As shown in
FIG. 1 or
4, the obstacle detection unit
132 includes first sensors
132
a installed on a front circumferential surface of the robot cleaner at constant intervals. And, the obstacle detection unit
132 may include second sensors
132
b protruding towards the outside of a body. Positions and types of the first and second sensors may be variable according to a type of the robot cleaner, and the obstacle detection unit may include various sensors. The first sensors are configured to detect an object which exists in a moving direction of the robot cleaner, i.e. an obstacle, and then transmits obstacle information to the control unit
120. That is, the first sensors detect protrusions, appliances, furniture, wall surfaces, wall corners, etc. which exist on a moving path of the robot cleaner, and then transmits obstacle information to the control unit
120. The first sensor may be implemented as an infrared ray sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc. And, the second sensors
132
b detect an obstacle which exists at the front or lateral side, and transmits obstacle information to the control unit
120. That is, the second sensors detect protrusions, appliances, furniture, wall surfaces, wall corners, etc. which exist on a moving path of the robot cleaner, and then transmit obstacle information to the control unit
120. The second sensor may be implemented as an infrared ray sensor, an ultrasonic sensor, an RF sensor, a position sensitive device (PSD) sensor, etc.