Boundary detection device and cleaning robot

Abstract

A boundary detection device and a cleaning robot relate to the technical field of intelligent cleaning equipment. The boundary detection device comprises a first detection part, a second detection part, a first trigger part, a second trigger part, a first sensor, a second sensor and a moving part, when the cleaning robot is adsorbed to a to-be-cleaned surface, one end of the first detection part is located on the outer side of the robot body, and when the first detection part is extruded and collided by the outside, the second detection part is located on the outer side of the robot body; the first pushing part can push the moving part to move in the first direction, so that the first triggering part triggers the first sensor to generate a sensing signal at a preset first sensing position; the second detection part can abut against the to-be-cleaned face when the cleaning robot is adsorbed to the to-be-cleaned face, and can move in the second direction when moving to the outer side of the to-be-cleaned face, so that the second trigger part triggers the second inductor to generate an induction signal at a preset second induction position. According to the utility model, the misjudgment risk caused by a single detection component, a single trigger component and a single inductor in the prior art can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of intelligent cleaning equipment technology, and in particular to a boundary detection device and a cleaning robot. Background Technology

[0002] Chinese patent document CN221378542U discloses a boundary detection device and a cleaning robot. When the cleaning robot is attached to a surface to be cleaned, one end of its detection component is located outside the robot body and abuts against the surface. When the detection component is subjected to external impact or moves to the outside of the surface to be cleaned, it can move in different directions, causing a trigger component to move to a preset sensing position, thereby triggering a sensor to generate a sensing signal. This solution achieves boundary detection for frameless and framed glass using a single detection component, trigger component, and sensor. This design has some shortcomings. Specifically, the single detection component, trigger component, and sensor need to handle two different types of boundaries simultaneously. This necessitates that when performing frameless glass boundary detection, the framed glass boundary detection signal must be masked by an algorithm, and vice versa. This signal masking mechanism not only increases the complexity of the system but is also prone to misjudgment when the boundary type changes, causing the cleaning robot to fail to accurately identify the boundary. Furthermore, the complex signal processing and masking mechanism requires additional R&D investment, increasing the difficulty and cost of technical implementation. Utility Model Content

[0003] One of the objectives of this invention is to provide an improved boundary detection device that uses two independent sets of detection components, triggering components, and sensors to handle the boundary detection of framed and frameless glass respectively, thereby reducing the risk of misjudgment caused by a single detection component, triggering component, and sensor in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a boundary detection device, comprising a first detection component, a second detection component, a first trigger component, a second trigger component, a first sensor, a second sensor, and a moving component. The first detection component and the second detection component are connected to the moving component. One of the first trigger component and the first sensor is disposed on the moving component, and the other component is disposed at a preset first sensing position. One of the second trigger component and the second sensor is disposed on the second detection component, and the other component is disposed at a preset second sensing position.

[0005] When the cleaning robot is attached to the surface to be cleaned, one end of the first detection component is located on the outside of the robot body, and when it is squeezed or bumped by the outside, it can push the moving component to move along the first direction, causing the first triggering component to trigger the first sensor to generate a sensing signal at the preset first sensing position;

[0006] When the cleaning robot is attached to the surface to be cleaned, the second detection component can abut against the surface to be cleaned, and when it moves to the outside of the surface to be cleaned, it can move along the second direction, causing the second triggering component to trigger the second sensor to generate a sensing signal at the preset second sensing position.

[0007] Furthermore, the boundary detection device also includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to push the first detection component to the outside of the machine body, and the second driving mechanism is used to push the second detection component to abut against the surface to be cleaned.

[0008] Furthermore, the first driving mechanism includes a first elastic component, and the second driving mechanism includes a second elastic component; the first elastic component is used to push the first detection component to the outside of the machine body, and the second elastic component is used to push the second detection component to abut against the surface to be cleaned.

[0009] Furthermore, the first triggering component is disposed on the moving component, the first sensor is disposed at a preset first sensing position, the second triggering component is disposed on the second detection component, and the second sensor is disposed at a preset second sensing position;

[0010] Both the first and second sensors are reflective or interruption sensors.

