Fencing sense apparatus and robot cleaner having the same

PURPOSE: A device for sensing obstacles and a robot cleaner including the same are provided to sense obstacles existed to front direction using line light without mounting a plurality of sensors or a separate servo mechanism. CONSTITUTION: A device for sensing obstacles comprises a line light transmitting unit(110) and a reflection light receiving unit(120). The line light transmitting unit includes a light emitting unit(112) and a first circular cone type mirror(111). In the first circular cone type mirror, a cusp is arranged to face to the light emitting unit with respect to direction for irradiating the light of the light emitting unit. The reflection light receiving unit includes a second circular cone type mirror(121), a lens(122), and a camera tube(123). The second circular cone type mirror is irradiated in the first circular cone type mirror and concentrates light reflected to the obstacle. The lens is separated from the cusp of the second circular cone type mirror and passes the reflection light. [Reference numerals] (111) First circular cone type mirror; (112) Light emitting unit; (113) Light emission driving unit; (121) Second circular cone type mirror; (122) Optical lens; (123) Camera unit; (124) Image processing unit; (130) Obstacle sensing control unit;