frame, the bottom of the roller 2b and the glass glue will present an effect similar to line-to-surface contact, which is easy to cause damage to the squeezed glass glue due to the small contact surface. For this reason, the present embodiment also improves the structure of the roller 2b, and improves the problem by increasing the contact surface between the bottom of the roller 2b and the glass glue or preventing the bottom of the roller 2b from contacting the glass glue when the first detection component 2 hits the frame. The method of increasing the contact surface between the roller 2b and the glass glue includes, but is not limited to, chamfering or rounding the bottom peripheral edge of the roller 2b (which can also be understood as smoothing), so that the bottom edge of the roller 2b and the glass glue (the surface of the glass glue is usually an inclined surface or an arc surface) can present a surface-to-surface contact effect. Due to the increase in the contact surface, the damage to the glass glue can be reduced to a large extent. Methods for preventing the bottom of the roller 2b from contacting the glass glue include, but are not limited to, providing an inner recessed portion on the bottom periphery of the roller 2b. When the first detection component 2 hits the frame, the inner recessed portion can play a avoiding role, so that the glass glue at the bottom of the frame cannot contact the bottom of the roller 2b, thereby protecting the glass glue well from damage.

[0042] like Figure 7-8As shown, the second detection component 3 is mainly composed of a rod 3a and an elastic component 3b for applying a force to the rod 3a so that its bottom end abuts against the glass surface. Among them, the rod 3a is movably connected to the support 2a and is limited to being able to move back and forth only in a second direction perpendicular to the glass surface relative to the support 2a. A through hole is opened in the axial direction of the roller 2b, and the bottom end of the rod 3a will abut against the glass surface after passing through the through hole. In this embodiment, the through hole provided in the roller 2b is a square hole (correspondingly, the rod 3a is a square cylinder), and of course it can also be a hole of other shapes, as long as the axial rotation of the rod 3a can be avoided. The elastic component 3b includes but is not limited to a coil spring, and can be arranged between the rod 3a and the support 2a. The trigger component 4 is a baffle fixedly arranged at the top of the rod 3a, and a first trigger part 4a and a second trigger part 4b are arranged on the baffle, wherein the first trigger part 4a is located at the rear lower part of the second trigger part 4b, and correspondingly, the second trigger part 4b is located at the front upper part of the first trigger part 4a.

[0043] For the second detection component 3, after it moves to the gap between the two spliced ​​glass seams, the surface that is squeezed by the front glass during the forward movement of the cleaning robot can be used as the first contact surface 3a1, and the surface that is squeezed by the rear glass during the backward movement of the cleaning robot can be used as the second contact surface 3a2. Figure 8 In order to allow the second detection component 3 to slide into the gap at the joint of the spliced ​​glass and then drive the first detection component 2 to move along the first direction under the pushing action of the front glass, the second detection component 3 (mainly referring to the rod 3a, mainly the bottom end of the rod 3a to receive external impact) can be configured as follows: the two sides of the bottom end close to the edge of the shell 1 are vertical surfaces (such as planes) perpendicular to the glass surface, and the two sides of the bottom end close to the inside of the shell 1 are curved surfaces that are bent up and down, and the shape of the bottom end of the rod 3a is similar to one-eighth of a sphere (see Figure 8 ), at this time, the first contact surface 3a1 includes two vertical surfaces and faces the outside of the housing 1, and the second contact surface 3a2 includes two spherical surfaces (arc surfaces) and faces the inside of the housing 1, as can be seen Figure 3-4 Of course, the two sides of the bottom end near the inside of the shell 1 can also be inclined surfaces inclined relative to the vertical plane. Not limited to the above method, this embodiment also provides another rod structure, the side surface of the bottom end perpendicular to the moving direction of the machine and close to the edge of the shell 1 is a vertical surface, and the remaining side surfaces of the bottom end are a whole continuous arc surface. The shape of the bottom end of the rod 3a is similar to a quarter sphere. At this time, the first contact surface 3a1 is this vertical surface and faces the outside of the shell 1, and the second contact surface 3a2 is this spherical surface (arc surface) and faces the inside of the shell 1.