[0011] Before the first triggering component moves along the first direction following the moving component, it is located in front of the preset first sensing position; before the second triggering component moves along the second direction following the second sensing component, it is located below the preset second sensing position.

[0012] When the first triggering component moves along the first direction, it moves backward until it interferes with the signal transmission path of the first sensor, blocking or changing the signal transmission path and triggering the sensing signal; when the second triggering component moves along the second direction, it moves upward until it interferes with the signal transmission path of the second sensor, blocking or changing the signal transmission path and triggering the sensing signal.

[0013] Furthermore, the first triggering component is disposed on the moving component, the first sensor is disposed at a preset first sensing position, the second triggering component is disposed on the second detection component, and the second sensor is disposed at a preset second sensing position;

[0014] The boundary detection device further includes a first U-shaped seat (located at a preset first sensing position) and a second U-shaped seat (located at a preset second sensing position) disposed on the body, and the first sensor and the second sensor are respectively installed on the inner sidewalls of the first U-shaped seat and the second U-shaped seat.

[0015] When the first detection component is subjected to external impact, the first triggering component can move along the first direction with the moving component to the space between the two side walls of the first U-shaped seat, triggering the first sensor to generate a sensing signal.

[0016] The second triggering component can move along the second direction to the space between the two side walls of the second U-shaped seat when the second detection component moves to the outside of the surface to be cleaned, triggering the second sensor to generate a sensing signal.

[0017] Furthermore, the second detection component is rotatably connected to the moving component and is able to rotate in the second direction when it is moved to the outside of the surface to be cleaned.

[0018] Furthermore, the first detection component is located above the outer end of the second detection component, and the outer end of the first detection component extends beyond the outer end of the second detection component.

[0019] Furthermore, the first detection component is rotatably connected to the moving component and is coaxially arranged with the second detection component. The moving component is provided with a limiting structure to prevent the first detection component from rotating excessively.

[0020] Another objective of this invention is to provide a cleaning robot, which includes a body on which a plurality of the aforementioned boundary detection devices are provided.

[0021] Furthermore, the machine body is provided with a guide slot, and the moving part is connected to the guide slot through a slider and can slide along the guide slot to achieve movement in the first direction.

[0022] This invention employs two independent sets of detection components, triggering components, and sensors to detect the boundaries of framed and frameless glass respectively, thus avoiding signal interference. Each set of components operates independently, eliminating the need for complex signal shielding mechanisms, simplifying the control logic, improving the accuracy and reliability of boundary detection, and reducing system complexity and development costs. Furthermore, this invention has a simple structure, with clear logic for the interaction of each component, facilitating implementation and maintenance. Attached Figure Description

[0023] Figure 1 For the three-dimensional cleaning robot Figure 1 ;

[0024] Figure 2 For the three-dimensional cleaning robot Figure 2 ;

[0025] Figure 3 For the three-dimensional cleaning robot Figure 3 Omit the cleaning cloth;

[0026] Figure 4 This is a partially exploded view of the cleaning robot;

[0027] Figure 5 A 3D view of the movable pressure plate;

[0028] Figure 6 Three-dimensional boundary detection device Figure 1 ;

[0029] Figure 7 Three-dimensional boundary detection device Figure 2 ;

[0030] Figure 8 Three-dimensional boundary detection device Figure 3 ;

[0031] Figure 9 This is an exploded view of the boundary detection device.

[0032] In the picture:

[0033] 1 – First detection component; 2 – Second detection component

[0034] 2a - Protrusion 3 - First trigger component

[0035] 4 – Second triggering component; 5 – First sensor

[0036] 6 – Second sensor; 7 – Moving part; 7a – Slider

[0037] 7b – Limiting rod; 7c – Groove; 8 – First elastic component

[0038] 9 – Second elastic component; 10 – First U-shaped seat

[0039] 11 – Second U-shaped base; 12 – Main body; 12a – Base plate

[0040] 12b – Movable pressure plate; 12b1 – Guide slot hole

[0041] 12b2 – Limiting block; 12b3 – Stop; 13 – Cleaning cloth

[0042] 14a – Drive wheel; 14b – Track; 15 – Suction module

[0043] 16 - Rotating shaft; 17 - Mounting base. Detailed Implementation

[0044] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, it will be further described below in conjunction with embodiments and accompanying drawings. (See also...) Figure 1-9 .

