Patent Publication Number: US-11382480-B2

Title: Autonomous cleaner

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a divisional application of U.S. patent application Ser. No. 14/632,116, filed on Feb. 26, 2015, which claims the priority benefit of Korean Patent Application No. 10-2014-0024145, filed on Feb. 28, 2014, and Korean Patent Application No. 10-2014-0072439, filed on Jun. 13, 2014, in the Korean Intellectual Property Office, the disclosures of which are incorporated herein by reference. 
    
    
     BACKGROUND 
     1. Field 
     The following description relates to an autonomous cleaner, and more particularly, an autonomous cleaner provided with a miniaturized size thereof and at the same time, capable of enhancing driving performance and cleaning performance. 
     2. Description of the Related Art 
     In general, an autonomous cleaner is an apparatus, by inletting a foreign substance such as dust from a floor while independently driving at an area to be cleaned without manipulations of a user, configured to autonomously clean the area to be cleaned. 
     The autonomous cleaner as such is provided to detect information on the distance with respect to an obstacle such as furniture, office equipment, or a wall installed inside the area to be cleaned by use of various sensors, and to clean the area to be cleaned while driving without colliding with the obstacle by use of the detected information. 
     Cleaning of a given area to be cleaned by use of the autonomous cleaner refers to a process of repeatedly performing a cleaning work while driving according to a predetermined driving pattern. 
     The autonomous cleaner as such includes a body forming an exterior appearance, a driving unit provided at the body to drive the autonomous cleaner, a brush unit configured to perform a cleaning with respect to a floor surface, the driving unit, a control unit configured to control driving of the driving unit and the brush unit, and a dust collecting unit configured to store the inlet dust. 
     The autonomous cleaner is conventionally arranged such that the dust collecting unit is connected to the brush unit and an inlet motor is connected to a rear or front of the dust collecting unit. In the case as such, the sizes of a power unit and the inlet motor are increased to enhance driving performance and cleaning performance of the autonomous cleaner, and thus the size of the entire autonomous cleaner is increased. 
     SUMMARY 
     Therefore, it is an aspect of the present disclosure to provide an autonomous cleaner provided with a miniaturized size of the autonomous cleaner by efficiently structuring a position of each of the elements structuring the autonomous cleaner, and at the same time, capable of enhancing driving performance and cleaning performance 
     Additional aspects of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure. 
     In accordance with an aspect of the present disclosure, an autonomous cleaner includes a body having a first housing formed at a front and a second housing formed at a rear of the first housing; a brush unit installed at the first housing and configured to sweep and collect dust from a floor; a dust collecting unit installed at the second housing and configured to store the dust inlet into the brush unit; a driving unit to drive the body and coupled into the second housing to be positioned at a lateral side of the dust collecting unit; and a power unit installed at the second housing and coupled to be positioned at a rear of the dust collecting unit. 
     A front unit of the first housing may be provided in the shape of a rectangle to inlet dust while closely attached to a front and side surfaces of a driving direction. 
     A bumper installed at the front of the first housing to wrap around at least a portion of the first housing may be further included. 
     A plurality of ribs protruding toward a front of the bumper to increase an inlet force at the time of when the bumper is closely attached to the front may be provided at the front of the bumper. 
     A guide flow path configured to guide dust into the brush unit to increase an inlet force of the dust may be formed at a lower surface of the first housing. 
     The height between a floor surface and the first housing may be less than the height between the floor surface and the second housing. 
     An obstacle detecting sensor to detect obstacles to avoid the obstacles may be mounted at the first housing. 
     A fall detecting sensor provided to detect the distance with respect to the floor surface during driving of the body may be mounted at the first housing. 
     The dust collecting unit may include an inlet motor configured to provide a driving force to have the dust inlet, and a dust collecting container to store the inlet dust. 
     The inlet motor, the dust collecting container, and the driving unit may be disposed in a row. 
     At least a portion of the dust collecting container may be coupled into the second housing to be exposed as an exterior appearance. 
     The driving unit may include driving wheels coupled into both side surfaces to drive the body, and a roller provided at a rear of the body. 
     The driving wheels are provided to be positioned at both sides of the body, and the roller may be coupled into a position to support the center of gravity of the body. 
     In accordance with an aspect of the present disclosure, an autonomous cleaner includes a body having a housing forming at least a portion of an exterior appearance; a brush unit installed at a lower surface of the housing to collect the dust on a floor; a dust collecting container to store the dust inlet into the brush unit; and a power unit to supply a power to drive the body, and the brush unit, the dust collecting container, and the power unit are provided to be disposed toward a first direction, that is, a longitudinal direction of the body. 
     The dust collecting container is disposed at a rear of the brush unit, and the power unit may be disposed at a rear of the dust collecting container. 
     The housing includes a first housing disposed at a front, and a second housing positioned at a rear of the first housing, and the brush unit and the dust collecting container may be disposed at the first housing while the power unit may be disposed at the second housing. 