[0044] Glass frames usually include thick frames and thin frames. The boundary detection mechanism of this embodiment can adapt well to these two frames with different thicknesses. Specifically, taking the bottom peripheral edge of the roller 2b as an example, when the roller 2b encounters a frame whose thickness is greater than the height of the bottom chamfer or rounded corner (which can be called a "thick frame"), the roller 2b can still drive the support 2a to move in the first direction under the pushing effect of the frame, thereby driving the trigger component 4 to move from the first position to the second position. When the roller 2b encounters a frame whose thickness is less than the height of the chamfer or rounded corner at its bottom (which can be called a "thin frame"), the roller 2b cannot drive the support 2a to move relative to the shell 1 along the first direction under the pushing action of the frame, but will continue to move above the frame. The cleaning robot pressing the frame will tilt up, causing the bottom end of the second detection component 3 (mainly referring to the rod 3a) to be suspended in the air, and the second detection component 3 will move downward along the second direction and against the glass surface. At this time, under the pushing action of the frame, the second detection component 3 will drive the support 2a to move along the first direction, and then drive the trigger component 4 to move from the first position to the second position, triggering the sensor 5 to generate a sensing signal, thereby detecting the existence of the frame and prompting the machine to retreat.

[0045] When the first detecting component 2 is not squeezed and the second detecting component 3 is against the surface to be cleaned, the triggering component 4 is in the first position. Figure 6-7 FIG. 4 shows the relative position relationship between the first trigger part 4a, the second trigger part 4b and the sensor 5 when the trigger component 4 is in the first position. Figure 6-7It can be seen that when the trigger component 4 is in the first position, the first trigger part 4a is located at the rear side of the signal transmission path of the sensor 5, and the second trigger part 4b is located above the signal transmission path of the sensor 5. During the operation of the cleaning robot, when it moves to the edge of the framed glass, the first detection component 2 is squeezed and collided with the frame of the glass. Since the first detection component 2 can move relative to the housing 1 along the first direction when it is squeezed and collided with the frame of the glass, under the pushing action of the frame, the first detection component 2 drives the second detection component 3 and the trigger component 4 arranged on the second detection component 3 to move relative to the housing 1 along the first direction parallel to the glass surface. When the first trigger part 4a moves forward to interfere with the original signal transmission path of the sensor 5 (the trigger component 4 is in the second position at this time), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot walks to the edge of the frameless glass, since the first detection component 2 is not pushed by the frame, it will not be displaced relative to the housing 1, but the second detection component 3 will move to the outside of the glass and be in a suspended state. After losing the support of the glass, the second detection component 3 drives the trigger component 4 to move relative to the first detection component 2 in the second direction perpendicular to the glass surface. When the second trigger part 4b moves downward to interfere with the original signal transmission path of the sensor 5 (the trigger component 4 is in the third position at this time), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot moves to the joint of the two spliced ​​glasses, since the first detection component 2 is not pushed by the frame, it will not be displaced relative to the shell 1, but the second detection component 3 will move to the gap at the joint of the two spliced ​​glasses and be suspended. After losing the support of the glass, the second detection component 3 moves relative to the first detection component 2 in the second direction perpendicular to the glass surface, but because the moving distance is too small, the trigger component 4 driven by it cannot move from the first position to the third position, that is, it cannot trigger the sensor 5 to generate a sensing signal. When the second detection component 3 continues to move forward in the gap at the joint of the two spliced ​​glasses, the first contact surface 3a1 of the second detection component 3 collides with the edge of the front glass. Since the second detection component 3 can drive the first detection component 2 to move relative to the shell 1 along the first direction when it collides with the edge of the front glass, under the pushing action of the edge of the front glass, the second detection component 3 drives the first detection component 2 and the trigger component 4 arranged on the second detection component 3 to move relative to the shell 1 along the first direction parallel to the glass surface. When the first trigger part 4a moves forward to interfere with the original signal transmission path of the sensor 5 (the trigger component 4 is in the second position at this time), the original signal transmission path is blocked, thereby triggering the sensing signal, thereby detecting the gap between the spliced ​​glasses, prompting the machine to retreat, and avoiding air leakage caused by the machine passing through the gap.

