Boundary detection mechanism and cleaning robot

Abstract

A boundary detection mechanism and a cleaning robot relate to the technical field of intelligent cleaning equipment. The boundary detection mechanism comprises a detection part, a trigger part, an inductor and a moving part, the trigger part comprises a first trigger part and a second trigger part which are arranged on the moving part and the detection part respectively, and the detection part is movably installed on the moving part and is configured to detect the boundary of the cleaning robot when the cleaning robot is adsorbed to a to-be-cleaned surface at least. The pushing part is located on the outer side of a machine body of the cleaning robot, abuts against a to-be-cleaned face, can push the moving part to move in the first direction when being extruded and collided by the outside, and can move in the second direction when moving to the outer side of the to-be-cleaned face, so that the first triggering part and the second triggering part are driven to move to preset sensing positions; and the inductor is triggered to generate an induction signal. According to the utility model, the boundary detection of framed glass and frameless glass can be realized, and the detection mode and the structure are relatively simple.

Description

Technical Field

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

[0002] Chinese patent document CN110250987A discloses a window cleaning robot, which is provided with trigger type edge detection devices at four corners for edge detection of frameless glass and framed glass. For the edge detection of frameless glass, by arranging a pressing plate at the top end of the probe rod, when the probe rod drives the pressing plate to move downward, the second micro switch will be triggered to form an edge induction signal; for the edge detection of framed glass, when the free end of the swing arm touches the edge and swings, it touches the first micro switch to form a collision induction signal. This solution needs to rely on two components, namely the pressing plate and the swing arm, to trigger two different micro switches respectively to realize the boundary detection of frameless glass and framed glass. This detection method is relatively complex, and the device structure is also relatively complex. The complex structure will affect the working stability and reliability of the detection device, and at the same time will also lead to low assembly efficiency and high manufacturing cost of the detection device. Content of the Utility Model

[0003] One of the purposes of the utility model is to provide a boundary detection mechanism that can realize the boundary detection of framed glass and frameless glass, and the detection method and structure are relatively simple.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: the boundary detection mechanism includes a detection component, a trigger component and a sensor, and also includes a moving component. The trigger component includes a first trigger part and a second trigger part respectively arranged on the moving component and the detection component. The detection component is movably installed on the moving component and is configured to be located outside the body of the cleaning robot and abut against the surface to be cleaned at least when the cleaning robot adsorbs on the surface to be cleaned, and when it is externally squeezed, it can push the moving component to move in the first direction, so as to drive the first trigger part to move to a preset induction position and trigger the sensor to generate an induction signal, and when it moves to the outside of the surface to be cleaned, it can move in the second direction, so as to drive the second trigger part to move to a preset induction position and trigger the sensor to generate an induction signal.

[0005] Further, the boundary detection mechanism further includes a first driving mechanism and a second driving mechanism. The first driving mechanism is configured to be able to apply a force to the moving component so that the detection component connected to the moving component is located outside the body. The second driving mechanism is configured to be able to apply a force to the detection component so that the detection component abuts against the surface to be cleaned.

[0006] Further, the first driving mechanism includes a first elastic member, and the second driving mechanism includes a second elastic member. The first elastic member is configured to apply a force to the moving member so that the detection member is located outside the body, and the second elastic member is configured to apply a force to the detection member so that the detection member abuts against the surface to be cleaned.

[0007] Further, the sensor is a reflective sensor or a break-beam sensor. Before the first trigger portion moves along the first direction following the moving member, it is located on the front side of the signal transmission path of the sensor. Before the second trigger portion moves along the second direction following the detection member, it is located below the signal transmission path of the sensor.

[0008] During the process that the first trigger portion moves along the first direction following the moving member, the first trigger portion moves backward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering an induction signal. During the process that the second trigger portion moves along the second direction following the detection member, the second trigger portion moves upward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the sensor and triggering an induction signal.