     A bumper installed at a front of the first housing to wrap around at least a portion of the first housing may be further included. 
     A guide flow path configured to guide dust into the brush unit to increase an inlet force of the dust may be formed at a lower surface of the first housing. 
     A driving unit configured to drive the body and installed at the second housing, and the power unit installed at the second housing and configured to supply power to drive the body may be further included. 
     An inlet motor configured to provide a driving force to have the dust inlet into the dust collecting container and coupled into a side surface of the dust colleting container may be further included. 
     In accordance with an aspect of the present disclosure, an autonomous cleaner including a body and a brush unit to sweep and collect dust on a floor includes a dust collecting container to store the dust inlet into the brush unit; an inlet motor to provide a driving force to have dust inlet into the dust collecting container; and at least one driving wheel coupled into a side surface of the body to drive the body, and the dust collecting container, the inlet motor, and the driving wheel are provided to be disposed toward a lateral direction of the body. 
     The driving wheel includes a first driving wheel and a second driving wheel, and the first driving wheel may be disposed at a side surface of the inlet motor and the second driving wheel may be disposed at a side surface of the dust collecting container. 
     The body may be structured by use of a first housing positioned at a front and a second housing positioned at a rear of the first housing. 
     The dust collecting container, the driving wheel, and the inlet motor may be positioned at the second housing. 
     The brush unit is disposed at the first housing, and the power unit configured to provide power to drive the body may be disposed at the second housing. 
     In accordance with an aspect of the present disclosure, an autonomous cleaner includes a body having a housing forming at least a portion of an exterior appearance; a brush unit installed at a lower surface of the housing to collect the dust on a floor; a dust collecting unit disposed at a rear of the brush unit to store the dust inlet into the brush unit; a driving unit configured to drive the body and disposed at a side of the dust collecting unit; and a power unit configured to provide a power to drive the body and coupled into a rear of the dust collecting unit, and the brush unit, the dust collecting unit, and the power unit are provided to be disposed toward a first direction, and the dust collecting unit and the driving unit are provided to be disposed toward a second direction that is different from the first direction. 
     The housing includes a first housing disposed at a front, and a second housing positioned at a rear of the first housing, and the brush unit and the dust collecting unit may be disposed at the first housing while the driving unit and the power unit may be disposed at the second housing. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects of the disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which: 
         FIG. 1  is a perspective view illustrating an exterior appearance of an autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 2  is a plane view illustrating a state of an outer housing of a second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure. 
         FIG. 3  is a plane view illustrating a state of outer housings and dust containers of a first housing and the second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure. 
         FIG. 4  is a drawing illustrating a lower surface of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 5  is a drawing illustrating a side surface of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 6  is a drawing illustrating a disassembled state of structuring elements of the first housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 7  is a drawing illustrating a disassembled state of structuring elements of the second housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 8  is a drawing illustrating a lower surface of the first housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 9  is a drawing illustrating an obstacle detecting sensor of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 10  is a drawing illustrating the obstacle detecting sensor illustrated on  FIG. 9  from a different angle. 
         FIG. 11  is a drawing illustrating a disassembled bumper in accordance with an embodiment of the present disclosure. 
         FIG. 12  is a perspective view illustrating an exterior appearance of an autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 13  is a plane view illustrating a state of an outer housing of a second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure. 
         FIG. 14  is a drawing illustrating a state of a dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure rotated and separated. 
         FIG. 15  is a drawing illustrating the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 16  is a drawing illustrating a disassembled state of the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 17  is a drawing illustrating a separated state of a cover member and a cyclone structure of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 18  is a drawing illustrating an upper surface of the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
         FIG. 19  is a drawing illustrating a cross section of an A-A′ of  FIG. 18 . 
         FIG. 20  is a drawing illustrating a cross section of a B-B′ of  FIG. 18 . 
         FIG. 21  is a drawing illustrating a cross section of a C-C′ of  FIG. 18 . 
     
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. 
       FIG. 1  is a perspective view illustrating an exterior appearance of an autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 1 , an autonomous cleaner  1  includes a body forming an exterior appearance, and a housing  100  forming at least a portion of the exterior appearance of the body. 
     The housing  100  includes a first housing  200  formed at a front, and a second housing  300  formed at a rear of the first housing  200 . A connecting member  400  to connect the first housing  200  and the second housing  300  may be positioned between the first housing  200  and the second housing  300 . In accordance with an embodiment of the present disclosure, the first housing  200  and the second housing  300  are integrally injection-molded, but are not limited hereto, and the first housing  200  and the second housing  300  may be injection-molded and then coupled to each other. 
     A dust collecting unit  330  structured to store dust may be coupled to the second housing  300 , and may include an inlet motor  320  to provide a driving force to inlet dust, and a dust collecting container  310  to store the inlet dust. 