[0045] This invention primarily improves the accuracy and reliability of boundary detection by enhancing the detection method and structure, simplifying the control logic, and reducing the risk of misjudgment, while ensuring the functionality of the boundary detection device. Specifically, the structure of the boundary detection device used in this invention is described below. Figure 6-9 As shown, it mainly includes: a first detection component 1, a second detection component 2, a first trigger component 3, a second trigger component 4, a first sensor 5, a second sensor 6, and a moving component 7. The first detection component 1 and the second detection component 2 are connected to the moving component 7. The first trigger component 3 is disposed on the moving component 7, and the second trigger component 4 is disposed on the second detection component 2. The first sensor 5 and the second sensor 6 are mounted on the cleaning robot body 12 and are respectively located at a preset first sensing position and a preset second sensing position. Specifically, the moving component 7 is slidably mounted on the body 12 and can move in a directional manner relative to the body 12. The first detection component 1 is movably connected to or fixedly connected to the moving component 7, the second detection component 2 is movably connected to the moving component 7, the first trigger component 3 is fixedly mounted on the moving component 7, the second trigger component 4 is fixedly mounted on the second detection component 2, and the first sensor 5 and the second sensor 6 are fixedly mounted at different positions on the body 12. When the cleaning robot adheres to the surface to be cleaned, one end of the first detection component 1 is located outside the body 12. When subjected to external impact, it can push the moving component 7 to move along a first direction (e.g., horizontally), causing the first trigger component 3 to move to a preset first sensing position, triggering the first sensor 5 to generate a sensing signal. When the cleaning robot adheres to the surface to be cleaned, the second detection component 2 can abut against the surface to be cleaned. When it moves to the outside of the surface to be cleaned, it can move along a second direction (e.g., vertically), causing the second trigger component 4 to move to a preset second sensing position, triggering the second sensor 6 to generate a sensing signal. The aforementioned surface to be cleaned includes, but is not limited to, the surface of a flat plate (e.g., a vertical glass window, a glass curtain wall, etc.). For ease of understanding, the following description uses window glass as an example. The horizontal movement mentioned above includes, but is not limited to, horizontal linear displacement, and the vertical movement includes, but is not limited to, vertical deflection.

[0046] Furthermore, the arrangement of the triggering component and sensor is not limited to the above-mentioned method (triggering component moving, sensor fixed). The following method can also be used (triggering component fixed, sensor moving): A first sensor 5 is mounted on the moving component 7, and a first triggering component 3 is set at a preset first sensing position. When the moving component 7 moves along a first direction, the first sensor 5 moves accordingly. When it reaches the preset first sensing position, the first triggering component 3 triggers the first sensor 5 to generate a sensing signal. A second sensor 6 is mounted on the second detection component 2, and a second triggering component 4 is set at a preset second sensing position. When the second detection component 2 moves along a second direction, the second sensor 6 moves accordingly. When it reaches the preset second sensing position, the second triggering component 4 triggers the second sensor 6 to generate a sensing signal. In short, the first triggering component 3 and the second triggering component 4 are fixedly mounted at different positions on the body 12, while the sensor moves with the moving component or detection component, thereby achieving signal triggering.