[0009] Further, the boundary detection mechanism further includes a U-shaped seat. The sensor is installed on the inner side wall of the U-shaped seat. The first trigger portion is configured to move along the first direction following the moving member connected to the detection member and move between the two side walls of the U-shaped seat when the detection member is externally squeezed, thereby triggering the sensor to generate an induction signal. The second trigger portion is configured to move along the second direction following the detection member and move between the two side walls of the U-shaped seat when the detection member moves to the outside of the surface to be cleaned, thereby triggering the sensor to generate an induction signal.

[0010] Further, the detection member is rotatably connected to the moving member, and when the detection member moves to the outside of the surface to be cleaned, it can rotate relative to the moving member along the second direction.

[0011] Another object of the present invention is to provide a cleaning robot, which includes a body, and a plurality of the foregoing boundary detection mechanisms are provided on the body.

[0012] Further, a cleaning cloth is provided at the bottom of the body, and the cleaning cloth extends to the bottom of the detection member and is abutted by it. The cleaning cloth is configured to allow the detection member to push the moving member to move along the first direction when the detection member is externally squeezed, and to allow the detection member to move along the second direction when the detection member moves to the outside of the surface to be cleaned.

[0013] Furthermore, the body has a rectangular contour, and a boundary detection mechanism is provided at each of its four corners. The cleaning cloth surrounds the bottom of the body for one week and covers the four corners.

[0014] Furthermore, a guiding slot hole is provided on the body. The moving component is connected to the guiding slot hole through a slider and can slide on the body along the guiding slot hole to realize the movement of the moving component in the first direction.

[0015] Different from the existing detection devices, the present utility model can realize the boundary detection of framed window glass and frameless window glass through a detection component with a triggering part, a moving component with a triggering part, and a sensor. The detection method and structure are simpler, which improves the stability and reliability of the long-term operation of the detection mechanism. At the same time, it can also improve the production and assembly efficiency of the factory and reduce the manufacturing cost of the detection mechanism. In addition, the present utility model reduces the number of sensors to one, which can reduce the use of electronic components, thus saving costs and making the detection method simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional view of the cleaning robot Figure 1 ;

[0017] Figure 2 is a three-dimensional view of the cleaning robot Figure 2 ;

[0018] Figure 3 is a three-dimensional view of the cleaning robot Figure 3 ;

[0019] Figure 4 is a three-dimensional view of the cleaning robot Figure 4 ;

[0020] Figure 5 is a three-dimensional view of the movable pressure plate;

[0021] Figure 6 is a partial exploded view of the cleaning robot;

[0022] Figure 7 is an exploded view of the boundary detection mechanism Figure 1 ;

[0023] Figure 8 is an exploded view of the boundary detection mechanism Figure 2 ;

[0024] Figure 9 is a three-dimensional view of the boundary detection mechanism Figure 1 ;

[0025] Figure 10 is a three-dimensional view of the boundary detection mechanism Figure 2 ;

[0026] Figure 11 For the three-dimensional boundary detection mechanism Figure 3 ;

[0027] Figure 12 For the three-dimensional boundary detection mechanism Figure 4 。

[0028] In the figure:

[0029] 1 - Detection component 2 - Trigger component 2a - First trigger part

[0030] 2b - Second trigger part 3 - Inductor 4 - Moving component

[0031] 4a - Groove 5 - First elastic component 6 - Second elastic component

[0032] 7 - U-shaped seat 8 - Machine body 8a - Substrate

[0033] 8b - Movable pressure plate 8b1 - Guide slot hole 9 - Cleaning rag

[0034] 10 - Slide block 11 - Crawler belt 12 - Cleaning brush

[0035] 13 - Suction module 14 - Elastic drive 15 - Rotating shaft

[0036] 16 - Limit plate 17 - Baffle plate. Detailed implementation mode

[0037] In order to facilitate those skilled in the art to more clearly understand the concept of the present utility model, the following further description is made in conjunction with embodiments and drawings, and reference can be made to Figures 1 - 12 。