     A gripping unit  311  concavely provided to be gripped by a user may be provided at the dust collecting container  310 . The user may be able to separate the dust collecting container  310  from the second housing  300  by rotating the dust collecting container  310  by gripping the gripping unit  311 . The user may be able to remove the accumulated dust inside the dust collecting container  310  by separating the dust collecting container  310 . Driving units  340  and  360  to drive the body may be provided at sides of the second housing  300 . The driving units  340  and  360  may include driving wheels  340  configured for driving of the body, and a roller  360  ( FIG. 4 ) provided to be rotated to minimize driving load of the body. In accordance with an embodiment of the present disclosure, the driving wheels  340  may be coupled to both side surfaces of the second housing  300 . 
     A brush unit  220  ( FIG. 4 ) configured to sweep and collect dust from a floor may be provided at an upper surface of the first housing  200 . A bumper  210 , which is configured to ease noise and impact that are generated if the autonomous cleaner  1  collides with a wall at the time of when the autonomous cleaner  1  is in a driving state, may be coupled to a front surface unit of the first housing  200 . In addition, a separate buffer member  215  may be coupled to the bumper  210 , and descriptions of the buffer member  215  will be provided later. 
     An entry blocking sensor  235  may be protrudedly provided at an upper surface of the first housing  200 . The entry blocking sensor  235 , by detecting infrared light, may be able to prevent an entry of the autonomous cleaner  1  into a predetermined section. In accordance with an embodiment of the present disclosure, the entry blocking sensor  235  may be provided at each of both sides of the first housing  200 . 
       FIG. 2  is a plane view illustrating a state of an outer housing of the second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure, and  FIG. 3  is a plane view illustrating a state of outer housings and dust containers of the first housing and the second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 2  and  FIG. 3 , a power unit  350  configured to supply power to drive the body may be coupled to an inner side of the second housing  300 . The power unit  350  is positioned at upper sides of a battery (not shown) and a main board  351 , and may include a display unit  352  ( FIG. 7 ) configured to display the status of the autonomous cleaner  1 . The power unit  350  may be disposed to be positioned at a rear of the dust collecting unit  330 . 
     The battery (not shown) is provided in the form of a rechargeable secondary battery, and in a case when the body is coupled to a docking station (not shown) after completing a cleaning process, the battery is supplied with a power from the docking station (not shown) and is recharged. 
     When the dust collecting container  310  is removed, a draft fan (not shown) configured to inlet dust and move the dust into the dust collecting container  310  may be provided. Dust is accumulated at the dust collecting container  310  by use of the driving of the draft fan (not shown), and a user may be able to easily discharge the dust by separating the dust collecting container  310 . 
     The inlet motor  320  may be positioned at an inner side of an inlet motor housing  302  ( FIG. 7 ). The inlet motor  320  may be coupled to a side surface of the dust collecting container  310 . In accordance with an embodiment of the present disclosure, the driving wheel  340  may be disposed at a side surface of the each of the dust collecting container  310  and the inlet motor  320 . That is, the driving wheel  340  includes a first driving wheel  341  and a second driving wheel  342 , and the first driving wheel  341  may be disposed at a side surface of the inlet motor  320 , and the second driving wheel  342  may be disposed at a side surface of the dust collecting container  310 . 
     According to the above, the dust collecting container  310 , the inlet motor  320 , and the driving wheels  340  may be disposed in a lateral direction of the body. That is, the dust collecting container  310 , the inlet motor  320 , and the driving wheels  340  may be disposed to approximately be in a straight line. 
     The second housing  300  may include a dust collecting container installation unit  312  at which the dust collecting container  310  is installed. In accordance with an embodiment of the present disclosure, at least a portion of the dust collecting container  310  may be coupled to the dust collecting container installation unit  312  to be exposed as an exterior appearance. That is, no separate housing is coupled to an upper surface of the dust collecting container  310 . According to the above, a user may be able to check the amount of the dust inside the dust collecting container  310  by use of a naked eye. 
     An obstacle detecting sensor  230  configured to detect obstacles may be provided inside the first housing  200 , and will be described later. 
     The front surface unit of the first housing  200  may be formed in the shape of a rectangle to inlet dust while closely attached to the front surface and the side surface of a driving direction, and to approach a surface of a wall as closely as possible, so that inletting dust may take place. The autonomous cleaner  1  in accordance with an embodiment of the present disclosure may be able to efficiently inlet dust positioned near the surface of a wall without a separate side brush. 
       FIG. 4  is a drawing illustrating a lower surface of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 4 , the brush unit  220  configured to sweep and collect the dust of a floor is coupled to a lower surface of the first housing  200 . At least one guide flow path  240  configured to guide dust into the brush unit  220  to increase a inlet force of the dust may be formed at a front of the brush unit  220  of the first housing  200 . The descriptions of the guide flow path  240  will be described later. 
