Robot

A robot comprising:

• a body including a control unit for controlling autonomous driving;
• a first sensor protruding from an upper surface of the body to irradiate a laser to surroundings of the body so as to detect obstacles located at the surroundings of the body;
• a second sensor positioned on an upper edge portion of the body to be inclined with respect to a side surface and an upper surface of the body, to capture sensor data in a lateral direction and an upward direction of the body;
• a third sensor positioned on a front surface of the body to detect obstacles located at surroundings in front of the body using ultrasonic waves reflected after being emitted to the surroundings in front of the body;
• and
• a fourth sensor positioned on the front surface of the body to capture sensor data about a front of the body,
• wherein the second sensor is provided at a position lower than a position of the first sensor based on a vertical direction of the body,
• wherein the second sensor includes a window disposed to cover the second sensor, and the window includes a filter through which an infrared region is selectively transmitted,
• wherein the second sensor includes a first camera and a second camera positioned on respective sides of the upper edge portion of the body in an inclined manner and disposed at a rear position of the body, to capture sensor data in respective lateral directions and the upward direction of the body,
• wherein the control unit merges information measured by the first sensor and image information captured by the first camera and the second camera, to detect a current position of the robot in a traveling area,
• wherein the control unit merges information measured by the first sensor, information measured by the third sensor, and image information captured by the fourth sensor, to detect obstacles located around the body,
• wherein the first sensor is positioned behind the second sensor,
• wherein the first sensor detects an obstacle located within a preset detection distance by irradiating a linear laser at intervals of a predetermined angle within a range of 360 degrees,
• wherein the fourth sensor captures a depth image including distance information related to an object within a capturing area,
• wherein an inclination of the second sensor is smaller than an external inclination of the body,
• wherein the third sensor is provided at a position lower than a position of the fourth sensor based on a vertical direction of the body,
• wherein the robot comprises a plurality of the third sensor provided at symmetrical positions in a left and right direction based on a front center line of the body,
• wherein the third sensor has a detection distance of a predetermined range and forms an ultrasonic detection area, and
• wherein the fourth sensor is positioned such that the fourth sensor has an optical axis that is inclined downward toward the front of the body, and has an image capturing range including a space extending from a ground area up to a highest area of the body.