[0038] The present utility model mainly improves the detection method and structure of the boundary detection device on the premise of ensuring the functionality of the boundary detection device, thereby reducing the manufacturing cost of the factory and improving the assembly efficiency. Specifically, the structure of the boundary detection mechanism adopted by the present utility model is shown in Figures 7 - 12As shown, it mainly includes: a detection component 1, a moving component 4, a trigger component 2 and a sensor 3. The trigger component 2 includes a first trigger part 2a arranged on the moving component 4 and a second trigger part 2b arranged on the detection component 1. The detection component 1 is movably mounted on the moving component 4. The detection component 1 is configured to be located outside the body 8 of the cleaning robot and against the surface to be cleaned at least when the cleaning robot is adsorbed on the surface to be cleaned, and when it is squeezed by the outside, it can push the moving component 4 to move along the first direction (for example, move in the horizontal direction) to drive the first trigger part 2a to move to a preset sensing position and trigger the sensor 3 to generate a sensing signal, and when it moves to the outside of the surface to be cleaned, it can move relative to the moving component 4 along the second direction (for example, move in the vertical direction) to drive the second trigger part 2b to move to a preset sensing position and trigger the sensor 3 to generate a sensing signal. The aforementioned surface to be cleaned includes but is not limited to the surface of a flat plate (for example, an upright glass window, a glass curtain wall, etc.). For ease of understanding, the following description is taken as an example of window glass. The above-mentioned movement in the horizontal direction may include horizontal linear displacement, and the movement in the vertical direction may include up and down deflection.

[0039] The boundary detection mechanism of the above structure performs boundary detection in the following manner: when the cleaning robot cleans the framed window glass, when the cleaning robot walks to the edge of the glass, the outer end of the detection component 1 is squeezed by the frame and pushes the moving component 4, thereby driving the first triggering part 2a to move backward relative to the body 8, so that the first triggering part 2a moves from the non-triggering position originally located to the first triggering position (preset sensing position), thereby triggering the sensor 3 to form a sensing signal. When the cleaning robot cleans the frameless window glass, when the cleaning robot walks to the edge of the glass, due to the absence of the frame blocking, the outer end of the detection component 1 will not be squeezed and push the moving component 4 to move backward relative to the body 8, but when the outer end of the detection component 1 moves to the outside of the glass and is suspended in the air (that is, when the outer end of the detection component 1 is separated from the glass surface), due to the loss of the support of the glass, it will deflect downward relative to the body 8, thereby causing the second triggering part 2b to move from the non-triggering position originally located to the second triggering position (preset sensing position), and triggering the sensor 3 to form a sensing signal.

[0040] The utility model can detect the boundary of framed window glass and frameless window glass by a detection component 1 having a first triggering part 2a, a moving component 4 having a second triggering part 2b, and a sensor 3. The detection method and structure are simpler, which also improves the stability and reliability of the long-term operation of the detection mechanism, and at the same time can improve the production and assembly efficiency of the factory and reduce the manufacturing cost of the detection mechanism. In addition, the utility model reduces the number of sensors 3 to one, which can reduce the use of electronic components, thereby saving costs, and also makes the detection method simpler.

[0041] The boundary detection mechanism and the cleaning robot to which the present utility model relates will be described below.

[0042] Figures 1 - 6 The structure of the cleaning robot in this embodiment is shown. It can be seen from the figure that the cleaning robot includes a body 8. A cleaning cloth 9 is provided at the bottom of the body 8. The cleaning cloth 9 can be installed at the bottom of the body 8 through a detachable structure such as Velcro for easy replacement. Travel mechanisms, such as crawler mechanisms, are provided on both sides (such as the middle sides) of the body 8. The crawler mechanism includes a driving wheel and a crawler 11 mounted on the driving wheel. A cleaning brush 12 for cleaning dirt on the crawler 11 is further provided on the outer side of the crawler 11. A suction module 13 is also provided on the body 8 to adsorb the machine on the surface to be cleaned. The body 8 has a rectangular contour (such as a rectangular or square contour), and a boundary detection mechanism is provided at each of the four corners. In addition, the body 8 may include a base plate 8a and a movable pressing plate 8b arranged up and down. The cleaning cloth 9 may be provided at the bottom of the movable pressing plate 8b, and an elastic driving member 14 (such as elastic cotton) is provided between the movable pressing plate 8b and the base plate 8a. When the machine is adsorbed on the surface to be cleaned, relative movement (getting closer to each other) occurs between the movable pressing plate 8b and the base plate 8a. At the same time, the elastic driving member 14 can apply a force to the movable pressing plate 8b to make it closely adhere to the surface to be cleaned, so that the cleaning cloth 9 closely adheres to the surface to be cleaned.