     A recharging terminal  245  configured to recharge the autonomous cleaner  1  may be provided between the guide flow paths  240 . 
     A fall detecting sensor  250  provided to detect the distance with respect to a floor surface during a driving of the body may be mounted at least at a portion of the first housing  200 . The fall detecting sensor  250  is provided to set a direction at a position at which a difference in height is present during a driving of the autonomous cleaner  1 . The fall detecting sensor  250  is disposed at a lower surface of the first housing  200  to face a floor, and while detecting the distance with respect to the floor surface, is configured to form a certain voltage when spaced apart by a certain distance or greater with respect to the floor surface, and then transmits information to a control unit (not shown) of the body. The control unit (not shown), by determining an estimated position at which the body may fall according to the transmitted information of the body, is provided to change the direction of driving. 
     In accordance with an embodiment of the present disclosure, the fall detecting sensor  250  may be provided at a rear of the brush unit  220 . The fall detecting sensor  250  in accordance with an embodiment of the present disclosure is provided with two units thereof, that is, a first fall detecting sensor  251  and a second fall detecting sensor  252 , but is not limited hereto. 
     The roller  360  rotatively provided to reduce driving load being generated when the body is driven only by use of the driving wheels  340 , may be coupled to a rear surface of the second housing  300 . The roller  360  may be coupled to a position at which the center of gravity of the body may be able to be supported with respect to the driving wheels  340 . That is, the roller  360  may be disposed such that the distance from the roller  360  to the first driving wheel  341  and the distance from the roller  360  to the second driving wheel  342  are identical with respect to each other. From the above, the driving load being generated during a driving of the body may be minimized. 
     As the above, the brush unit  220 , the dust collecting unit  330 , and the power unit  350  may be disposed toward a longitudinal direction of the body. That is, the brush unit  220 , the dust collecting unit  330 , and the power unit  350  may be provided in a row toward a first direction. In accordance with an embodiment of the present disclosure, the dust collecting unit  330  and the driving unit  340  may be disposed in a lateral direction of the body. 
       FIG. 5  is a drawing illustrating a side surface of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 5 , the height h 1  between a floor surface and an upper surface of the first housing  200  and the height h 2  between the floor surface and an upper surface of the second housing  300  may be different with respect to each other. In accordance with an embodiment of the present disclosure, the height between a floor surface and an upper surface of the first housing  200  may be less than the height between the floor surface and an upper surface of the second housing  300 . As the height h 1  of the first housing  200  is less than the height h 2  of the second housing  300 , the sizes of the dust collecting container  310  and the power unit  350  positioned at the second housing  300  is increased, the size of the autonomous cleaner  1  may be seen relatively smaller. According to the above, the amount of the dust that may be stored at the miniaturized autonomous cleaner  1  may be increased, and the time of driving without additional recharging may be increased. 
     In addition, as the height h 1  of the first housing  200  is provided to be relatively lower, the obstacle positioned at a floor surface may efficiently be detected, and thus a blind spot that may not be detected by use of the obstacle detecting sensor  230 , which is to be described later, may be prevented from occurring. 
     In accordance with an embodiment of the present disclosure, the connecting member  400  is coupled between the first housing  200  and the second housing  300 , but is not limited hereto, and the first housing  200  and the second housing  300  may be integrally injection-molded without having a separate boundary. In the case of such, the first housing  200  and the second housing  300  may be provided with the shape of an approximate streamline. 
       FIG. 6  is a drawing illustrating a disassembled state of structuring elements of the first housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 6 , the brush unit  220  configured to sweep and collect the dust of a floor and the bumper  210  positioned at a front of the first housing  200  may be coupled to the first housing  200 . The brush unit  220  may be coupled to an opening unit  223  ( FIG. 8 ) provided at a lower surface housing  225  positioned at a lower surface of the first housing  200 . 
     The brush unit  220  is provided in the shape of a drum, and is structured by use of a roller unit  222  and a brush  221 . 
     The bumper  210  is provided to surround at least a portion of a front surface unit of the first housing  200 . A bumper body  213  may be extended so that the bumper  210  may be able to surround a portion of a side surface unit in addition to a portion of the front surface unit of the first housing  200 . 
     The bumper  210  may include a bumper head  212  protruded to be coupled to the first housing  200  while extended from the bumper body  213 . According to the illustration on the drawing, the bumper head  212  is provided with two units thereof, but is not limited hereto. 
     In addition, the separate buffer member  215  may be coupled to a front surface of the bumper  210 , and a coupling groove  211  configured to couple the buffer member  215  may be provided at the bumper body  213 . 
       FIG. 7  is a drawing illustrating a disassembled state of structuring elements of the second housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 7 , the driving units  340  and  360 , the dust collecting unit  330 , and the power unit  350  may be disposed at the second housing  300 . 