[0047] The boundary detection device with the above structure (taking the moving trigger component and fixed sensor in the boundary detection device as an example) performs boundary detection in the following way: When the cleaning robot is cleaning the framed window glass, when the cleaning robot walks to the edge of the glass, the outer end of the first detection component 1 is pushed by the frame and pushes the moving component 7, which in turn drives the first trigger component 3 to move backward relative to the body 12, so that the first trigger component 3 moves from its original non-trigger position to the first trigger position (the preset first sensing position), thereby triggering the first sensor 5 to form a sensing signal. During the cleaning 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 to block it, the outer end of the first detection component 1 will not be squeezed and pushed to move the moving component 7 relative to the body 12. Instead, when the outer end of the second detection component 2 moves to the outside of the glass and is suspended in the air (that is, when the outer end of the second detection component 2 is detached from the glass surface), since it loses the support of the glass, its outer end will deflect downward relative to the body 12, thereby causing the second trigger component 4 to move from its original non-trigger position to the second trigger position (the preset second sensing position), and trigger the second sensor 6 to generate a sensing signal.

[0048] This invention uses a first detection component 1, a first trigger component 3, and a first sensor 5 to detect the boundary of framed glass, and a second detection component 2, a second trigger component 4, and a second sensor 6 to detect the boundary of frameless glass. This ensures the independence of the two boundary detection signals and avoids signal interference. This independence simplifies the control logic, eliminating the need for complex signal shielding measures, thereby improving the system's reliability and efficiency. Furthermore, by using independent detection components, trigger components, and sensors to detect the boundaries of framed and frameless glass respectively, this invention avoids potential misjudgments caused by a single detection component, trigger component, or sensor, significantly improving the accuracy and reliability of the detection. Through these improvements, this invention not only enhances the accuracy and reliability of boundary detection but also reduces system complexity, simplifying the research and development and implementation process.

[0049] The boundary detection device involved in this utility model and the cleaning robot on which it is applied will be described below.

[0050] Figure 1-4 The diagram illustrates the structure of the cleaning robot in this embodiment. As shown, the cleaning robot includes a body 12. A cleaning cloth 13 is provided at the bottom of the body 12. This cleaning cloth 13 can be detachably installed at the bottom of the body 12 using a Velcro or other removable structure for easy replacement. A walking mechanism, such as a track mechanism, is provided on both sides (e.g., the middle two sides) of the body 12. This track mechanism includes two drive wheels 14a and a track 14b installed between the two drive wheels 14a. Both drive wheels 14a can be driving wheels, or one can be a driving wheel and the other a driven wheel. A suction module 15 is also provided on the body 12 to adhere the robot to the surface to be cleaned. The body 12 has a rectangular outline (e.g., a rectangle or square outline) and a boundary detection device is provided at each of the four corners. Furthermore, the body 12 can be a one-piece structure or a split structure. This embodiment uses a split structure of the body 12 as an example for explanation. Specifically, the machine body 12 includes a base plate 12a and a movable pressure plate 12b arranged vertically, with a boundary detection device disposed between the base plate 12a and the movable pressure plate 12b. A cleaning cloth 13 is disposed at the bottom of the movable pressure plate 12b, and an elastic drive element (such as elastic cotton) is disposed between the movable pressure plate 12b and the base plate 12a. When the machine is attached to the surface to be cleaned, relative movement (moving closer to each other) occurs between the movable pressure plate 12b and the base plate 12a. At the same time, the elastic drive element applies a force to the movable pressure plate 12b, causing it to press tightly against the surface to be cleaned, thereby making the cleaning cloth 13 adhere tightly to the surface to be cleaned. Of course, the relative movement between the base plate 12a and the movable pressure plate 12b should be controlled so as not to affect the normal operation of the boundary detection device.