[0043] Different from conventional cleaning robots, the cleaning cloth 9 in this embodiment does not make a cut-off treatment when passing through the four corners of the machine. Instead, the cleaning cloth 9 surrounds the bottom of the body 8 for one week and covers the four corners, forming a complete and non-cut-off ring-shaped cloth covering the bottom of the machine (see Figure 3 and Figure 6 ), so as to increase the contact area between the cleaning cloth 9 and the surface to be cleaned, thereby improving the cleaning efficiency. Among them, the cleaning cloth 9 extends to the bottom of the detection component 1 and is abutted by it. When the machine is adsorbed on the surface to be cleaned, the cleaning cloth 9 closely adheres to the surface to be cleaned, and the bottom of the detection component 1 can abut on the cleaning cloth 9. The cleaning cloth 9 is preferably a cloth with a relatively thin thickness to reduce the influence on the movement of the detection component 1 and make it unrestricted. Specifically, when the detection component 1 is externally squeezed, the cleaning cloth 9 can allow the detection component 1 to push the moving component 4 to move in the first direction. When the detection component 1 moves to the outside of the surface to be cleaned, the cleaning cloth 9 can allow the detection component 1 to move in the second direction.

[0044] For the specific structure of a single boundary detection mechanism, see Figures 7 - 12As shown in the figure, it mainly includes a detection component 1, a moving component 4, a triggering component 2 and a sensor 3 installed at the four corners of the machine. Among them, the triggering component 2 includes two triggering parts, namely a first triggering part 2a and a second triggering part 2b. The first triggering part 2a is arranged on the moving component 4, and they can be integrated. The second triggering part 2b is arranged on the detection component 1, and they can also be integrated. Among them, the sensor 3 can be directly arranged on the machine body 8 or other components. In this embodiment, the sensor 3 adopts a break type sensor. Of course, other types of sensors 3 can also be selected, such as a reflective sensor, as long as the sensor 3 can be triggered to generate an induction signal by the position movement of the triggering component 2 (the first triggering part 2a and the second triggering part 2b). In addition, the way for the triggering component 2 to trigger the induction signal can be to trigger the induction signal by contacting the sensor 3, or non-contact triggering, such as triggering the induction signal by blocking or changing the original signal transmission path of the sensor 3. In view of the fact that an induction signal needs to be generated when the first triggering part 2a moves from the non-triggering position to the first triggering position (corresponding to the boundary detection of the framed window glass) and the second triggering part 2b moves from the non-triggering position to the second triggering position (corresponding to the boundary detection of the frameless window glass), in this embodiment, the first triggering part 2a and the second triggering part 2b are respectively arranged on the moving component 4 and the detection component 1, and the first triggering part 2a is located in the front side of the signal transmission path of the sensor 3, and the second triggering part 2b is located below the signal transmission path of the sensor 3 (such as the lower rear side). When the first triggering part 2a moves from the non-triggering position to the first triggering position, the first triggering part 2a blocks the original signal transmission path of the sensor 3 to trigger the sensor 3 to generate an induction signal. When the second triggering part 2b moves from the non-triggering position to the second triggering position, the second triggering part 2b blocks the original signal transmission path of the sensor 3 to trigger the induction signal.

