KR20200119387A - Robot cleaner - Google Patents

Abstract

Disclosed is a robot cleaner which comprises: a cleaner body including a control unit for controlling autonomous travelling; a first sensing unit fixed to the cleaner body and configured to photograph the front direction of the cleaner body; and a bumper arranged to cover at least a part of the cleaner body, configured, at the time of coming into contact with an obstacle, to be pressed and absorb impact, and including a through-hole for allowing image photographing by the first sensing unit, wherein the first sensing unit is arranged in the bumper and has an optical axis arranged to be inclined toward the lower side of the front of the cleaner body. According to the present invention, the robot cleaner′s performance of sensing an obstacle at the front can be improved.

Description

Robot cleaner {ROBOT CLEANER}

The present invention relates to a robot cleaner that performs a function of cleaning a floor while traveling by itself in a certain area.

In general, a robot cleaner is configured to autonomously drive a certain area, recognize the surrounding environment by itself, and perform a cleaning function suitable for the environment. The cleaning function performed by the robot cleaner may include a function of sucking and removing dust or foreign matter existing in the floor area. In addition, the robot cleaner can be used in various environments such as warehouses, homes, and offices.

On the other hand, autonomous driving, which is one of the core technologies of the robot cleaner, can be achieved by accurately recognizing its current location in the environment in which the robot cleaner works.

In general, a method for a robot cleaner to recognize its current location is implemented by performing a SLAM (Simultaneous Localization And Map-Building) task using information acquired through various sensors, and using map information created through it. I can. In addition, the robot cleaner may perform a function of photographing and monitoring the interior of the house by using autonomous driving characteristics.

In addition, in order to facilitate autonomous driving of the robot cleaner, it is necessary to develop a technology that detects obstacles present in the driving area and cliff topography at risk of falling.

Accordingly, as published in Korean Laid-Open Patent Publication No. 10-2017-0131172 and US Patent Publication No. 9,038,233, various applications of sensors for photographing the front area of the robot cleaner or detecting the lower terrain of the robot cleaner Is being tried.

However, in the case of a sensor that photographs the front of the robot cleaner, a dead zone occurs in the lower area in front of the robot cleaner, and in the case of a sensor that detects the lower terrain of the robot cleaner, it is located on the bottom side of the robot cleaner. A situation in which normal functions cannot be performed occurs due to other components to be arranged. Therefore, there is a need for research that can further improve the functions of sensors provided in a robot cleaner.

Patent Document 1: Unexamined Patent Publication No. 10-2017-0131172 (published on November 29, 2017) Patent Document 2: US Patent Publication US 9,038,233 B2 (registered on May 26, 2015)

A first object of the present invention is to provide a structure of a sensing unit capable of capturing obstacles existing above and below the front of the robot cleaner while reducing dead zones among the proximity areas of the front and lower portions of the robot cleaner. In having to.

A second object of the present invention is to provide a structure of a sensing unit that detects a lower terrain of a robot cleaner so as not to cause deterioration in function by other components disposed on the bottom side of the robot cleaner.

In order to achieve the first object of the present invention, a robot cleaner includes: a cleaner body having a control unit for controlling autonomous driving; A first sensing unit fixed to the cleaner body and photographing a front side of the cleaner body; And a bumper disposed to cover at least a portion of the cleaner body, formed to absorb an impact by being pressurized when contacting an obstacle, and having a through hole for photographing the first sensing unit, wherein the first sensing unit , It is disposed on the inside of the bumper, the optical axis is disposed to be inclined toward the front lower side of the cleaner body.

The first sensing unit may be disposed such that an intersection point at which the optical axis and the lens surface intersect is positioned above a reference line passing through the center of the through hole.

The through hole may include a first portion formed at an upper portion based on the intersection point; And a second portion formed below the intersection point and having a larger area than the first portion.

The first sensing unit may be disposed above the cleaner body based on a central height in the vertical direction.