[0051] This embodiment uses the example of a boundary detection device where the trigger component moves and the sensor is fixed. For the specific structure of a single boundary detection device, please refer to [link to documentation]. Figure 6-9 As shown, it mainly includes detection components, moving components 7, triggering components, and sensors installed at the four corners of the machine. The detection components include a first detection component 1 and a second detection component 2; the triggering components include a first triggering component 3 and a second triggering component 4; and the sensors include a first sensor 5 and a second sensor 6. The first detection component 1 is movably mounted (e.g., rotatably mounted) on the moving component 7, and the second detection component 2 is movably mounted (e.g., rotatably mounted) on the moving component 7. The first triggering component 3 is fixedly mounted on the moving component 7 (e.g., the top of the inner end of the moving component 7), and they can be integrated. The second triggering component 4 is fixedly mounted on the second detection component 2, and they can also be integrated. The first sensor 5 and the second sensor 6 can be directly mounted on the machine body 12 or other components. In this embodiment, both the first sensor 5 and the second sensor 6 are interruption-type sensors; however, other types of sensors, such as reflective sensors, can also be used, as long as the sensor can trigger the sensing signal by the positional movement of the triggering components (first triggering component 3 and second triggering component 4). Furthermore, the triggering component can trigger the sensing signal by contacting the sensor or by non-contact triggering, such as by blocking or changing the original signal transmission path of the sensor. Since a sensing signal needs to be generated when the first triggering component 3 moves from the non-triggering position to the first triggering position (corresponding to boundary detection of framed window glass) and when the second triggering component 4 moves from the non-triggering position to the second triggering position (corresponding to boundary detection of frameless window glass), in this embodiment, the first triggering component 3 and the second triggering component 4 are respectively disposed on the moving component 7 and the second detection component 2, with the first triggering component 3 located in front of the signal transmission path of the first sensor 5 and the second triggering component 4 located below (e.g., below the rear) the signal transmission path of the second sensor 6. When the first triggering component 3 moves from the non-triggering position to the first triggering position, it blocks the original signal transmission path of the first sensor 5 to trigger the first sensor 5 to generate a sensing signal; when the second triggering component 4 moves from the non-triggering position to the second triggering position, it blocks the original signal transmission path of the second sensor 6 to trigger the second sensor 6 to generate a sensing signal.

[0052] like Figure 3 , 5As shown, the body 12 is provided with a guide slot 12b1, for example, a guide slot 12b1 is provided on the movable pressure plate 12b. The guide slot 12b1 can be a long strip-shaped through hole or a blind hole. The bottom of the moving part 7 is provided with a slider 7a that cooperates with the guide slot 12b1. The slider 7a is installed in the guide slot 12b1 and can move along the guide slot 12b1 under the drive of the moving part 7. The guide slot 12b1 can play a guiding role. The slider 7a can be a cylindrical or strip-shaped structure. When it is a cylindrical structure, the body 12 (e.g., the movable pressure plate 12b) can also be provided with a limiting block 12b2 parallel to the guide slot 12b1. The limiting block 12b2 is a long strip-shaped block structure. When the moving part 7 moves along the guide slot 12b1, the limiting block 12b2 can limit and stop the side of the moving part 7, making it move more stably along the guide slot 12b1. The outer end of the first detection component 1 is located outside the body 12 (including the base plate 12a and the movable pressure plate 12b) and has a 7-shaped cross-section. The inner end of the first detection component 1 is rotatably connected to the moving component 7 via a rotating shaft 16. The outer end of the second detection component 2 is located outside the body 12 (including the base plate 12a and the movable pressure plate 12b) and has a 7-shaped cross-section. The middle part of the second detection component 2 is rotatably connected to the moving component 7 via a rotating shaft 16. The first detection component 1 can be located above the outer end of the second detection component 2, and the outer end of the first detection component 1 extends beyond the outer end of the second detection component 2. This allows the first detection component 1 to be bumped by the frame before the second detection component 2 when the cleaning robot reaches the edge of the framed window glass, thus avoiding mutual interference between the detection components and reducing the risk of misjudgment. The first detection component 1 and the second detection component 2 can be coaxially arranged, that is, rotatably connected via the same rotating shaft 16 and the moving component 7. The coaxial arrangement and rotatable connection design makes the installation and adjustment of the detection components more convenient, reduces the assembly difficulty, and improves the assembly efficiency. The body 12 has reserved space for the movement of the first detection component 1, the second detection component 2, and the moving component 7, allowing the first detection component 1 and the moving component 7 to move along the guide slot 12b1, and allowing the second detection component 2 to rotate vertically relative to the moving component 7 (body 12) about the axis of rotation of the rotating shaft 16. The first detection component 1 can rest on the outer end of the second detection component 2. When the outer end of the second detection component 2 deflects downward, the first detection component 1 deflects downward due to loss of support; when the outer end of the second detection component 2 deflects upward, it can push the first detection component 1 to deflect upward and reset. In addition, to limit the movement of the first detection component 1 and ensure that it is always located outside the body 12 when the machine has not reached the edge, a limiting structure (such as a limiting rod 7b located above the first detection component 1, which is used to abut the upper end of the first detection component 1) can be provided on the moving component 7 to prevent the first detection component 1 from excessively deflecting (rotating) upward.Of course, the first detection component 1 can also be fixedly mounted on the moving component 7 and located above the outer end of the second detection component 2. The first sensor 5 and the second sensor 6 can be mounted side-by-side on the body 12. The moving component 7 can be mounted on the movable pressure plate 12b, while the sensors (first sensor 5 and second sensor 6) can be mounted on the base plate 12a.

