Low-noise boundary detection mechanism and cleaning robot

Abstract

The utility model discloses a low-noise boundary detection mechanism and a cleaning robot, and relates to the technical field of intelligent cleaning equipment. The low-noise boundary detection mechanism comprises a detection part, a trigger part and an inductor, rollers are arranged at the bottom of the outer side end of the detection part, and the detection part is configured in the mode that at least when the cleaning robot is adsorbed to a to-be-cleaned face, the outer side end of the detection part is located on the outer side of a machine body of the cleaning robot and abuts against the to-be-cleaned face through the rollers at the bottom. The trigger part is arranged on the surface to be cleaned, can 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 surface to be cleaned, so that the trigger part is driven to move to a preset sensing position, and the sensor is triggered to generate a sensing signal. According to the utility model, the rollers are arranged at the bottom of the outer side end of the detection part, so that the movement mode of the detection part on the surface to be cleaned is changed from sliding friction to rolling friction. By means of the improvement, noise is remarkably reduced, harsh friction sound is avoided, and therefore the use experience feeling of a user is improved.

Description

Technical Field

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

[0002] Chinese patent document CN221378542U discloses a boundary detection mechanism and a cleaning robot. The boundary detection mechanism includes a detection component, a triggering component and a sensor. During use, the cleaning robot adsorbs to the surface to be cleaned (such as the glass surface), one end of the detection component is located outside the body and abuts against the surface to be cleaned. When the cleaning robot moves, the detection component slides on the surface to be cleaned accordingly. However, due to the sliding friction between the detection component and the surface to be cleaned, a relatively large noise, especially a harsh friction sound, will be generated during the movement of the machine, thus having an adverse impact on the user experience. Summary of the Utility Model

[0003] One of the purposes of the utility model is to provide a boundary detection mechanism with less noise during use. By arranging rollers, the sliding friction between the detection component and the surface to be cleaned is changed into rolling friction, thereby reducing the noise.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: a low-noise boundary detection mechanism, including a detection component, a triggering component and a sensor. A roller is arranged at the bottom of the outer side end of the detection component. The detection component is configured such that at least when the cleaning robot adsorbs to the surface to be cleaned, its outer side end is located outside the body of the cleaning robot and abuts against the surface to be cleaned through the roller at the bottom, and when it is externally squeezed, it can move in the first direction 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 triggering component to move to a preset induction position and trigger the sensor to generate an induction signal.

[0005] Further, a blocking portion is arranged at the outer side end of the detection component, which can receive external squeezing prior to the roller when it is externally squeezed.

[0006] Further, the bottom end of the blocking portion is located below the center line of the roller and is higher than the bottom edge of the roller.

[0007] Further, the blocking portion is located in front of the roller, or at least on one of the left side or the right side of the roller. The blocking portion is configured such that when the roller abuts against the surface to be cleaned, its bottom end can approach the surface to be cleaned in the vertical (perpendicular) direction and extend beyond the peripheral edge of the roller in the horizontal direction.

[0008] Further, the above boundary detection mechanism further includes a driving mechanism, which is configured to be able to apply a force to the detection component so that its outer side end is located outside the body and abuts against the surface to be cleaned through the roller.

[0009] Further, the driving mechanism includes an elastic member configured to apply an elastic force to the detection member so that its outer end is located outside the body and abuts against the surface to be cleaned through a roller.

[0010] Further, the sensor is a reflective sensor or a break type sensor. Before the trigger member moves along the first direction following the detection member, it is located on the front side of the signal transmission path of the sensor. Before the trigger member moves along the second direction following the detection member, it is located on the rear side or below the signal transmission path of the sensor.

[0011] During the process that the trigger member moves along the first direction following the detection member, the trigger member 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 trigger member moves along the second direction following the detection member, the trigger member moves forward or 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.

[0012] Further, the above-mentioned boundary detection mechanism further includes a U-shaped seat. The sensor is installed on the inner side wall of the U-shaped seat. The trigger member is configured to be able to move along the first direction following the detection member and move between the two side walls of the U-shaped seat when the detection member is externally squeezed, and be able 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.

