Obstacle sensor and robot cleaner having the same

A robot cleaner comprising an obstacle sensor to sense obstacles and a driving control unit to control driving based on the sensing results of the obstacle sensor,

• wherein the obstacle sensor comprises:
• a line light irradiating unit comprising a light-emitting unit, a light-emitting driving unit to drive the light-emitting unit, and a first conical mirror, an apex of which is disposed towards the light-emitting unit in a light irradiation direction of the light-emitting unit and which converts light emitted from the light-emitting unit into line light irradiated in all directions;
• and
• a reflected light receiving unit comprising a second conical mirror to condense light, that is irradiated from the first conical mirror and is then reflected from an obstacle, a lens, that is spaced from the apex of the second conical mirror by a predetermined distance and transmits the reflected light, an imaging unit to image the reflected light that passes through the lens, and an image processing unit to process the image obtained in the imaging unit;
• and
• an obstacle sensing control unit to analyze the image recorded in the imaging unit and thereby extract the distance or shape of the obstacle.