     The second housing  300  may include an upper surface housing  303  coupled to an upper portion, and a rear surface housing  343  coupled from a rear of the second housing  200  to the driving wheels  340 . 
     In the case of the upper surface housing  303 , the area corresponding to the display unit  352  may be provided to be open so the state being displayed at the display unit  352  may be projected. The dust collecting container  310  may be coupled to the upper surface housing  303 . A separate outer side housing  301  coupled to an upper portion of the power unit  350  may be coupled to an outer side of the upper surface housing  303 . The outer side housing  201  may be provided such that the state of the display unit  352  may be projected. 
     In addition, the inlet motor housing  302  may be coupled to an upper portion of the inlet motor  320 . The inlet motor  320  is coupled to the second housing  300 , the upper portion housing  303  is inserted into the second housing  300 , and the inlet motor  320  may be coupled to the upper portion housing  303 . In accordance with an embodiment of the present disclosure, as the outer side housing  301  is provided not to surround the area at which the inlet motor  320  is positioned, the inlet motor housing  302  is coupled to prevent foreign substance from being intruded into the inlet motor  320 . 
     The rear surface housing  343  may be coupled to surround the each of the driving wheels  341  and  342 , after the first driving wheel  341  and the second driving wheel  342  are coupled to the both sides of the second housing  300 . 
     As the above, in accordance with an embodiment of the present disclosure, space may be efficiently used by efficiently disposing the structuring elements of the autonomous cleaner. According to the above, the size of the dust collecting container  310  may be increased, and the space occupied by the power unit  350  may be increased, so that the capacity of the battery (not shown) may be increased. From the above, the capacity of the battery may be increased by about 3 times when compared to the autonomous cleaner  1  of the similar size, and thus the driving time of the autonomous cleaner  1  configured to be used without recharging may be increased. 
       FIG. 8  is a drawing illustrating a lower surface of the first housing of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 8 , the guide flow path  240  may be provided at a front of the brush unit  220 . The guide flow path  240  provided at a lower surface of the first housing  200  is configured to guide to have dust inlet. 
     The guide flow path  240  may be concavely provided with respect to the lower surface of the first housing  200 . The guide flow path  240  is provided with a width thereof narrowed toward a direction of the brush unit  220  so that the inletting of dust into the brush unit  220  may be guided. 
     In accordance with an embodiment of the present disclosure, the guide flow path  240  is provided with flow units thereof at both sides of the lower surface of the first housing  200 , and includes a first guide flow path  241  and a second guide flow path  243 , but is not limited hereto. 
     The guide flow path  240  may be able to guide the inlet of dust toward the direction of the arrow illustrated on the drawing. 
       FIG. 9  is a drawing illustrating the obstacle detecting sensor of the autonomous cleaner in accordance with an embodiment of the present disclosure, and  FIG. 10  is a drawing illustrating the obstacle detecting sensor illustrated on  FIG. 9  from a different angle. 
     As illustrated on  FIG. 9  and  FIG. 10 , the obstacle detecting sensor  230  configured to detect obstacles to avoid the obstacles may be mounted inside the first housing  200 . 
     An infrared light sensor or an ultrasound wave sensor may be applied to the obstacle detecting sensor  230 . In accordance with an embodiment of the present disclosure, the obstacle detecting sensor  230  is positioned at a front of the first housing  200 , but is not limited hereto, and may be positioned at a side surface, for example. 
     The obstacle detecting sensor  230  is configured to detect obstacles or walls in a driving direction of the autonomous cleaner  1 , and, by detecting distance with respect to the detected obstacles or walls, transmit the detected distance to a control unit (not shown) inside the body. The control unit (not shown), when an obstacle detecting signal is received from the obstacle detecting sensor  230 , is provided to control the driving units  340  and  360  so that the body may not drive toward a front direction or a driving direction. 
     The obstacle detecting sensor  230  may include at least one light emitting unit  231  to scatter and emit light into flat light, and a light receiving unit  232  to generate electrical image signals by receiving the flat light reflected from an obstacle. 
     In accordance with an embodiment of the present disclosure, the light emitting unit  231  may be provided at a front of the light receiving unit  232 . The light emitting unit  231  may be positioned at an inner side of the obstacle detecting sensor housing. In accordance with an embodiment of the present disclosure, the light emitting unit  231  may be provided with 4 units thereof, that is, light emitting units  231   a ,  231   b ,  231   c , and  231   d , and the light emitting units  231   a ,  231   b ,  231   c , and  231   d  may be provided at a predetermined distance from each other. The height of the obstacle detecting sensor  230  may be lowered by disposing the light emitting unit  231  at a front of the light receiving unit  232 , and in the case as such, the light receiving unit  232  may be disposed higher than the light emitting unit  231 . According to the above, even when the light emitting unit  231  is disposed at the front of the light receiving unit  232 , the flat light reflected and returned from the obstacle is not blocked by the light emitting unit  231  and may be entirely transmitted to the light receiving unit  232 . In addition, as the height of the obstacle detecting sensor  230  may be lowered, the height of the first housing  200  may be lowered, and the autonomous cleaner  1  may be miniaturized. 