[0045] As Figures 4 - 5As shown, a guiding slot hole 8b1 is provided on the body 8. For example, the guiding slot hole 8b1 is provided on the base plate 8a or the movable pressing plate 8b. The guiding slot hole 8b1 can be a long through hole or a blind hole. In this embodiment, the guiding slot hole 8b1 provided on the movable pressing plate 8b will be described. A slider 10 that cooperates with the guiding slot hole 8b1 is provided at the bottom of the moving member 4. The slider 10 is installed in the guiding slot hole 8b1 and can move along the guiding slot hole 8b1 under the drive of the moving member 4. The guiding slot hole 8b1 can play a guiding role. The outer end of the detecting member 1 is located outside the body 8 (the base plate 8a, the movable pressing plate 8b) and has a cross-section in the shape of a 7. The middle part of the detecting member 1 is rotatably connected to the moving member 4 through a rotating shaft 15. A space is reserved on the body 8 to allow the detecting member 1 and the moving member 4 to move, so that the moving member 4 can move along the guiding slot hole 8b1, and the detecting member 1 can deflect up and down relative to the moving member 4 (the body 8) with the axis of the rotating shaft 15 as the rotation axis. Among them, the detecting member 1 and the moving member 4 can be installed on the movable pressing plate 8b, and the inductor 3 can be installed on the base plate 8a. In addition, a limiting plate 16 can be provided on the upper side of the moving member 4. The limiting plate 16 can cooperate with the movable pressing plate 8b to clamp the moving member 4 therebetween, so that it can only move horizontally along the guiding slot hole 8b1. An avoidance notch is also reserved on the limiting plate 16. The avoidance notch allows the first triggering portion 2a and the second triggering portion 2b to move therein to avoid interference.

[0046] Among them, in order to make the outer end of the detecting member 1 be located outside the body 8 and abut against the surface to be cleaned when the cleaning robot is working, two driving mechanisms, namely a first driving mechanism and a second driving mechanism, can be provided on the body 8 or other components. The first driving mechanism can apply a force to the moving member 4 to urge the outer end of the detecting member 1 connected thereto to be located outside the body 8. By means of this force, the moving member 4 can be urged to reset (move forward) after the detecting member 1 is released from external squeezing. The second driving mechanism can apply a force to the detecting member 1 to urge the outer end thereof to abut against the surface to be cleaned. By means of this force, the outer end of the detecting member 1 can be urged to deflect downward when the detecting member 1 moves out of the surface to be cleaned. These two driving mechanisms can be elastic components, such as a first elastic component 5 and a second elastic component 6, or other components that can cause the moving member 4 and the detecting member 1 to perform the above-mentioned movements except for elastic components.

[0047] The following takes the first driving mechanism as the first elastic member 5 and the second driving mechanism as the second elastic member 6 as an example for illustration. Specifically, a baffle 17 is provided on the movable platen 8b. The first elastic member 5 is disposed between the rear end of the moving member 4 and the baffle 17. The second elastic member 6 is disposed between the bottom of the inner end of the detecting member 1 and the moving member 4. The second triggering portion 2b may be provided at the inner end of the detecting member 1. A protrusion may be provided at the bottom of the inner end of the detecting member 1, and a groove 4a may be provided on the moving member 4. The two ends of the second elastic member 6 may be respectively mounted on the protrusion and in the groove 4a. Of course, they may also be fixedly connected. The first elastic member 5 and the second elastic member 6 may be a helical spring or other elastic members. Among them, the elastic deformation direction of the first elastic member 5 is parallel to the direction in which the slider 10 moves along the guiding slot hole 8b1. The elastic deformation direction of the second elastic member 6 is perpendicular (or intersects) to the direction in which the slider 10 moves along the guiding slot hole 8b1. The guiding slot hole 8b1 extends horizontally from front to back. The telescopic direction of the first elastic member 5 is the front-back direction, and the telescopic direction of the second elastic member 6 is the vertical direction. In this way, after the detecting member 1 that was originally squeezed by the frame leaves the frame, the elastic force of the first elastic member 5 can be used to push the moving member 4, so that the detecting member 1 connected to the moving member 4 moves forward. Also, after the detecting member 1 that was originally abutting against the glass surface moves to the outside of the boundary, the elastic force of the second elastic member 6 can cause the detecting member 1 to deflect downward relative to the body 8 (moving member 4) with the axis of the rotating shaft 15 as the rotation axis. In addition, when the side portion of the outer end of the detecting member 1 is squeezed by the frame and pushes the moving member 4 to move backward and the bottom of the outer end of the detecting member 1 abuts against the window glass, the first elastic member 5 and the second elastic member 6 are in a compressed state. Then, when the detecting member 1 moves away from the frame of the framed window glass, the first elastic member 5 can apply an elastic force to the moving member 4 connected to the detecting member 1 to drive it to move forward along the guiding slot hole 8b1. When the detecting member 1 moves outside the boundary of the frameless window glass, the second elastic member 6 can apply an elastic force to the detecting member 1 to drive it to deflect downward with the axis of the rotating shaft 15 as the rotation axis.

