FIELD: robotics.
SUBSTANCE: invention relates to a module for detecting obstacles and robot-cleaner, including said module. Robot-cleaner comprises housing, drive for driving housing, an obstacle detecting module for detecting obstacles around housing and control device for controlling drive based on results obtained by module for detecting obstacles. Module for detecting obstacles contains at least one light emitter and a light receiver. Light emitter includes light source and wide-angle lens for refraction or light reflection from light source for incident light dissipation in form of flat light. Light receiver has a reflecting mirror for repeated reflection of reflected light reflected by obstacle, for generation of reflected light, an optical lens, spaced apart from reflecting mirror through preset distance to allow reflected light to pass through optical lens and image sensor and image processing circuit.
EFFECT: higher accuracy of detecting obstacles without using a plurality of sensors or a separate servo.
15 cl, 52 dwg