[0013] Further, the above-mentioned boundary detection mechanism further includes a fixed seat. The detection member is installed (such as slidably installed) on the fixed seat and is connected to the guide slot holes provided on the fixed seat through sliders. The detection member is configured to be able to slide along the guide slot holes on the fixed seat and deflect relative to the fixed seat with the axis of the slider as the rotation axis, so as to realize the movement of the detection member along the first direction and the second direction.

[0014] Another object of the present invention is to provide a cleaning robot, which includes a body, and a plurality of the above-mentioned low-noise boundary detection mechanisms are arranged on the body.

[0015] By installing rollers at the bottom of the outer end of the detection member, the present invention changes the movement mode of the detection member on the surface to be cleaned from sliding friction to rolling friction. This improvement significantly reduces the noise and avoids harsh friction sounds, thereby enhancing the user experience. Description of the Drawings

[0016] Figure 1 For the three-dimensional view of the cleaning robotFigure 1 ;

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

[0018] Figure 3 For the three-dimensional view of the body Figure 1 ;

[0019] Figure 4 For the three-dimensional view of the body Figure 2 ;

[0020] Figure 5 For the sectional view of the body and the boundary detection mechanism;

[0021] Figure 6 For the structural schematic diagram of the boundary detection mechanism Figure 1 ;

[0022] Figure 7 For the structural schematic diagram of the boundary detection mechanism Figure 2 ;

[0023] Figure 8 For the side view of the boundary detection mechanism;

[0024] Figure 9 For the three-dimensional view of the fixed seat.

[0025] In the figure:

[0026] 1 - Detection component 1a - Blocking part 1b - Slide block

[0027] 2 - Trigger component 2a - First trigger part 2b - Second trigger part

[0028] 3 - Inductor 4 - Roller 5 - Elastic component

[0029] 6 - U-shaped seat 7 - Fixed seat 7a - Slide groove

[0030] 7a1 - Guide slot hole 8 - Body 8a - Strip-shaped through groove

[0031] 9 - Cleaning turntable. Specific implementation manners

[0032] For the convenience of those skilled in the art to more clearly understand the concept of the present utility model, the following further describes it in combination with embodiments and the accompanying drawings. Refer to the attached Figures 1 - 9 .

[0033] On the premise of ensuring the functionality of the boundary detection device, the present utility model mainly reduces the noise generated during use through structural improvement. Specifically, the structure of the boundary detection mechanism adopted by the present utility model is shown in Figures 5 - 8As shown, it mainly includes a detection component 1, a trigger component 2, and a sensor 3. At the bottom of the outer end of the detection component 1, there is a roller 4. The detection component 1 is configured such that at least when the cleaning robot is adsorbed on the surface to be cleaned, its outer end is located outside the body 8 of the cleaning robot and abuts against the surface to be cleaned through the roller 4 at the bottom. And when it is externally squeezed, it can move in the first direction (for example, move horizontally) and when it moves outside the surface to be cleaned, it can move in the second direction (for example, move vertically), so as to drive the trigger component 2 to move to a preset induction position and trigger the sensor 3 to generate an induction signal. The aforementioned surface to be cleaned includes but is not limited to the surface of a flat plate (such as an upright glass window, a glass curtain wall, etc.). For the sake of easy understanding, the following will take the window glass as an example for illustration. Among them, the movement in the horizontal direction mentioned above may include horizontal linear displacement, and the movement in the vertical direction may include up and down deflection.

[0034] By arranging the roller 4 at the bottom of the outer end of the detection component 1 in the above solution, when the detection component 1 moves along with the machine on the surface to be cleaned, rolling friction can be generated between the detection component 1 and the surface to be cleaned. Compared with sliding friction, rolling friction produces less noise and does not generate harsh friction sounds, which is beneficial to improving the user experience. Since the above-mentioned boundary detection mechanism produces less noise during use (compared with the sliding friction of the prior art), it is called a "low-noise boundary detection mechanism".

[0035] The boundary detection mechanism with the above structure performs boundary detection in the following way: During the process of the cleaning robot cleaning 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 drives the trigger component 2 to move backward relative to the body 8, so that the trigger component 2 moves from the original non-trigger position to the first trigger position (preset induction position), thereby triggering the sensor 3 to form an induction signal. During the process of the cleaning robot cleaning the frameless window glass, when the cleaning robot walks to the edge of the glass, since there is no frame blocking, the outer end of the detection component 1 will not be squeezed and move backward relative to the body 8. Instead, when the outer end of the detection component 1 moves outside the glass and is suspended (that is, when the outer end of the detection component 1 leaves 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 trigger component 2 to move from the original non-trigger position to the second trigger position (preset induction position) and triggering the sensor 3 to form an induction signal.