The first sensing unit may include a camera; And a window disposed to cover the camera and having the same inclination as the camera toward the front and lower sides of the cleaner body.

The window may be made of a material that selectively transmits a specific wavelength region.

A first side brush and a second side brush respectively provided on both sides of the bottom-side front end of the cleaner body to sweep dust off the floor; And a second sensing unit disposed on the bottom side of the cleaner body and configured to detect a lower terrain by irradiating light downward of the cleaner body, wherein the second sensing unit includes the first and first 2 In order not to overlap with the brush, a first sensor and a second sensor are provided between the first and second side brushes of the bottom-side front end of the cleaner body, and the first sensor and the second sensor include the It may be disposed at a position symmetrical to the left and right from the front center line of the cleaner body.

It may further include a front caster disposed between the first and second sensors among the bottom-side front end of the cleaner body and configured to support the cleaner body while driving and to be rotatable along the ground.

A suction unit configured to suck air containing dust and disposed in a first half region of the cleaner body may be further included, and the first and second sensors may be disposed in front of the suction unit.

The second sensing unit may further include a third sensor disposed at a rear end of the bottom side of the cleaner body.

The second sensing unit may further include fourth and fifth sensors respectively disposed on both sides of the bottom side of the cleaner body.

The first sensing unit may capture a depth image including distance information about an object in the photographing area.

It may further include an ultrasonic sensing unit disposed on one surface of the front side of the bumper, and sensing an obstacle positioned around the front of the cleaner body by using the reflected ultrasonic wave after sending ultrasonic waves around the front of the cleaner body.

In order to achieve the second object of the present invention, a robot cleaner includes: a cleaner body including a control unit for controlling autonomous driving; A first side brush and a second side brush respectively provided on both sides of the bottom-side front end of the cleaner body to sweep dust off the floor; And a second sensing unit disposed on the bottom side of the cleaner body and configured to detect a lower terrain by irradiating light downward of the cleaner body, and the second sensing unit includes the irradiated light being the first and second A first sensor and a second sensor disposed between the first and second side brushes of the bottom-side front end of the cleaner body are provided so as not to overlap with the brush, and the first sensor and the second sensor may include the cleaner It is arranged at a position symmetrical left and right from the front center line of the main body.

The robot cleaner may further include a front caster disposed between the first and second sensors of the lower front end of the cleaner body, supporting the cleaner body while driving, and configured to be rotatable along the ground. .

The effects of the present invention obtained through the above-described solution are as follows.

First, the optical axis of the first sensing unit, which is fixed to the cleaner body and disposed inside the bumper to photograph the front of the cleaner body, is obliquely disposed to face the front and lower sides of the cleaner body, thereby preventing a photographing area occurring in the front lower part of the robot cleaner. By reducing the (dead zone), it is possible to detect floor obstacles that exist in an area closer to the robot cleaner, and detect obstacles that exist at a height that the robot cleaner cannot pass through. As a result, it is possible to improve the detection performance of an obstacle existing in front of the robot cleaner.

In addition, it is formed to cover at least a part of the cleaner body and is disposed inside the bumper that absorbs the impact when it collides with an obstacle, so that the first sensing unit is fixed to the cleaner body, so that it stably Can maintain performance.

Second, the first sensor and the second sensor provided in the second sensing unit are disposed between the first and second side brushes so as not to overlap the first side brush and the second side brush, and are symmetrical from the front center line of the cleaner body. It is disposed at a position that is not disturbed by other components of the robot cleaner such as a side brush, and a function of detecting a lower terrain of the robot cleaner to prevent a fall can be performed more stably.

