Patent Document ID: 20060184274
Application ID: 10549110
Patent Status: 0

Claim One:
1. In an autonomously moving robot which drives while evading obstacles, it comprises: a memory means for memorizing map information of driving domain and various parameters for driving; an input instruction means for inputting a destination and a command for moving; a route forming means for forming a driving route to the destination; an environmental information acquisition means for acquiring environmental information on the driving route including an object becoming an obstacle; a driving means for driving it; a self-location recognition means for recognizing a self-location on a basis of information provided by the above environmental information acquisition means and the map information; and a driving control means for controlling the driving means to arrive at the destination while evading obstacles with recognizing the self-location by the self-location recognition means by oneself; wherein the above environmental information acquisition means further comprises: an imaging apparatus for taking an environmental image on the driving route; an image recognition processing means for extracting an area having a property relating to a region of a human body by arithmetically processing a photographed image data; a ranging apparatus for detecting an object existing in an environment on the driving route and measuring a range and an orientation of the object; a range information analyzing means for obtaining a shape of the object by arithmetically processing a range data of the measured object and recognizing the object is a candidate of a person from the shape; and an environment recognition means for comparing a location of an area having the property extracted by the image recognition processing means with a location of an object which is recognized as a candidate of a person by the range information analyzing means, and recognizing the object as a person when both of them agree with.