Patent ID: 7581282

Claim:
A robot cleaner comprising: a cleaner body defining an inside and having a suction unit that performs a vacuum cleaning operation; a driving unit that causes the cleaner body to travel along a surface; a sensing unit operatively connected with the cleaner body to sense irregularities on the surface the cleaner body travels along; and a control unit that cooperates with the sensing unit and the driving unit to allow the cleaner body to cope with the irregularities on the surface, wherein the sensing unit comprises: a link mechanism that allows a wheel installed at a bottom of the cleaner body to rise or fall with respect to the bottom of the cleaner body due to the irregularities sensed as the cleaner body travels; and at least one switch which is activated by a movement of the link mechanism, thereby causing the control unit to control the driving unit to allow the cleaner body to travel in a manner that avoids the irregularities, wherein the link mechanism comprises: a connection rod connected to the wheel and extended toward the inside of the cleaner body; a supporter installed at the cleaner body; a first link member having one end hinge-connected to an upper end of the supporter and another end hinge-connected to an upper end of the connection rod; and a second link member having one end hinge-connected to the supporter at a predetermined distance from a position of the supporter where the first link member is connected and another end hinge-connected to the connection rod at a predetermined distance from a position of the connection rod where the first link member is connected.