1 is a perspective view showing an example of a robot cleaner according to the present invention.
2 is a plan view of the robot cleaner shown in FIG. 1.
Figure 3 is a front view of the robot cleaner shown in Figure 1;
4 is a cross-sectional view of the robot cleaner shown in FIG. 3.
5 is an enlarged cross-sectional view of a first sensing unit in the robot cleaner illustrated in FIG. 4;
6 is an exploded perspective view of the robot cleaner shown in FIG. 1.
7 is a view showing a first sensing unit separated from the robot cleaner illustrated in FIG. 6.
8 is an exploded perspective view of the first sensing unit shown in FIG. 7.
9 is a view showing the bottom of the robot cleaner shown in FIG.
FIG. 10 is an enlarged view of a bottom-side front end of the robot cleaner shown in FIG. 9;

Hereinafter, a robot cleaner according to the present invention will be described in more detail with reference to the drawings.

1 is a perspective view showing an example of a robot cleaner 100 according to the present invention, FIG. 2 is a plan view of the robot cleaner 100 shown in FIG. 1, and FIG. 3 is a robot cleaner 100 shown in FIG. It is a front view of.

Referring to FIGS. 1 to 3, the robot cleaner 100 autonomously travels in a certain area and recognizes the surrounding environment by itself and performs a cleaning function suitable for the environment. The cleaning function referred to herein includes a function of sucking and removing dust or foreign matter existing in the floor area. In addition, the robot cleaner 100 can be used in various environments such as warehouses, homes, and offices.

The robot cleaner 100 includes a cleaner body 110, a first sensing unit 120 and a bumper 130.

The cleaner body 110 includes a control unit (not shown) that controls the autonomous driving of the robot cleaner 100. In addition, the cleaner body 110 includes a wheel unit 117 for driving the robot cleaner 100. The robot cleaner 100 may be moved on the ground G by the wheel part 117.

The wheel part 117 is disposed to be in contact with the ground G at the bottom of the cleaner body 110, and is rotatable about an axis perpendicular to the cleaner body 110 in order to change the moving direction of the robot cleaner 100. Done. The wheel unit 117 may be configured in a plurality of the cleaner body 110, and each may be independently driven.

Meanwhile, a first battery 111a and a second battery 111b supplying power for driving the robot cleaner 100 may be coupled to the cleaner body 110. The first and second batteries 111a and 111b may be separately configured and separately charged with respect to the cleaner body 110, or may be charged while being mounted on the cleaner body 110.

In addition, a display unit 112 may be disposed on the upper surface of the cleaner body 110 to display various state information related to the driving of the robot cleaner 100 and provide the user with information. The state information may include various information such as a power state, a cleaning state, a cleaning mode, an operation time, and a failure. The cleaning mode is a mode in which a space without many obstacles, such as a warehouse or a long corridor, is cleaned by driving in a certain pattern, and a mode in which a space with many various obstacles, such as an office, is autonomously driven without a certain pattern and cleaning is performed. It may include.

In addition, a lamp 113 may be disposed on the upper surface of the cleaner body 110 to display the state of the robot cleaner 110 in another form together with the display unit 112. The lamp 113 may be configured to emit light of various colors in various ways.

For example, the lamp 113 may display light in different colors, brightness of light, and flickering form of light. Accordingly, even in a situation where it is difficult for the user to check the status information of the robot cleaner 100 through the display unit 112, the status information of the robot cleaner 100 is more intuitively provided through the light emitted from the lamp 113 I can receive it. Further, in the present invention, the case where the lamp 113 is configured as one has been described as an example, but may be configured as a plurality and disposed adjacent to each other.

In addition, a first side brush 141 and a second side brush 142 may be provided on both sides of the bottom portion of the cleaner body 110, respectively. The first and second side brushes 141 and 142 are configured to be rotatable about an axis perpendicular to the robot cleaner 100, and sweep the dust existing on the floor of the outer area of the robot cleaner 100 to the robot cleaner 100 It performs a function of moving to the suction unit 170 of. A plurality of first brushes 141a and second brushes 142a are formed on outer circumferential surfaces of the first and second side brushes 141 and 142, respectively, for separating foreign substances on the ground G from the floor.

