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Obstacle sensor and robot cleaner having the same

  • US 9,239,389 B2
  • Filed: 09/14/2012
  • Issued: 01/19/2016
  • Est. Priority Date: 09/28/2011
  • Status: Expired due to Fees
First Claim
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1. An obstacle sensor comprising:

  • a line light irradiating unit comprising a light-emitting unit, and a first conical mirror, an apex of which is disposed towards the light-emitting unit in a light irradiation direction of the light-emitting unit and which converts light emitted from the light-emitting unit into line light irradiated in all directions; and

    a reflected light receiving unit comprising a second conical mirror to condense light, that is irradiated from the first conical mirror and is then reflected from an obstacle, a lens, that is spaced from the apex of the second conical mirror by a predetermined distance and transmits the reflected light, and an imaging unit to image the reflected light that passes through the lens, wherein the line light irradiating unit and the reflected light receiving unit are arranged in a row in a vertical line or are arranged at different positions in a vertical line or horizontal line, and wherein the first conical mirror is formed by joining two or more conical fragments having different bottom diameters.

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