[0046] It should be noted that the joints between the spliced ​​glasses can be understood as the boundaries of each piece of glass. In essence, it is also a boundary detection, but it combines the frameless and framed detection methods. That is, when the second detection component 3 moves to the joint, it first moves down and slides into the gap at the joint. At this time, the bottom end position of the second detection component 3 (mainly referring to the rod 3a) is lower than the glass surface. When it continues to move forward, the second detection component 3 will be squeezed by the adjacent glass (i.e., the front glass). At this time, the squeezed second detection component 3 will not move in the opposite direction (upward) of the second direction perpendicular to the glass surface, but will drive the first detection component 2 to move in the first direction (backward) parallel to the glass surface, prompting the trigger component 4 to move and trigger the sensor 5 to generate a sensing signal.

[0047] The boundary detection mechanism of this embodiment has a simple structure and a low manufacturing cost. By improving the second detection component 3 in the prior art, the gap detection between the spliced ​​glasses is realized, which makes up for the deficiency of the prior art that the gap between the spliced ​​glasses cannot be detected, which may easily cause the machine to leak or even fall.

[0048] The above embodiments are preferred implementation schemes of the present utility model. Any obvious replacements without departing from the concept of the present technical solution are within the protection scope of the present utility model.

Claims

1. A boundary detection mechanism, comprising a first detection component (2) capable of moving relative to a housing (1) in a first direction, a second detection component (3) for abutting against a surface to be cleaned and capable of moving relative to the first detection component (2) in a second direction when moving away from the surface to be cleaned, a trigger component (4) and a sensor (5), wherein the trigger component (4) is configured to be driven by the first detection component (2) and the second detection component (3) and trigger the sensor (5) to generate a sensing signal; characterized in that: The second detection component (3) is configured to drive the first detection component (2) to move in a first direction relative to the housing (1) when it moves forward from the surface to be cleaned and is impacted by the front, thereby driving the trigger component (4) to trigger the sensor (5) to generate a sensing signal, and to move in a direction opposite to the first detection component (2) in a second direction when it moves backward and is impacted by the front.

2. The boundary detection mechanism according to claim 1, characterized in that: The second detection component (3) comprises a first contact surface (3a1) for receiving front impact after the second detection component moves forward out of the surface to be cleaned, and a second contact surface (3a2) for receiving rear impact during the process of its backward retreat; The first contact surface (3a1) is perpendicular to the surface to be cleaned, and the second contact surface (3a2) is a curved surface or an inclined surface inclined relative to the first contact surface (3a1).

3. The boundary detection mechanism according to claim 1 or 2, characterized in that: The first detection component (2) comprises a support (2a) connected to the housing (1), wherein the support (2a) is restricted to be able to move relative to the housing (1) along a first direction after being squeezed and to return to its original position after the squeezing force is removed; The second detection component (3) comprises a rod (3a) movably connected to the support (2a) and restricted to be able to move back and forth relative to the support (2a) only in a second direction perpendicular to the surface to be cleaned, and an elastic component (3b) used to apply a force to the rod (3a) so that its bottom end abuts against the surface to be cleaned.

4. The boundary detection mechanism according to claim 3, characterized in that: The support (2a) is provided with a rotatable roller (2b) on its outer ring, and the bottom peripheral edge of the roller (2b) is chamfered or rounded.

5. The boundary detection mechanism according to claim 3, characterized in that: The support (2a) is provided with a rotatable roller (2b) on its outer ring, and an inner concave portion is provided on the circumference of the bottom of the roller (2b).

6. The boundary detection mechanism according to claim 3, characterized in that: The bottom end of the rod (3a) is used to receive front impact after the rod moves forward out of the surface to be cleaned and to receive rear impact during its backward movement. The bottom end of the rod (3a) is in the shape of a quarter sphere or an eighth sphere.

7. The boundary detection mechanism according to claim 3, characterized in that: The sensor (5) is a reflective sensor or an interruption sensor, and the trigger component (4) is a baffle fixedly arranged on the top end of the rod (3a).

8. A cleaning robot, comprising a housing (1), characterized in that: The housing (1) is provided with a boundary detection mechanism according to any one of claims 1 to 7.

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