[0053] To ensure that the outer end of the first detection component 1 is located outside the body 12 when the cleaning robot is working, and that the outer end of the second detection component 2 abuts against the surface to be cleaned (which is also usually outside the body 12) when the cleaning robot is working, two drive mechanisms can be provided on the body 12 or other components: a first drive mechanism and a second drive mechanism. The first drive mechanism applies a force to the moving component 7, causing the outer end of the first detection component 1 connected to it to be located outside the body 12. This force causes the moving component 7 to reset (move forward) after the first detection component 1 is released from external impact. The second drive mechanism applies a force to the second detection component 2, causing its outer end to abut against the surface to be cleaned. This force causes the outer end of the second detection component 2 to deflect downwards when it moves away from the surface to be cleaned. These two drive mechanisms can be elastic components, such as the first elastic component 8 and the second elastic component 9, or other components besides elastic components capable of causing the moving component 7 and the second detection component 2 to perform the aforementioned movements.

[0054] The following example illustrates the first driving mechanism as the first elastic component 8 and the second driving mechanism as the second elastic component 9. Specifically, the body 12 (e.g., the movable pressure plate 12b) is provided with a stop 12b3 (this stop 12b3 can be integrated with the limiting block 12b2 to form an L-shaped protrusion). The first elastic component 8 is located between the rear end (i.e., the inner end) of the moving component 7 and the stop 12b3. The second elastic component 9 is located between the bottom of the inner end of the second detection component 2 and the moving component 7. The second trigger component 4 can be located at the top of the inner end of the second detection component 2. A protrusion 2a can be provided at the bottom of the inner end of the second detection component 2, and a groove 7c can be provided on the moving component 7. The two ends of the second elastic component 9 can be respectively installed on the protrusion 2a and in the groove 7c. Of course, they can also be fixedly connected. The first elastic component 8 and the second elastic component 9 can be a coil spring or other elastic components. The elastic deformation direction of the first elastic component 8 is parallel to the direction in which the slider 7a moves along the guide slot 12b1, and the elastic deformation direction of the second elastic component 9 is perpendicular to (or intersects with) the direction in which the slider 7a moves along the guide slot 12b1. The guide slot 12b1 extends horizontally from front to back (the same applies to the limiting block 12b2). The extension and retraction direction of the first elastic component 8 is the front-back direction, and the extension and retraction direction of the second elastic component 9 is the vertical up-down direction. In this way, after the first detection component 1, which was originally squeezed by the frame, leaves the frame, the elastic force of the first elastic component 8 pushes the moving component 7, causing the first detection component 1 connected to the moving component 7 to move forward. Also, after the second detection component 2, which was originally against the glass surface, moves to the outside of the boundary, the elastic force of the second elastic component 9 causes the second detection component 2 (outer end) to deflect downward relative to the body 12 (moving component 7) with the axis of rotation of the rotating shaft 16 as the rotation axis. Furthermore, when the outer side of the first detection component 1 is pushed backward by the frame and the moving component 7 moves backward, and the bottom of the outer side of the second detection component 2 abuts against the window glass, the first elastic component 8 and the second elastic component 9 are in a compressed state. When the first detection component 1 moves away from the frame of the framed window glass, the first elastic component 8 can apply an elastic force to the moving component 7 connected to the first detection component 1, driving it to move forward along the guide slot 12b1. When the second detection component 2 moves outside the boundary of the frameless window glass, the second elastic component 9 can apply an elastic force to the second detection component 2, driving it to rotate around the axis of the rotating shaft 16, causing the outer end to deflect downward.

