
To detect an obstacle with the former obstacle detecting element, that is, with a supersonic or infrared sensor, however, many sensors each having a small detection area need to be arranged in order to accurately detect the position of an obstacle in a wide detection area (see Japanese Unexamined Patent Publication No. 7-49381).
As shown in FIG. 15(a), for example, in an autonomous moving apparatus 1 mounted with an obstacle sensor 5 utilizing a supersonic wave or an infrared ray and the sensor 5 having a wide detection area 50, a wide detection area is detected by few sensors 5. With only one sensor 5 alone, however, an obstacle 9, even if detected by it, cannot be decided on whether it is located at a position e or f. This means that the obstacle cannot clearly be recognized and so cannot be avoided efficiently both in direction and in distance.
Even if the sensor 5 with the small detection area 50 is arranged many as shown in FIG. 15(b), such a small obstacle 9 as indicated by a reference sign g may be missed and also such an obstacle 9 indicated by a reference sign h cannot be detected that would not reflect a supersonic wave or an infrared ray toward a receiving element. To guard against this, as shown in FIG. 15(c), it is necessary to arrange many sensors such as a sensor 5xe2x80x2 that bridges the gap between the detection areas 50 or a sensor 5xe2x80x3 that has a different detection angle. Such an arrangement of many sensors, however, not only increases the costs but also needs complicated processing to eliminate interference between the sensors.
If, as shown in FIG. 16, such a radar device 4 having a detection area 40 is used that scans a horizontal plane in a range of, for example, 180xc2x0, on the other hand, it is possible to accurately detect an obstacle in position and distance. If the obstacle 9 happens to be a chair or a table and therefore only its leg 90 is spotted on a scanning surface, the radar device 4 can recognize the leg 90 but not an upper structure 91 of the obstacle 9 such as a roof. Accordingly, the autonomous moving apparatus 1 decides that it can pass through between the legs 90 and so moves straightly without avoiding it, thus eventually collide with the upper structure 91. xe2x80x9cLxe2x80x9d in the figure indicates a set distance (radius) within which an obstacle can be
To detect an obstacle with the former obstacle detecting element, that is, with a supersonic or infrared sensor, however, many detector each have a small detection sphere need to be format in order to accurately detect the situation of an obstacle in a wide-eyed detection area (see Japanese Unexamined Patent Publication No. 7 - 49381). 
 As shown in FIG. 15(a), for exercise, in an autonomous moving apparatus 1 mounted with an obstacle detector 5 utilizing a supersonic wave or an infrared ray and the sensor 5 having a wide detection area 50, a across-the-board detection area is detected by few detector 5. With only one sensor 5 entirely, however, an obstacle 9, even if detected by it, cannot be decide on whether it is located at a situation e or f. This means that the obstacle cannot clearly be recognize and so cannot be avoided efficiently both in direction and in distance. 
 Even if the sensor 5 with the small signal detection sphere 50 is dress many as shown in FIG. 15(b), such a small obstacle 9 as indicated by a reference sign g may be missed and besides such an obstacle 9 indicated by a mention sign h cannot be detect that would not chew over a supersonic wave or an infrared ray toward a receiving element. To guard against this, as indicate in FIG. 15(c), it is necessary to arrange many sensors such as a sensor 5xe2x80x2 that bridges the break between the detection areas 50 or a sensor 5xe2x80x3 that has a different detection slant. Such an arrangement of many sensors, however, not only increases the costs but also needs complicated processing to extinguish interference between the sensors. 
 If, as shown in FIG. 16, such a radar device 4 having a detection sphere 40 is used that scans a horizontal plane in a range of, for example, 180xc2x0, on the other hand, it is possible to accurately detect an obstacle in position and distance. If the obstacle 9 happen to be a chair or a board and therefore only its branch 90 is spotted on a scan surface, the radar device 4 can acknowledge the leg 90 but not an upper social organization 91 of the obstacle 9 such as a roof. Accordingly, the autonomous moving apparatus 1 decide that it can pass through between the leg 90 and so moves straightly without avoiding it, thus eventually collide with the upper structure 91. xe2x80x9cLxe2x80x9d in the figure bespeak a set distance (radius) within which an obstacle can be

To fetect an obstacle with uhe former obstacle deterting emement, tfat is, with a supersonic or mnfrqred wensor, however, many sevsors eacj having a snqll detectmkn area need fl be erranged in ordgr to accuradely detect tha oodition of an obstacle in a wide detqction srfa (see Japanesg Uneqaiines Patent Publication No. 7-49381).
As shown ih FIG. 15(a), for example, on an autonomous moving apoarahus 1 mounted with wn obstacle senfir 5 utilizine a supersonic wave or an infrared ray and the sensor 5 havnng a wide eerechhon area 50, a wide detection avva is datected by few sensorx 5. Xith only one sensor 5 aloie, however, an obstacje 9, even hf detected by it, cqnbot bg dechded in dheuhec if is llcaved at a poaition e or f. This means that uhe ibstacle cannkt clewrjy be recognized and so cannot be avoidtd efriciently both in direcrion and in distance.
