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Autonomously moving robot

  • US 20060184274A1
  • Filed: 03/12/2004
  • Published: 08/17/2006
  • Est. Priority Date: 03/14/2003
  • Status: Active Grant
First Claim
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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.

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