[0055] The body 12 (e.g., substrate 12a) can be equipped with two inverted U-shaped seats, such as a first U-shaped seat 10 and a second U-shaped seat 11. A mounting base 17 is provided on substrate 12a, and the two U-shaped seats are fixed to the mounting base 17. The first sensor 5 and the second sensor 6 are respectively mounted on the inner sidewalls of these two U-shaped seats. When the cleaning robot performs boundary detection on framed window glass, when the outer end of the first detection component 1 is pressed against the frame, the moving component 7 moves backward, causing the first trigger component 3 to move backward and into the space between the two sidewalls of the first U-shaped seat 10, thereby triggering the first sensor 5 to generate a sensing signal. When the cleaning robot performs boundary detection on frameless window glass, when the bottom of the outer end of the second detection component 2 moves out of the glass boundary, its outer end deflects downward, causing the second trigger component 4 at its inner end to deflect upward and into the space between the two sidewalls of the second U-shaped seat 11, thereby triggering the second sensor 6 to generate a sensing signal.

[0056] Figure 8 The diagram illustrates the relative positions of the first triggering component 3 and the second triggering component 4 with the first sensor 5 and the second sensor 6 when they are in the non-triggering position. As can be seen from the diagram, when the first triggering component 3 and the second triggering component 4 are in the non-triggering position, the first triggering component 3 is located in front of the signal transmission path of the first sensor 5, and the second triggering component 4 is located below (e.g., below the rear) the signal transmission path of the second sensor 6. During the operation of the cleaning robot, when it moves to the edge of a framed window, the first detection component 1 collides with the glass frame. Because the first detection component 1 can push the moving component 7 backward relative to the body 12 when it collides with the glass frame, under the pushing action of the frame, the first detection component 1 pushes the moving component 7, which in turn drives the first triggering component 3 to move backward. When the first triggering component 3 moves backward to the point where it interferes with the original signal transmission path of the first sensor 5 (at which point the first triggering component 3 is in the first triggering position), the original signal transmission path is blocked, thereby triggering the sensing signal. When the cleaning robot walks to the edge of the frameless window glass, since the first detection component 1 is not pushed by the frame, it will not push the moving component 7 to move laterally (back and forth) relative to the body 12. However, the second detection component 2 will move to the outside of the glass and be suspended in the air. After losing the support of the glass, the outer end of the second detection component 2 deflects downward relative to the moving component 7 (body 12) (equivalent to the second detection component 2 rotating counterclockwise around the pivot 16), which in turn drives the second trigger component 4 at the inner end to deflect upward relative to the moving component 7 (body 12). When the second trigger component 4 deflects upward to the point that it interferes with the original signal transmission path of the second sensor 6 (at this time, the second trigger component 4 is in the second trigger position), the original signal transmission path is blocked, thereby triggering the sensing signal.

[0057] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A boundary detection device, characterized in that: It includes a first detection component (1), a second detection component (2), a first trigger component (3), a second trigger component (4), a first sensor (5), a second sensor (6), and a moving component (7). The first detection component (1) and the second detection component (2) are connected to the moving component (7). One of the first trigger component (3) and the first sensor (5) is located on the moving component (7), and the other component is located at a preset first sensing position. One of the second trigger component (4) and the second sensor (6) is located on the second detection component (2), and the other component is located at a preset second sensing position. When the cleaning robot is attached to the surface to be cleaned, one end of the first detection component (1) is located outside the body (12), and when it is squeezed by the outside, it can push the moving component (7) to move along the first direction, so that the first trigger component (3) triggers the first sensor (5) to generate a sensing signal at the preset first sensing position. When the cleaning robot is attached to the surface to be cleaned, the second detection component (2) can abut against the surface to be cleaned, and when it moves to the outside of the surface to be cleaned, it can move along the second direction, causing the second trigger component (4) to trigger the second sensor (6) to generate a sensing signal at the preset second sensing position.

