| 摘要 |
PURPOSE: An apparatus and method for sensing an obstacle shape of a robot cleaner is provided to enhance an obstacle avoidance performance of the robot cleaner by sensing exactly the obstacle shape existing in a driving path of the robot cleaner. CONSTITUTION: A robot cleaner comprises a driving portion(110), a cleaning portion(120), an intake detector(126), a dust collecting portion, a vision portion, a cell distance measuring portion(140), a fall preventing portion(150), an obstacle sensing portion(160), an impact sensing portion(166), a charging apparatus(170), a remote controller emitting portion(180), an RF receiving/transmitting portion(185), and a control section(190). The driving portion includes four wheels(116), a motor(114) for rotating the wheel respectively, and a PWM control section(112). The obstacle sensing portion includes a sensor installing portion, an optical guiding portion, a light emitting portion, and a light receiving portion. |