[0036] When the boundary detection mechanism of the present utility model is in use, the outer end of the detection component 1 abuts against the surface to be cleaned through the rollers 4 at the bottom. When it moves on the surface to be cleaned following the machine, its movement mode will change from the original sliding friction to rolling friction, and the generated noise will be significantly reduced (lowered). At the same time, the harsh friction sound is avoided, improving the user experience. In addition, the boundary detection mechanism of the present utility model realizes the boundary detection of framed window glass and frameless window glass by adopting a detection component 1, a trigger component 2 and a sensor 3. The detection method and structure are relatively simple, which also makes the stability and reliability of the detection mechanism during long-term operation relatively high. At the same time, it can also improve the production and assembly efficiency of the factory to a certain extent and reduce the manufacturing cost of the detection mechanism.

[0037] The boundary detection mechanism involved in the present utility model and the cleaning robot to which it is applied will be described below.

[0038] Figures 1 - 5 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 and a cleaning turntable 9 for performing the cleaning function. A plurality of boundary detection mechanisms are provided on the body 8. Specifically, a cleaning turntable 9 is provided on each of the left and right sides of the body 8, and a boundary detection mechanism is provided on each of the front and back sides of the body 8. Each boundary detection mechanism is located between two cleaning turntables 9.

[0039] For the specific structure of the boundary detection mechanism, refer to Figures 6 - 8As shown, it mainly includes fixed seats 7 fixedly installed on the front and rear sides of the bottom of the body 8, a detection component 1 and a trigger component 2 installed on the fixed seats 7, and a sensor 3 installed on the fixed seats 7 or the body 8. The trigger component 2 can be connected to the detection component 1 as a whole to form an integral component. Different from the prior art, in this embodiment, rollers 4 are provided at the bottom of the outer end of the detection component 1, aiming to change the movement mode between the detection component 1 and the surface to be cleaned from sliding friction to rolling friction, so as to reduce noise and avoid generating harsh friction sounds. When detecting the glass frame, the rollers 4 at the bottom of the outer end of the detection component 1 are squeezed by the frame, which can trigger (drive) the detection component 1 to move backward to achieve frame detection. In addition, a blocking part 1a can be provided at the outer end of the detection component 1, and this blocking part 1a is used to bear the squeezing of the frame before the rollers 4, prompting the detection component 1 to move backward, and also realizing the frame detection function. Although both the rollers 4 and the blocking part 1a can play a role when detecting thick frames, the role of the blocking part 1a is particularly crucial when facing thin frames. When the rollers 4 are directly squeezed by the thin frame, due to the low height of the frame, it may not provide enough support, resulting in the rollers 4 directly rolling onto the frame, which increases the risk of the machine falling. In contrast, if the blocking part 1a is squeezed by the frame before the rollers 4, it can stably resist the thin frame, thus effectively preventing the machine from falling due to insufficient frame height. Among them, the blocking part 1a can be provided on the front side of the rollers 4, or on the left and right sides or one side of the rollers 4. In this embodiment, the blocking part 1a is provided on the left and right sides of the rollers 4, and its structure is in an inverted U shape. The two ends of the rotation axis of the rollers 4 can be installed on the two sides of the blocking part 1a or behind the blocking part 1a. To better adapt to the detection of thin frames, the bottom end of the blocking part 1a should be set below the center line of the rollers 4, but higher than the bottom edge of the rollers 4, so as to ensure that when encountering a thin frame with a low height, it can contact the frame and be squeezed by it prior to the rollers 4, triggering the movement of the detection component 1. In addition, when the rollers 4 are abutted against the surface to be cleaned, the bottom end of the blocking part 1a can be set to be close to (very close but not touching) the surface to be cleaned in the vertical direction, and at the same time exceed the peripheral edge of the rollers 4 in the horizontal direction, so that normal detection can still be achieved even when encountering a very low thin frame.