[0048] Among them, an inverted U-shaped seat 7 may further be provided on the base plate 8a of the body 8, and the inductor 3 is installed on the inner side wall of the U-shaped seat 7. When the cleaning robot performs the boundary detection of the framed window glass, when the side portion of the outer end of the detecting member 1 is squeezed by the frame, the moving member 4 will move backward with it, so that the first triggering portion 2a moves backward and moves into the space between the two side walls of the U-shaped seat 7, thereby triggering the inductor 3 to generate an induction signal. When the cleaning robot performs the boundary detection of the frameless window glass, when the bottom of the outer end of the detecting member 1 moves out of the glass boundary, its outer end will deflect downward, so that the second triggering portion 2b at its inner end deflects upward and moves into the space between the two side walls of the U-shaped seat 7, thereby triggering the inductor 3 to generate an induction signal.

[0049] Figure 11 It shows the relative positional relationship between the first trigger part 2a and the second trigger part 2b and the inductor 3 when they are in the non-trigger position. It can be seen from the figure that when the first trigger part 2a and the second trigger part 2b are in the non-trigger position, the first trigger part 2a is located on the front side of the signal transmission path of the inductor 3, and the second trigger part 2b is located below the signal transmission path of the inductor 3 (for example, below the rear side). During the operation of the cleaning robot, when it moves to the edge of the framed window glass, the detection component 1 collides with the frame of the glass. Since the detection component 1 can push the moving component 4 to move backward relative to the body 8 when it collides with the frame of the glass, under the pushing action of the frame, the detection component 1 pushes the moving component 4, and the moving component 4 then drives the first trigger part 2a to move backward. When the first trigger part 2a moves backward to interfere with the original signal transmission path of the inductor 3 (at this time, the first trigger part 2a is in the first trigger position), the original signal transmission path is blocked, thereby triggering an induction signal. When the cleaning robot walks to the edge of the frameless window glass, since the detection component 1 is not subjected to the pushing action of the frame, it will not push the moving component 4 to have a lateral displacement (front and back movement) relative to the body 8, but the detection component 1 will move to the outside of the glass and be in a suspended state. After losing the support of the glass, the outer end of the detection component 1 deflects downward relative to the moving component 4 (the body 8) (equivalent to the detection component 1 rotating counterclockwise around the rotating shaft 15), and then drives the inner end of the second trigger part 2b to deflect upward relative to the moving component 4 (the body 8). When the second trigger part 2b deflects upward to interfere with the original signal transmission path of the inductor 3 (at this time, the second trigger part 2b is in the second trigger position), the original signal transmission path is blocked, and then the induction signal is triggered.

[0050] The above embodiments are the preferred implementation solutions of the present utility model. Any obvious replacement without departing from the concept of the technical solution is within the protection scope of the present utility model.

Claims

1. Boundary detection mechanism, comprising a detection component (1), a triggering component (2) and a sensor (3), characterized in that: It further includes a moving member (4). The triggering member (2) includes a first triggering portion (2a) and a second triggering portion (2b) respectively disposed on the moving member (4) and the detecting member (1). The detecting member (1) is movably mounted on the moving member (4) and is configured to be located outside the body (8) of the cleaning robot and abut against the surface to be cleaned at least when the cleaning robot adsorbs to the surface to be cleaned. When it is externally squeezed, it can push the moving member (4) to move in a first direction, so as to drive the first triggering portion (2a) to move to a preset induction position and trigger the inductor (3) to generate an induction signal. When it moves to the outside of the surface to be cleaned, it can move in a second direction, so as to drive the second triggering portion (2b) to move to a preset induction position and trigger the inductor (3) to generate an induction signal.