     The light receiving unit  232  includes a reflective mirror  233  configured to change the path of reflective light so that the reflective light being reflected may be directed toward an image sensor  234 , an optical lens (not shown) to collect the reflective light having the path thereof changed by use of the reflective mirror  233 , and the image sensor  234  to receive the reflective light collected by use of the optical lens (not shown). 
     The reflective mirror  233  may employ a conical mirror to change the paths of the reflective light being incident from various directions toward the image sensor  234 . In addition, the reflective mirror  233  is installed at an upper portion of the image sensor  234 , and may be vertically disposed toward a lower direction so that the peak of the reflective mirror  233  having the shape of a cone may face the image sensor  234 . In addition, although not illustrated on the drawing, the reflective mirror  233  having the shape of a cone may be installed at a lower portion of the image sensor  234 , and the image sensor  234  may be vertically disposed at toward an upper direction so that the peak of the reflective mirror  233  having the shape of a cone may face the image sensor  234 . However, the shape of the reflective mirror  233  is not limited to the shape of a cone. 
     The entry blocking sensor  235  may be positioned at both sides of the obstacle detecting sensor housing. 
     In addition, in accordance with an embodiment of the present disclosure, a remote control receiving sensor  236  configured to receive signals transmitted from a remote control (not shown) may be positioned. In accordance with an embodiment of the present disclosure, the remote control receiving sensor  236  may be provided with the total of 8 units thereof. 
     In accordance with an embodiment of the present disclosure, the two units of the remote control receiving sensor  236  are provided at an upper portion of the light receiving unit  232 , and the two units of the remote control receiving sensor  236  may be provided to be adjacent with respect to the each of the two units of the entry blocking sensor  235 . In addition, the two units of the remote control receiving sensor  236  are further provided at a rear surface of the body, so that the total of the eight units of the remote control receiving sensor  236  may be provided. 
       FIG. 11  is a drawing illustrating a disassembled bumper in accordance with an embodiment of the present disclosure. 
     As illustrated on  FIG. 11 , in accordance with an embodiment of the present disclosure, a bumper  510  may include a bumper body  513  and a bumper head  512 . A plurality of ribs  514  may be provided at a front surface of the bumper body  513 . According to the above, a groove  514   a  may be provided between the ribs  514 . An inlet flow path may be formed to have dust inlet into the brush unit  220  and stored at the dust collecting container  310  when the body is near a wall by use of the ribs  514 . In addition, a separate buffer member  515  may be coupled to the bumper  510 . According to the above, the dust on a floor surface may be efficiently removed. 
     Hereinafter, with respect to describing  FIG. 12  to  FIG. 21 , the descriptions from  FIG. 1  to  FIG. 11  will be cited within the scope that the descriptions are not in conflict with respect to each other. 
       FIG. 12  is a perspective view illustrating an exterior appearance of an autonomous cleaner  1   a  in accordance with an embodiment of the present disclosure, and  FIG. 13  is a plane view illustrating a state of an outer housing of a second housing of the autonomous cleaner removed in accordance with an embodiment of the present disclosure. 
     As described earlier, the dust collecting unit  330  may include a dust collecting container  310   a  to store the inlet dust. A gripping unit  311   a  provided for a user to grip may be provided at the dust collecting container  310   a . The user may be able to separate the dust collecting container  310   a  from the second housing  300  by gripping the gripping unit  311   a  to rotate the dust collecting container  310   a . The user may be able to remove the accumulated dust inside the dust collecting container  310   a  by separating the dust collecting container  310   a.    
     A cyclone structure  370  may be installed inside the dust collecting container  310   a . As illustrated on  FIG. 13 , the cyclone structure  370  may be disposed inside the dust collecting container  310  that is adjacent with respect to the inlet motor  320 . 
       FIG. 14  is a drawing illustrating a state of the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure rotated and separated. 
     As described earlier, the dust collecting unit  330  is coupled to the second housing  300 , and the dust collecting unit  330  may include the dust collecting container  310   a , and the inlet motor  320  disposed at one side of the dust collecting container  310   a.    
     The second housing  300  may include the dust collecting container installation unit  312  at which the dust collecting container  310   a  is installed. The dust collecting container  310   a  may be installed at the dust collecting container installation unit  312  such that at least a portion of the dust collecting container  310   a  is exposed as an exterior appearance. The exterior appearance of the dust collecting container  310   a  may be provided with transparent material so that a user may be able to directly view the amount of the accumulated dust. In addition, the dust collecting container  310   a  may be detachably coupled to the dust collecting container installation unit  312  so that a user may be able to remove the accumulated dust. 