[0040] Among them, the sensor 3 can be directly installed on the 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 reflective sensors, as long as the sensor 3 can be triggered to generate an induction signal by the position movement of the trigger component 2. In addition, the way for the trigger component 2 to trigger the induction signal can be to trigger the induction signal by coming into contact with 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. Given that the trigger component 2 needs to generate an induction signal when moving from the non-trigger position to the first trigger position (corresponding to the boundary detection of the framed window glass) and from the non-trigger position to the second trigger position (corresponding to the boundary detection of the frameless window glass), in this embodiment, an avoidance notch (U-shaped at this place) for avoiding the sensor 3 when the trigger component 2 is in the non-trigger position is provided at the upper end of the trigger component 2. The front end of the trigger component 2 (i.e., the front side of the avoidance notch) is the first trigger part 2a, and the rear end of the trigger component 2 (i.e., the rear side of the avoidance notch) is the second trigger part 2b. When the trigger component 2 moves from the non-trigger position to the first trigger position, the first trigger part 2a blocks the original signal transmission path of the sensor 3 to trigger the sensor 3 to generate an induction signal. When the trigger component 2 moves from the non-trigger position to the second trigger position, the second trigger part 2b blocks the original signal transmission path of the sensor 3 to trigger the induction signal.

[0041] As Figure 5 , 9 shown, a sliding groove 7a is provided on the fixed seat 7. The inner end of the detection component 1 is installed in the sliding groove 7a and can move back and forth along the sliding groove 7a. Guide groove holes 7a1 are provided on both sides of the sliding groove 7a. The guide groove holes 7a1 can be long strip-shaped through holes or blind holes. Sliders 1b that cooperate with the guide groove holes 7a1 are provided on both sides of the inner end of the detection component 1. The sliders 1b are installed in the guide groove holes 7a1 and can move along the guide groove holes 7a1 under the drive of the detection component 1. The guide groove holes 7a1 can play a guiding role. The outer end of the detection component 1 is located outside the fixed seat 7 and bends downward, and the inner end is located in the sliding groove 7a. A gap is left between the inner end of the detection component 1 and the front wall, rear wall, and bottom wall of the sliding groove 7a, so that the detection component 1 can deflect up and down relative to the fixed seat 7 (body 8) with the axis of the slider 1b as the rotation axis. Generally speaking, the detection component 1 deflects only when the slider 1b moves to the front end of the guide groove hole 7a1. In addition, the length of the sliding groove 7a is greater than the length of the inner end of the detection component 1, so as to provide a moving space for the inner end of the detection component 1.

[0042] Among them, in order to make the outer end of the detection component 1 be located outside the body 8 when the cleaning robot is working and abut against the surface to be cleaned through the rollers 4 at its bottom, a driving mechanism can be provided on the body 8 or the fixed seat 7 or other components. The driving mechanism can apply a force to the detection component 1 to urge its outer end to be located outside the body 8 and abut against the surface to be cleaned. By means of this force, the detection component 1 can be urged to reset (move forward) after the external squeezing is released, and the detection component 1 can be urged to deflect downward when it moves out of the surface to be cleaned. The driving mechanism can be an elastic component 5 or other components that can cause the detection component 1 to perform the above-mentioned movements in addition to the elastic component 5.