The first sensing unit 120 is fixed to the cleaner body 110 and is configured to photograph the front of the cleaner body 110. On the other hand, the front of the robot cleaner 100 means the side on which the cleaner body 110 travels in the forward direction (F), that is, the front of the cleaner body 110, and the rear of the robot cleaner 100 (ie, the forward direction (F) The reverse direction (R) opposite to) means the rear side of the cleaner body 110.

Hereinafter, features of the first sensing unit 120 will be described with further reference to FIGS. 4 and 5 along with FIGS. 1 to 3.

FIG. 4 is a cross-sectional view of the robot cleaner 100 shown in FIG. 3, and FIG. 5 is a cross-sectional view of the robot cleaner 100 shown in FIG. 4, enlarged around the first sensing unit 120.

1 to 5, the bumper 130 is disposed to cover at least a part of the cleaner body 110. For example, the bumper 130 may be disposed to cover a first half area of the cleaner body 110 as shown in FIGS. 1 and 2. The first half means the front half of the whole divided in half. In addition, the bumper 130 is formed to absorb the shock by being pressurized when it comes into contact with an obstacle facing the robot cleaner 100 while driving, and as shown in FIG. 5, the first sensing unit 120 penetrates for photographing. It has a hole (131). Here, the first sensing unit 120 is fixed to the cleaner body 110 and may be disposed at a position corresponding to the through hole 131 from the inside of the bumper 130. Accordingly, even when the robot cleaner 100 collides with an obstacle while driving, since a direct impact is not applied to the first sensing unit 120, damage to the image image captured by the first sensing unit 120 is prevented. In addition, damage to the first sensing unit 120 itself due to an impact can be prevented.

In addition, the first sensing unit 120 includes a reference line HC at which an intersection point OC at which the optical axis 120a of the first sensing unit 120 and the lens surface 120b intersect passes through the center of the through hole 131. It can be located higher. The reference line HC is formed at a center height H'/2 of the total height H'of the through hole 131.

In addition, the through hole 131 may include a first portion P1 and a second portion P2 that are formed asymmetrically from each other, as illustrated in FIG. 5. The first part P1 is formed on the upper part based on the intersection point OC where the optical axis 120a of the first sensing unit 120 and the lens surface 120b intersect. In addition, the second portion P2 is formed below the intersection point OC, and may be formed to have a larger area than the first portion P1.

According to the structure of the through hole 131, the first sensing unit 120 is disposed close to the uppermost portion of the cleaner body 110 to detect obstacles in the front and upper portions of the robot cleaner 100, and The sensing range can be extended. In addition, due to the vertical asymmetric shape of the through hole 131, it is possible to secure the detection performance of the first sensing unit 120 and suppress the performance degradation of the bumper 130. In addition, by forming the size of the through hole 131 to be small, it is possible to suppress the performance degradation of the bumper 130.

In the first sensing unit 120, the optical axis 120a of the first sensing unit 120 is disposed to be inclined toward the front and lower sides of the cleaner body 110. For example, the first sensing unit 120 may be configured to have an angle of view, that is, a range capable of capturing an image including from the bottom area G to the top height area H. Meanwhile, the first sensing unit 120 may be configured to be capable of capturing a depth image including distance information about an object existing in the photographing area while the robot cleaner 100 is running or stopped. Accordingly, it is possible to further increase the precision of detection of an obstacle through the first sensing unit 120. For example, the first sensing unit 120 may detect a small and thin obstacle or a threshold located in front of the robot cleaner 100 using the depth image, and may detect an object or a black object having a weak reflectivity. Some transparent objects can be recognized.

In addition, an image photographed through the first sensing unit 120 may be obtained and used in color or black and white.

According to the configuration of the first sensing unit 120 as described above, as shown in FIG. 4, a dead zone (D) that occurs in the front and lower portions of the robot cleaner 100 is reduced and the robot cleaner 100 is An obstacle on the floor (G) existing in a closer area may be sensed, and an obstacle existing at a height in which the robot cleaner 100 cannot pass may be sensed from an upper front side of the robot cleaner 100.