2. The boundary detection mechanism according to claim 1, wherein: It further includes a first driving mechanism and a second driving mechanism. The first driving mechanism is configured to be able to apply a force to the moving member (4) so that the detecting member (1) connected to the moving member (4) is located outside the body (8). The second driving mechanism is configured to be able to apply a force to the detecting member (1) so that the detecting member (1) abuts against the surface to be cleaned.

3. The boundary detection mechanism according to claim 2, wherein: The first driving mechanism includes a first elastic member (5), and the second driving mechanism includes a second elastic member (6). The first elastic member (5) is configured to be able to apply a force to the moving member (4) so that the detecting member (1) is located outside the body (8). The second elastic member (6) is configured to be able to apply a force to the detecting member (1) so that the detecting member (1) abuts against the surface to be cleaned.

4. The boundary detection mechanism according to claim 1, wherein: The inductor (3) is a reflective sensor or a break-beam sensor. Before the first triggering portion (2a) moves along the first direction following the moving member (4), it is located in front of the signal transmission path of the inductor (3). Before the second triggering portion (2b) moves along the second direction following the detecting member (1), it is located below the signal transmission path of the inductor (3). During the process that the first triggering portion (2a) moves along the first direction following the moving member (4), the first triggering portion (2a) moves backward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the inductor (3) and triggering an induction signal. During the process that the second triggering portion (2b) moves along the second direction following the detecting member (1), the second triggering portion (2b) moves upward until it interferes with the original signal transmission path, thereby blocking or changing the original signal transmission path of the inductor (3) and triggering an induction signal.

5. The boundary detection mechanism according to claim 1, wherein: It further includes a U-shaped seat (7), the inductor (3) is installed on the inner side wall of the U-shaped seat (7), the first trigger part (2a) is configured to be able to move along the first direction following the moving part (4) connected to the detection part (1) when the detection part (1) is externally squeezed and bumped, and move between the two side walls of the U-shaped seat (7), so as to trigger the inductor (3) to generate an induction signal, and the second trigger part (2b) is configured to be able to move along the second direction following the detection part (1) when the detection part (1) moves to the outside of the surface to be cleaned and move between the two side walls of the U-shaped seat (7), so as to trigger the inductor (3) to generate an induction signal.

6. The boundary detection mechanism according to claim 1, wherein: The detection part (1) is rotatably connected to the moving part (4), and when the detection part (1) moves to the outside of the surface to be cleaned, it can rotate relative to the moving part (4) along the second direction.

7. Cleaning robot, including a body (8), characterized in that: A plurality of boundary detection mechanisms as described in any one of claims 1-6 are provided on the body (8).

8. The cleaning robot according to claim 7, characterized in that: A cleaning rag (9) is provided at the bottom of the body (8), and the cleaning rag (9) extends to the bottom of the detection part (1) and is abutted by it. The cleaning rag (9) is configured to allow the detection part (1) to push the moving part (4) to move along the first direction when the detection part (1) is externally squeezed and bumped, and to allow the detection part (1) to move along the second direction when the detection part (1) moves to the outside of the surface to be cleaned.

9. The cleaning robot according to claim 8, wherein: The body (8) has a rectangular contour, and one of the boundary detection mechanisms is provided at each of its four corners. The cleaning rag (9) surrounds the bottom of the body (8) for one week and covers the four corners.

10. The cleaning robot according to claim 7, wherein: A guiding slot hole (8b1) is provided on the body (8), and the moving part (4) is connected to the guiding slot hole (8b1) through a slider (10) and can slide on the body (8) along the guiding slot hole (8b1) to realize the movement of the moving part (4) along the first direction.

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