[0043] The following takes the driving mechanism as the elastic component 5 as an example for illustration. Specifically, the elastic component 5 is arranged between the inner end of the detection component 1 and the rear wall of the fixed seat 7 (i.e., the rear wall of the chute 7a). The elastic component 5 can be a helical spring or other elastic components, and its two ends can be fixed on the protruding columns of the detection component 1 and the fixed seat 7. Among them, the elastic deformation direction of the elastic component 5 is parallel to the direction in which the slider 1b moves along the guiding slot hole 7a1, and the elastic component 5 is located above the slider 1b. The guiding slot hole 7a1 extends horizontally from front to back, and the telescopic direction of the elastic component 5 is parallel to the extending direction of the guiding slot hole 7a1. Moreover, the position of the elastic component 5 is higher than the position of the guiding chute 7a. In this way, after the detection component 1 that was originally squeezed by the frame leaves the frame, it can move forward under the elastic force of the elastic component 5. Also, after the detection component 1 that was originally abutted against the glass surface moves to the outside of the boundary, it can deflect downward relative to the body 8 with the rotation axis of the slider 1b as the rotation center under the elastic force of the elastic component 5. Specifically, the end face of the inner end of the detection component 1 and the rear wall of the fixed seat 7 are parallel to each other, and the elastic component 5 is perpendicular to the end face of the inner end of the detection component 1 and the rear wall surface of the fixed seat 7, and is located above the guiding chute 7a. Of course, it can also be that the elastic deformation direction of the elastic component 5 intersects with the direction in which the slider 1b moves along the guiding slot hole 7a1 to form an included angle. The guiding slot hole 7a1 extends horizontally from front to back, and the telescopic direction of the elastic component 5 is inclined to the extending direction of the guiding slot hole 7a1. In this way, after the detection component 1 that was originally squeezed by the frame leaves the frame, it can move forward under the elastic force of the elastic component 5. Also, after the detection component 1 that was originally abutted against the glass surface moves to the outside of the boundary, it can deflect downward relative to the body 8 with the rotation axis of the slider 1b as the rotation center under the elastic force of the elastic component 5. Specifically, the end face of the inner end of the detection component 1 and the rear wall of the fixed seat 7 are parallel to each other and inclined backward relative to the vertical plane, and the elastic component 5 is perpendicular to the end face of the inner end of the detection component 1 and the rear wall of the fixed seat 7. In addition, when the roller 4 or the stopper 1a at the outer end of the detection component 1 is squeezed by the frame and moves backward, and the roller 4 at the bottom of the outer end of the detection component 1 abuts against the window glass, the elastic component 5 is in a compressed state. Then, when the detection component 1 moves away from the frame of the framed window glass and moves outside the boundary of the frameless window glass, the elastic component 5 can apply an elastic force to the detection component 1 to drive it to move forward along the guiding slot hole 7a1 and deflect downward with the axis of the slider 1b as the rotation center.

[0044] Among them, an inverted U-shaped seat 6 can also be provided on the body 8 (or the fixed seat 7). The sensor 3 is installed on the inner side wall of the U-shaped seat 6. A strip-shaped through groove 8a (i.e., a strip-shaped through hole) is provided at the bottom of the body 8. The triggering member 2 passes through the strip-shaped through groove 8a from bottom to top and is located between the two side walls of the U-shaped seat 6. The front end and the rear end of the triggering member 2 are respectively located on the front and rear sides of the sensor 3. In this embodiment, the fixed seat 7 is fixed to the bottom of the body 8, and the upper end of the triggering member 2 installed on the fixed seat 7 passes through the strip-shaped through groove 8a provided at the bottom of the body 8 and extends into the middle of the U-shaped seat 6. When the cleaning robot performs boundary detection on the framed window glass, when the outer end (such as the roller 4 or the stopper 1a at this position) of the detection member 1 is squeezed by the frame, the triggering member 2 will move backward with it, so that its front end (the first triggering portion 2a) moves into the space between the two side walls of the U-shaped seat 6, thereby triggering the sensor 3 to generate an induction signal. When the cleaning robot performs boundary detection on the frameless window glass, when the bottom of the outer end of the detection member 1 moves out of the glass boundary, the triggering member 2 will deflect forward or upward with it, so that its rear end (the second triggering portion 2b) moves into the space between the two side walls of the U-shaped seat 6, thereby triggering the sensor 3 to generate an induction signal.

[0045] Figure 7 , 8 Fig. shows the relative position relationship between the first triggering portion 2a, the second triggering portion 2b and the sensor 3 when the triggering member 2 is in the non-triggering position. It can be seen from the figure that when the triggering member 2 is in the non-triggering position, the first triggering portion 2a is located in front of the signal transmission path of the sensor 3, and the second triggering portion 2b is located behind and below the signal transmission path of the sensor 3. During the working process of the cleaning robot, when it moves to the edge of the framed window glass, the detection member 1 collides with the frame of the glass. Since the detection member 1 can move backward relative to the fixed seat 7 (the body 8) when its (such as the roller 4 or the stopper 1a) collides with the frame of the glass, under the pushing action of the frame, the detection member 1 drives the triggering member 2 to move backward. When the triggering member 2 moves backward to interfere with the original signal transmission path of the sensor 3 (at this time, the triggering member 2 is in the first triggering 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 member 1 is not subjected to the pushing action of the frame, it will not undergo a lateral displacement (forward and backward movement) relative to the fixed seat 7, but the detection member 1 will move outside the glass and be in a suspended state. After losing the support of the glass, the detection member 1 drives the triggering member 2 to deflect downward relative to the fixed seat 7. When the second triggering portion 2b deflects forward and upward to interfere with the original signal transmission path of the sensor 3 (at this time, the triggering member 2 is in the second triggering position), the original signal transmission path is blocked, and then an induction signal is triggered.