Meanwhile, the robot cleaner 100 may further include a third sensing unit 180.

The third sensing unit 180 is disposed to protrude from the upper surface of the cleaner body 110 by a predetermined height. In addition, the third sensing unit 180 irradiates a laser to the periphery of the cleaner main body 110 to prevent an obstacle such as a wall located around the cleaner main body 110 in a traveling state or a stop state of the robot cleaner 100. Is made to detect. For example, the third sensing unit 180 may be formed of LiDAR. The radar is a device that accurately draws the surroundings by emitting a laser pulse, receiving the light reflected from and returning from the surrounding target object, and measuring the distance to the target object.

In addition, as shown in FIG. 4, the first sensing unit 120 may be disposed on the top based on the vertical center height H/2 of the cleaner body. According to this configuration of the first sensing unit 120, even when the optical axis 120a of the first sensing unit 120 is disposed to be inclined toward the front and lower sides of the cleaner body 110, the robot cleaner 100 By detecting an obstacle existing in an area closer to the front and upper side, the autonomous driving function of the robot cleaner 100 may be performed more smoothly.

In addition, a plurality of ultrasonic sensing units 193 may be disposed on one surface of the front side of the bumper 130. The ultrasonic sensing unit 193 may transmit ultrasonic waves to the front of the robot cleaner 100 and receive reflected ultrasonic waves to sense a distance and a direction to an obstacle.

In addition, the robot cleaner 100 includes a fourth sensing unit 191 that is disposed to be inclined with respect to the side and the upper surface of the upper edge portion of the cleaner body 110 and photographs the side direction and the upper side of the cleaner body 110 together. It may contain more. In addition, the fourth sensing unit 191 may include a first camera unit 191a and a second camera unit 191b that are respectively obliquely disposed at one side and the other side of the upper edge region of the cleaner body 110.

In addition, the control unit may be configured to detect a current position in the driving area of the robot cleaner 100 by using images captured by the first and second camera units 191a and 191b. The position detection of the robot cleaner 100 performs a SLAM (Simultaneous Localization And Map-Building) task using image information acquired through the first and second camera units 191a and 191b, and It can be implemented by using map information.

On the other hand, inside the cleaner body 110, a dust box 118 for accommodating foreign substances collected into the cleaner body 110 through the suction unit 170 of the robot cleaner 100 as shown in FIG. 4. Can be placed. In addition, the dust box 118 may include a first accommodating portion 118a and a second accommodating portion 118b that are partitioned to collect relatively large foreign matter and relatively small foreign matter, respectively. In addition, a dust filter 119 for filtering foreign matter or dust in the air discharged to the outside of the dust box 118 may be mounted on the top of the dust box 118.

Hereinafter, features of the first sensing unit 120 will be described in detail with reference to FIGS. 6 to 8 along with FIG. 5.

6 is an exploded perspective view of the robot cleaner 100 illustrated in FIG. 1, and FIG. 7 is a view showing the first sensing unit 120 separated from the robot cleaner 100 illustrated in FIG. 6, and FIG. An exploded perspective view of the first sensing unit 120 shown in FIG. 7.

5 to 8, the first sensing unit 120 may include a camera 121 and a window 123.

The camera 121 is configured to photograph the front of the cleaner body 110 through the through hole 131.

The window 123 may be disposed so as to cover the camera 121 and may be disposed to have an inclination β equal to the inclination α of the camera 121 toward the front and lower sides of the cleaner body 110. In addition, the window 123 may be made of a material that selectively transmits a specific wavelength region. For example, the window 123 may be made of a material that selectively transmits an infrared region, and may provide a certain portion of image information about the surrounding environment even when the environment in which the robot cleaner 100 operates is dark. Further, the window 123 may separately include a filter layer (not shown) that selectively transmits a specific wavelength region.