     The dust collecting container  310   a  may include an inlet unit  313  and an outlet unit  314  ( FIG. 14 ). The inlet unit  313  is provided toward a front surface of the body, and may be connected to the first housing  200 . Thus, the air having the dust entering inside the first housing  200  through the opening unit  223  positioned at a lower surface of the first housing  200  may be inlet to an inside of the dust collecting container  310   a  through the inlet unit  313 . 
     As illustrated on  FIG. 14 , the dust collecting container  310   a  may be provided in the shape of a cylinder. In addition, the dust collecting container installation unit  312  may be provided in the shape of a cylinder corresponding to the shape of the dust collecting container  310   a . According to the above, the dust collecting unit  310   a  may be rotatively installed with respect to the dust collecting container installation unit  312 . 
     As illustrated on  FIG. 12 , the dust collecting container  310   a  may be installed at the dust collecting container installation unit  312  such that the gripping unit  311   a  may face a front surface. A user, by gripping the gripping unit  311   a  and rotating the gripping unit  311  toward an upper portion direction, may be able to separate the dust collecting container  310   a  from the dust collecting container installation unit  312 . At this time, according to the rotation of the dust collecting container  310   a , the inlet unit  313  is faced toward an upper portion, and foreign substance such as accumulated dust at the surroundings of the inlet unit  313  may not fall outside the dust collecting container  310   a.    
       FIG. 15  is a drawing illustrating the dust collecting container  310   a  of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     As described earlier, the dust collecting container  310   a  may include the inlet unit  313  and the outlet unit  314 . The inlet unit  313  is provided toward a front surface of the body, and the outlet unit  314  may be provided toward the inlet motor  320 . The air having the dust inlet inside the dust collecting container  310   a  through the inlet unit  313  is separated from the dust by use of the cyclone structure  370 . The air having been removed from the dust as such is released from a dust collecting container  320   a  through the outlet unit  314  and may move to the inlet motor  320 . 
     The dust collecting container  320   a  may include a dust collecting member  380  to store separated dust, and a cover member  390  coupled to one side of the dust collecting member  380 . The dust collecting member  380  and the cover member  390  may be detachably coupled. For example, the dust collecting member  380  and the cover member  390  each may include one of a first hook  391  and a first accommodation groove  381  ( FIG. 16 ) provided to correspond to the first hook  391 , and may be hook-coupled. 
       FIG. 16  is a drawing illustrating a disassembled state of the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     On  FIG. 16 , the first hook  391  provided at the cover unit  390  and the first accommodation groove  381  provided at the dust collecting member  380  are illustrated. The first hook  391  is rotatively provided at a predetermined angle by use of a pressure of one side, and the other side may be provided to be coupled to the first accommodation groove  381 . Thus, the first hook  391  may be separated from the first accommodation groove  381  by pressing one side of the first hook  391 . A user may be able to press one side of the first hook  391  at the dust collecting container  310  illustrated on  FIG. 12  to separate the dust collecting member  380  and the cover member  390  as shown on  FIG. 16 . 
     The cover member  390  may be coupled to one side of the dust collecting member  380  that is adjacent to the inlet motor  320 . That is, the inlet motor  320 , the cover member  390 , and the dust collecting member  380  may be disposed in order toward a single direction. 
     The cyclone structure  370  may be disposed inside the dust collecting container  310  to be connected to the inlet unit  313  and the outlet unit  314 . The cyclone structure  370  may include an inlet flow path  379  connected to the inlet unit  313 . That is, the cyclone structure  370  may be able to form a flow path so that the air entered through the inlet unit  313  may exit through the outlet unit  314 . As illustrated on  FIG. 13 , the cyclone structure  370  may be adjacently positioned with respect to the inlet motor  320 . 
     The cover member  390  and the cyclone structure  370  may be detachably coupled. For example, the cover member  390  and the cyclone structure  370  each may include one of a second hook  376  and a second accommodation groove  392  provided to correspond to the second hook  376 , and may be hook-coupled. 
       FIG. 17  is a drawing illustrating a separated state of the cover member and the cyclone structure of the autonomous cleaner in accordance with an embodiment of the present disclosure. 
     On  FIG. 17 , the second hook  376  provided at the cyclone structure  370  and the second accommodation groove  392  provided at the cover member  390  are illustrated. The second accommodation groove  392  may be provided with elastic material, and the cyclone structure  370  and the cover member  390  may be separated by deforming the second accommodation groove  392 . The second hook  376  and the second accommodation groove  392  may be provided at both sides of the cyclone structure  370  and the cover member  390 , respectively. 
     A filter (not shown) may be provided between the cyclone structure  370  and the cover member  390 . Thus, a user may be able to remove the collected dust by separating the cover member  390  and the dust collecting member  380 , and the filter (not shown) may be replaced or washed by separating the cover member  390  and the cyclone structure  370 . 