[0046] The above embodiments are 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. A low-noise boundary detection mechanism, comprising a detection component (1), a trigger component (2) and a sensor (3), characterized in that: A roller (4) is provided at the bottom of the outer end of the detection component (1). The detection component (1) is configured such that at least when the cleaning robot is adsorbed on the surface to be cleaned, its outer end is located outside the body (8) of the cleaning robot and abuts against the surface to be cleaned through the roller (4) at the bottom, and it can move in the first direction when being externally squeezed and bumped, and can move in the second direction when it moves to the outside of the surface to be cleaned, so as to drive the trigger component (2) to move to a preset induction position and trigger the inductor (3) to generate an induction signal.

2. The low-noise boundary detection mechanism according to claim 1, characterized in that: A blocking portion (1a) capable of receiving external squeezing and bumping prior to the roller (4) is provided at the outer end of the detection component (1) when it is externally squeezed and bumped.

3. The low-noise boundary detection mechanism according to claim 2, characterized in that: The bottom end of the blocking portion (1a) is located below the center line of the roller (4) and is higher than the bottom edge of the roller (4).

4. The low-noise boundary detection mechanism according to claim 3, characterized in that: The blocking portion (1a) is located on the front side of the roller (4), or at least on one of the left or right sides of the roller (4). The blocking portion (1a) is configured such that when the roller (4) abuts against the surface to be cleaned, its bottom end can approach the surface to be cleaned in the vertical direction and extend beyond the peripheral edge of the roller (4) in the horizontal direction.

5. The low-noise boundary detection mechanism according to claim 1, characterized in that: It further includes a driving mechanism configured to be able to apply a force to the detection component (1) so that its outer end is located outside the body (8) and abuts against the surface to be cleaned.

6. The low-noise boundary detection mechanism according to claim 5, characterized in that: The driving mechanism includes an elastic component (5) configured to be able to apply an elastic force to the detection component (1) so that its outer end is located outside the body (8) and abuts against the surface to be cleaned.

7. The low-noise boundary detection mechanism according to claim 1, wherein: The inductor (3) is a reflective sensor or a light interruption sensor. Before the trigger component (2) follows the detection component (1) to move in the first direction, it is located on the front side of the signal transmission path of the inductor (3). Before the trigger component (2) follows the detection component (1) to move in the second direction, it is located on the rear side or below the signal transmission path of the inductor (3). During the process that the trigger component (2) follows the detection component (1) to move in the first direction, the trigger component (2) 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 trigger component (2) follows the detection component (1) to move in the second direction, the trigger component (2) moves forward or 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.

8. The low-noise boundary detection mechanism according to claim 1, wherein: It further includes a U-shaped seat (6). The inductor (3) is installed on the inner side wall of the U-shaped seat (6). The trigger component (2) is configured to be able to follow the detection component (1) to move in the first direction and move between the two side walls of the U-shaped seat (6) when the detection component (1) is externally squeezed and bumped, and be able to follow the detection component (1) to move in the second direction and move between the two side walls of the U-shaped seat (6) when the detection component (1) moves to the outside of the surface to be cleaned, so as to trigger the inductor (3) to generate an induction signal.

9. The low-noise boundary detection mechanism according to claim 1, wherein: It further includes a fixed seat (7). The detection component (1) is installed on the fixed seat (7) and is connected through a slider (1b) and a guiding slot hole (7a1) provided on the fixed seat (7). The detection component (1) is configured to be able to slide along the guiding slot hole (7a1) on the fixed seat (7) and deflect relative to the fixed seat (7) with the axis of the slider (1b) as the rotation axis, so as to realize the movement of the detection component (1) along the first direction and the second direction.

10. Cleaning robot, comprising a body (8), characterized in that: A plurality of the low-noise boundary detection mechanisms as described in any one of claims 1-9 are provided on the machine body (8).

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