The invention discloses a floor sweeping robot with a threshold detection function and a threshold detection method thereof. The threshold detection system comprises a wall-following detection component, a universal wheel walking distance measuring component, a collision detection component, a MCU and a walking drive component. The wall-following detection component, the universal wheel walking distance measuring component and the collision detection component are respectively connected with the sampled signal input end of the MCU, and the control signal output end of the MCU is connected with the walking drive component. According to the floor sweeping robot with the threshold detection function and the threshold detection method thereof, by the aid of the structural feature of a threshold and the structural feature of the floor sweeping robot itself, the threshold detection system is designed, the design is reasonable, no any extra detection accessory is needed, and cost is low; the threshold can be intelligently recognized and judged by integrating the universal wheel forward-moving information, three-axis magnetoresistive sensor reading variation and front end infrared ground-penetrating sensor signals, the recognition precision is high, the reliability is good, the structure is simple, and the cost is low.