       FIG. 18  is a drawing illustrating an upper surface of the dust collecting container of the autonomous cleaner in accordance with an embodiment of the present disclosure, and  FIG. 19  is a drawing illustrating a cross section of an A-A′ of  FIG. 18 . 
     The cyclone structure  370  may be provided at an inside the dust collecting container  310   a  to centrifugally separate dust from the air having the dust that is inlet into the dust collecting container  310   a . As described earlier, the cyclone structure  370  may be positioned at one side of an inside the dust collecting container  310   a  that is adjacent to the inlet motor  320 . 
     The cyclone structure  370  may include an outer container  371 , and an inner container  372  disposed inside the outer container  371 . A rotating flow path  375   b  may be provided in between the outer container  371  and the inner container  372 . In addition, the cyclone structure  370  may include a lower surface  375  configured to direct the flow of the air moving at the rotating flow path  375  in the shape of a spiral. The air having the dust inlet through the inlet unit  313  is passed through the rotating flow path  375  to be centrifugally separated from the dust. At this time, the rotating axis of the rotating flow path  375  may be perpendicularly disposed with respect to a floor surface. 
     Brief descriptions with respect to a centrifugal separation process will be provided. The air having the dust entered to an inside the dust collecting container  310   a  through the inlet unit  313  is entered at the rotating flow path  375  through the inlet flow path  379 . The air is ascended while rotating by following the inlet flow path  375  formed in the shape of a spiral, and is separated from the dust. The dust is ascended along an inner side surface of the outer container  371  by use of a centrifugal force, and may be moved to the dust collecting member  380 . 
     The air may be descended after entering to an inner side of the inner container  372  through an opening unit provided at an upper portion of the inner container  372 . The descended air may be able to exit to the outlet unit  314  after passing through the cover member  390  through a lower portion of the lower surface  374 . At this time, opening units having various shapes and numbers may be provided at an upper portion of the inner container  372  to pass the air through. In addition, a current guiding member  369  configured to assist the formation of current of air may be provided at an upper end of the inner container  372 . The current guiding member  369  may be settled at an upper end of the inner container  372  while manufactured as a separate member with respect to the inner container  372 . In addition, the current guiding member  369  may be provided in the shape of an impeller. 
     In addition, the cyclone structure  370  may include guide units  373  and  378  provided to have the separated air exit a side of the cyclone structure  370 . The guide units  373  and  378  may be integrally formed with respect to the outer container  371  to guide the centrifugally separated dust toward one side of the dust collecting member  380 . In addition, the guide units  373  and  378  may be provided such that the centrifugally separated dust may be moved toward an opposite direction with respect to the inlet motor  320 . 
     As illustrated on  FIG. 18 , the guide units  373  and  378  may include a first guide unit  373  and a second guide unit  378  forming a dust collecting path  377  through which dust is moved. The first guide unit  373  and the second guide unit  378  may be formed at a predetermined angle. On  FIG. 15 , for example, the first guide unit  373  is provided toward a horizontal direction, and the second guide unit  378  is provided toward an inclined direction by about 120° with respect to a perpendicular direction. 
       FIG. 20  is a drawing illustrating a cross section of a B-B′ of  FIG. 18 , and  FIG. 21  is a drawing illustrating a cross section of a C-C′ of  FIG. 18 . 
     Excluding the dust collecting path  377  formed by use of the first guide unit  373  and the second guide unit  378 , the outer container  371  may be provided to be in contact with respect to an inner surface of the dust collecting member  380 . That is, at least a portion of the outer container  371  may be extendedly formed to be in contact with respect to the inner surface of the dust collecting member  380 . However, by tolerance during an assembly, a predetermined space may be formed at an inner surface of the dust collecting member  380  and at an upper end of the outer container  371 . 
     As illustrated on  FIG. 20 , the upper end of the outer container  371  is provided to be in contact with respect to the inner surface of the dust collecting member  380 . Thus, the dust ascending along the inner side surface of the outer container  371  may not be able to exit to the dust collecting member  380  along the inner side surface of the outer container  371 . As illustrated on  FIG. 21 , the dust collecting path  377  is formed by use of the first guide unit  373  and the second guide unit  378 , and the centrifugally separated dust may be able to be moved through the dust collecting path  377 . 
     The above is provided such that the centrifugally separated dust by use of the cyclone structure  370  provided at one side inside the dust collecting container  310   a  may not be collected only at one side. By guiding the dust to a larger space, a user may be able to delay the time to remove the dust. 
     In accordance with an embodiment of the present disclosure, as driving performance and cleaning performance are able to be enhanced and at the same time, as the efficiency of the space at an inside an autonomous cleaner at which structuring elements are disposed can be maximized, the miniaturization of the autonomous cleaner can be provided. 
     Although a few embodiments of the present disclosure have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined in the claims and their equivalents.