| 摘要 |
A position sensor of a running robot and a robot cleaner having the position sensor are provided to operate the running robot and the robot cleaner despite existing external inhibition lights by preventing the external inhibition lights from being misjudged as an obstacle, and to prevent a distance of the obstacle from being miscalculated due to reflected light by having a faulty signal processing unit or plural position sensors. A position sensor(51) of a running robot comprises a light receiving element(55) formed to make light images at different positions according to distance from an obstacle reflecting lights; a light emitting element(52) formed to straightly release light reflected by the obstacle and inputted into the light receiving element and to emit light at an angle about external inhibition light from a virtual obstacle so as to locate the virtual obstacle outside an available sensing range needed in running at a range of sensible distance from the obstacle; and a signal processing unit(58) formed to compute distance of the obstacle from images of light inputted to the light receiving element.
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