1. An autonomously moving robot that drives while evading obstacles, comprising: a memory to memorize map information of a driving domain and various parameters for driving; an input instruction receiver to input a destination and a command for moving; a route determiner to form a driving route to the destination; an environmental information acquisitioner to acquire environmental information on the driving route including an object becoming an obstacle; a driver to drive the autonomously moving robot; a self-location recognition sensor to recognize a self-location on a basis of information provided by the environmental information acquisitioner and the map information; and a driving controller to control the driver to arrive at the destination while evading obstacles and recognizing the self-location, wherein the environmental information acquisitioner further comprises: an imaging apparatus that takes an environmental image on the driving route; an image recognition processor to extract an edge image from the taken environmental image, and to evaluate a degree of circularity of the edge image by arithmetically processing the shape of the edge image, and if the evaluated degree of circularity is larger than a predetermined threshold value, the image recognition processor extracts an area including the evaluated edge image from the environmental image as a candidate region including a human head; a ranging apparatus to detect an object existing in an environment on the driving route, and to measure a distance range and an orientation of the object; a range information analyzer to arithmetically process the measured distance range and the orientation of the object to obtain a width of the object related to an angle region where collected data of the measured distance range and the orientation is generally constant, wherein the object is recognized based on the obtained width being within predetermined values; and an environment recognizer to perform recognition processing by comparing information based on an orientation in actual space of the candidate region including the human head extracted by the image recognition processor with information based on an orientation of the object having the width that is within the predetermined values recognized by the range information analyzer, and wherein when the compared information is consistent with one another, the environment recognizer outputs the information of the distance range and the orientation of the object as an environmental information on a person on the driving route to the driving controller.
1. An autonomously moving robot that drives while evading obstacles, comprising: a memory to memorize map information of a driving domain and various parameters for driving; an input instruction receiver to input a destination and a command for moving; a route determiner to form a driving route to the destination; an environmental information acquisitioner to acquire environmental information on the driving route including an object becoming an obstacle; a driver to drive the autonomously moving robot; a self-location recognition sensor to recognize a self-location on a basis of information provided by the environmental information acquisitioner and the map information; and a driving controller to control the driver to arrive at the destination while evading obstacles and recognizing the self-location, wherein the environmental information acquisitioner further comprises: an imaging apparatus that takes an environmental image on the driving route; an image recognition processor to extract an edge image from the taken environmental image, and to evaluate a degree of circularity of the edge image by arithmetically processing the shape of the edge image, and if the evaluated degree of circularity is larger than a predetermined threshold value, the image recognition processor extracts an area including the evaluated edge image from the environmental image as a candidate region including a human head; a ranging apparatus to detect an object existing in an environment on the driving route, and to measure a distance range and an orientation of the object; a range information analyzer to arithmetically process the measured distance range and the orientation of the object to obtain a width of the object related to an angle region where collected data of the measured distance range and the orientation is generally constant, wherein the object is recognized based on the obtained width being within predetermined values; and an environment recognizer to perform recognition processing by comparing information based on an orientation in actual space of the candidate region including the human head extracted by the image recognition processor with information based on an orientation of the object having the width that is within the predetermined values recognized by the range information analyzer, and wherein when the compared information is consistent with one another, the environment recognizer outputs the information of the distance range and the orientation of the object as an environmental information on a person on the driving route to the driving controller. 9. The autonomously moving robot described in claim 1 , wherein the environment recognizer calculates a ratio of a planar dimension of an area of a color of human skin detected in the image with respect to a planar dimension of an area of a color of human skin at a range previously established from the autonomously moving robot to a person, and judges whether the detected person awakes the autonomously moving robot or not by comparing the ratio with a threshold value previously established.