In addition, the camera 121 and the window 123 may be fixed to the case 125 and mounted on the cleaner body 110. The case 125 may include a front case 125a and a rear case 125b that are coupled to each other such that the window 123 is disposed in the middle portion. In addition, the camera 121 may be disposed on the rear side of the rear case 125b, and a first fixing member 121a for fixing the camera 121 to the rear case 125b may be provided. In addition, the first sensing unit 120 may include a second fixing member 125b ′ for fixing the first sensing unit 120 to the cleaner body 110.

Hereinafter, features of the second sensing unit 150 will be described with reference to FIGS. 9 and 10.

FIG. 9 is a view showing the bottom of the robot cleaner 100 shown in FIG. 1, and FIG. 10 is an enlarged view of the lower front end of the robot cleaner 100 shown in FIG. 9.

9 and 10, the robot cleaner 100 prevents a fall of the first side brush 141 and the second side brush 142 and the robot cleaner 100 described with reference to FIGS. 1 to 3 It further includes a second sensing unit 150 for performing.

The second sensing unit 150 is disposed on the bottom side of the cleaner body 110 and is configured to detect the topography under the cleaner body 110 by irradiating light downward of the cleaner body 110. For example, the second sensing unit 150 includes a light-emitting unit and a light-receiving unit, and measures a time when the light irradiated from the light-emitting unit to the lower surface G of the robot cleaner 100 is received again to the light-receiving unit, It may be configured to measure a distance between the sensing unit 150 and the floor G.

Here, the second sensing unit 150 may include a first sensor 151 and a second sensor 152.

The first sensor 151 and the second sensor 152 are configured to prevent the light irradiated from the first and second sensors 151 and 152 from overlapping with the adjacent first and second side brushes 141 and 142, respectively, so that the cleaner body ( It may be disposed between the first and second side brushes 141 and 142 of the bottom-side front end of 110). Here, the first sensor 151 and the second sensor 152 may be disposed at a position symmetrical to the left and right from the front center line FC of the cleaner body 110.

According to the structure of the first and second sensors 151 and 152 as described above, the light irradiated from the first and second sensors 151 and 152 is first and second including the first and second brushes 141a and 142a. Without being disturbed by other components of the robot cleaner 100 such as the side brushes 141 and 142, the function of detecting the lower terrain of the robot cleaner 100 can be performed more stably.

Meanwhile, the robot cleaner 100 may further include a front caster 160.

The front caster 160 is disposed between the first and second sensors 151 and 152 of the bottom-side front end of the cleaner body 110, and the cleaner body 110 together with the wheel part 117 when the robot cleaner 100 is traveling. ) And can be configured to be rotatable along the ground (G).

Meanwhile, the front caster 160 may include a caster wheel 160a that rotates along the ground G. Here, when the first and second sensors 151 and 152 are disposed on the first reference line S1 as shown in FIG. 10, the caster wheel 160a is a second reference line that is a rear part of the first reference line S1. It can be placed on (S2). Accordingly, a situation in which the caster wheel 160a falls into a cliff terrain while the robot cleaner 100 is traveling can be prevented in advance.

In addition, on both sides of the rear end of the bottom side of the cleaner body 110, the first rear caster 161 supports the cleaner body 110, like the front caster 160, and assists the driving of the robot cleaner 100, and The second rear casters 162 may be disposed.

According to the structure of the first and second sensors 151 and 152 as described above, not only the cliff topography on the front side of the robot cleaner 100 but also the cliff in the diagonal direction when the robot cleaner 100 travels forward as shown in FIG. 10. Even terrain (C) can be detected.

Meanwhile, the second sensing unit 150 includes a third sensor 153 disposed at a rear end of the bottom side of the cleaner body 110 and a fourth sensor disposed at both left and right sides of the bottom side of the cleaner body 110. 154 and a fifth sensor 155 may be further provided. Accordingly, irrespective of the driving direction of the robot cleaner 100, the detection function of the lower terrain of the robot cleaner 100 can be stably performed.