2. The boundary detection device according to claim 1, characterized in that: It also includes a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is used to push the first detection component (1) to the outside of the body (12), and the second driving mechanism is used to push the second detection component (2) to abut against the surface to be cleaned.

3. The boundary detection device according to claim 2, characterized in that: The first driving mechanism includes a first elastic component (8), and the second driving mechanism includes a second elastic component (9); the first elastic component (8) is used to push the first detection component (1) to the outside of the body (12), and the second elastic component (9) is used to push the second detection component (2) to abut against the surface to be cleaned.

4. The boundary detection device according to claim 1, characterized in that: The first triggering component (3) is disposed on the moving component (7), the first sensor (5) is disposed at a preset first sensing position, the second triggering component (4) is disposed on the second detection component (2), and the second sensor (6) is disposed at a preset second sensing position; Both the first sensor (5) and the second sensor (6) are reflective sensors or interruption sensors. The first triggering component (3) is located in front of the preset first sensing position before the following moving component (7) moves in the first direction; the second triggering component (4) is located below the preset second sensing position before the following second detection component (2) moves in the second direction. When the first triggering component (3) moves along the first direction, it moves backward until it interferes with the signal transmission path of the first sensor (5), blocking or changing the signal transmission path and triggering the sensing signal; when the second triggering component (4) moves along the second direction, it moves upward until it interferes with the signal transmission path of the second sensor (6), blocking or changing the signal transmission path and triggering the sensing signal.

5. The boundary detection device according to claim 1, characterized in that: The first triggering component (3) is disposed on the moving component (7), the first sensor (5) is disposed at a preset first sensing position, the second triggering component (4) is disposed on the second detection component (2), and the second sensor (6) is disposed at a preset second sensing position; The boundary detection device further includes a first U-shaped seat (10) located at a preset first sensing position and a second U-shaped seat (11) located at a preset second sensing position. The first sensor (5) and the second sensor (6) are respectively installed on the inner sidewalls of the first U-shaped seat (10) and the second U-shaped seat (11). When the first detection component (1) is subjected to external pressure, the first triggering component (3) moves along the first direction with the moving component (7) to the space between the two side walls of the first U-shaped seat (10) to trigger the first sensor (5) to generate a sensing signal. The second triggering component (4) can move along the second direction to the space between the two side walls of the second U-shaped seat (11) when the second detection component (2) moves to the outside of the surface to be cleaned, triggering the second sensor (6) to generate a sensing signal.

6. The boundary detection device according to claim 1, characterized in that: The second detection component (2) is rotatably connected to the moving component (7) and can rotate in the second direction when it is moved to the outside of the surface to be cleaned.

7. The boundary detection device according to claim 6, characterized in that: The first detection component (1) is located above the outer end of the second detection component (2), and the outer end of the first detection component (1) extends beyond the outer end of the second detection component (2).

8. The boundary detection device according to claim 7, characterized in that: The first detection component (1) is rotatably connected to the moving component (7) and is coaxially arranged with the second detection component (2). The moving component is provided with a limiting structure to prevent the first detection component (1) from rotating excessively.

9. A cleaning robot, comprising a body (12), characterized in that: The body (12) is provided with a plurality of boundary detection devices as described in any one of claims 1-8.

10. The cleaning robot according to claim 9, characterized in that: The body (12) is provided with a guide slot (12b1). The moving part (7) is connected to the guide slot (12b1) through a slider (7a) and can slide along the guide slot (12b1) to achieve movement in the first direction.

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