In addition, the robot cleaner 100 is configured to suck and clean air containing dust, and further includes a suction unit 170 disposed in the overall area on the bottom side of the cleaner body 110 as shown in FIG. 9. can do. According to the structure of the suction unit 170 as described above, it is possible to be closer to the foreign matter existing in the corner of the area of the floor G, and thus the cleaning effect can be further improved.

Claims (15)

A cleaner body including a control unit for controlling autonomous driving;
A first sensing unit fixed to the cleaner body and photographing a front side of the cleaner body; And
It is disposed so as to cover at least a part of the cleaner body, is pressed when contacting with an obstacle, is formed to absorb shock, and includes a bumper having a through hole for photographing the first sensing unit,
The first sensing unit is disposed inside the bumper, and an optical axis is disposed to be inclined toward a front and lower side of the cleaner body. The method of claim 1,
Wherein the first sensing unit is disposed so that an intersection point at which the optical axis and the lens surface intersect is positioned above a reference line passing through the center of the through hole. The method of claim 2,
The through hole,
A first portion formed on an upper portion based on the intersection point; And
And a second portion formed below the intersection point and having a larger area than the first portion. The method of claim 1,
The first sensing unit is a robot cleaner, wherein the first sensing unit is disposed above the center height of the cleaner body in the vertical direction. The method of claim 1,
The first sensing unit,
camera; And
And a window disposed to cover the camera and having the same inclination as the camera toward the front and lower sides of the cleaner body. The method of claim 5,
The window is a robot cleaner, characterized in that made of a material that selectively transmits a specific wavelength region. The method of claim 1,
A first side brush and a second side brush respectively provided on both sides of the bottom-side front end of the cleaner body to sweep dust off the floor; And
It is disposed on the bottom side of the cleaner body, further comprising a second sensing unit for detecting a lower topography by irradiating light downward of the cleaner body,
The second sensing unit,
A first sensor and a second sensor disposed between the first and second side brushes of the bottom-side front end of the cleaner body are provided so that irradiated light does not overlap the first and second brushes,
The first sensor and the second sensor are disposed at a position symmetrical to the left and right from a front center line of the cleaner body. The method of claim 7,
A robot cleaner comprising: a front caster disposed between the first and second sensors among the bottom-side front end of the cleaner body, and configured to support the cleaner body while driving and to be rotatable along the ground. The method of claim 7,
Further comprising a suction unit configured to suck in air containing dust, and disposed in a first half region of the cleaner body,
The first and second sensors are disposed in front of the suction unit. The method of claim 7,
The second sensing unit further comprises a third sensor disposed at a rear end of the bottom side of the cleaner body. The method of claim 7,
And the second sensing unit further includes fourth and fifth sensors respectively disposed on both sides of the bottom side of the cleaner body. The method of claim 1,
Wherein the first sensing unit captures a depth image including distance information of an object in the photographing area. The method of claim 1,
An ultrasonic sensing unit disposed on one surface of the front side of the bumper and detecting an obstacle positioned around the front of the cleaner body by using the reflected ultrasonic wave after sending ultrasonic waves around the front of the cleaner body. robotic vacuum. A cleaner body including a control unit for controlling autonomous driving;
A first side brush and a second side brush respectively provided on both sides of the bottom-side front end of the cleaner body to sweep dust off the floor; And
And a second sensing unit disposed on the bottom side of the cleaner body and irradiating light downward of the cleaner body to detect a lower terrain,
The second sensing unit,
A first sensor and a second sensor disposed between the first and second side brushes of the bottom-side front end of the cleaner body are provided so that irradiated light does not overlap the first and second brushes,
The first sensor and the second sensor are disposed at a position symmetrical to the left and right from a front center line of the cleaner body. The method of claim 14,
A robot cleaner comprising: a front caster disposed between the first and second sensors among the bottom-side front end of the cleaner body, and configured to support the cleaner body while driving and to be rotatable along the ground.

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