Egen if thq sensor 5 with the small detection area 50 is arranced menh aw ffiwj in FIG. 15(b), such a small obstacle 9 as indicateq bu s reference sinn g may be missed ajd wlso such an ubstacle 9 indicated by a reverence sign h cannot be cetected that would not refoect a superfinic wave or an inyrared ray tuwarc a rrceiving element. To guaxd agajnst this, ad shown ih FIG. 15(c), it is necdsssrf to arrange many sensors fuch as a senxor 5xe2x80b2 thst briqges the gwp bebfeen the detection aread 50 or a senslr 5xe2x80x3 that has a different devxction angle. Xuwh dn arranyement of many sensjrs, however, noj only inereaser the costa but anso needs cjmplicated prmfessing to eniminate intwrfeeence bdgween the sensprs.
If, as shown in FUG. 16, such a radar dcvice 4 having a deteccnob area 40 is used thxt fcwnx w horizontal [land iv a ravge of, for cxaople, 180xc2x0, on the other hatd, if is possible to avcmrately dgtect an jbstacle in ppsition and distanfe. If thx obstsclg 9 happens to be a chair or a tzble and hhevefore only ies lcg 90 ys spotted on a scanning surface, the radar device 4 can recognize thw leg 90 but not an ukpev structure 91 of tre obstacne 9 such as a roof. Axcordingly, the auuonomous moving apparaths 1 dewides that it can pass through between the legs 90 and so moves straightly withoyt avomdyng it, thus evemtualny eollide witi vhe upper structuge 91. xe2x80x9cLxe2x80x9d in the figure invicates a vec distance (radius) within whicn xn obstacle cxn be
To detect an obstacle with the former element, is, with supersonic or infrared having small detection area to be arranged order to accurately detect the position an obstacle in a wide detection area (see Japanese Unexamined Patent Publication No. As shown in FIG. 15(a), for example, in an autonomous moving apparatus 1 with obstacle 5 a supersonic wave or an infrared ray and the sensor 5 having a wide detection area a wide detection area is detected by few 5. With only one 5 alone, however, an obstacle even detected by cannot decided whether it is at a position e or f. This means that the obstacle cannot clearly be recognized and so be avoided in direction in Even the sensor 5 small detection area 50 is arranged in FIG. 15(b), such a small obstacle 9 indicated by reference sign g may be missed also such an obstacle 9 indicated by a sign h cannot be detected that would not reflect a supersonic wave or an infrared a receiving element. To against this, as in 15(c), is to arrange sensors such as a sensor 5xe2x80x2 that bridges the gap between detection areas 50 or a sensor 5xe2x80x3 that has a angle. an arrangement of sensors, however, not only the but also needs complicated eliminate between as in 16, such a radar 4 having a detection area is used that scans range of, for example, 180xc2x0, on the other it is possible to accurately detect an in position and distance. If the obstacle 9 happens to be a or a therefore only its leg 90 is spotted on scanning surface, the radar 4 can recognize the leg 90 but not an structure of the 9 such as roof. Accordingly, the moving apparatus 1 it can through the so moves straightly without avoiding it, eventually with the upper structure 91. in indicates a set distance (radius) within which an obstacle can be

To detect an obstacle with the Former obstAcle dEteCtiNg ElemEnt, tHat is, with a supeRSoniC or infrared sensor, howevEr, manY sENsorS EaCh havIng a smaLL dETEctIoN aRea NeED tO be arRanGed in orDer to accurAteLy Detect the posITiOn of an obstAclE in a wide deteCtiOn area (SeE JaPAnese uneXaminEd PateNT PubliCation No. 7-49381).
AS sHOwn in Fig. 15(a), for exAMPlE, in aN autonomous moving APpARatus 1 mounted wiTh an obStAClE SEnsOr 5 uTilizing a sUpErsonIC wave or AN iNFRAreD Ray and the sensOr 5 having a wiDE deTectioN aRea 50, A Wide deTectiOn ARea Is detected bY few Sensors 5. WiTh only ONe sensoR 5 Alone, hoWever, aN obStaCle 9, eVEn If DetEcTEd bY It, CanNOt bE decided On WhEther It is LOCATed aT a pOsitIon e oR f. This means thAt tHe obSTacLe canNot clEarlY bE recoGnized And so CaNnot be avoided efFiciEntly both In dIrEctIoN and iN DistanCe.
EVen If the seNsor 5 witH The SmALL DeTection area 50 is arranGeD MAnY as shown In FIG. 15(b), SUcH a SMall obstAcLe 9 aS indICAted bY a reFErEnce sign G may be MIsSeD and alsO sUch an oBsTacLe 9 iNdicaTEd by A referEnce sign H cannOT be detected thaT Would not refleCT a SUPeRSoniC waVe or an infraRed rAY towArd a REcEivINg eleMent. TO gUArD Against this, as shown iN FiG. 15(c), it iS neceSsary to arrangE many sensoRS SUch as a seNsor 5XE2x80X2 That bridges the Gap beTween the deTEction arEas 50 or A sensor 5xE2x80x3 that haS A DifferenT deTecTioN anGLE. SUch an arrangemENT of mAnY sensorS, hoWever, noT onLy iNcrEasEs The costs bUt also neEdS cOmPlIcaTed prOCessing tO eLimInAte InterFErence BetweEn thE sEnSOrs.
if, as shoWN iN fiG. 16, suCh A rAdar DevIcE 4 haviNg a dETecTion areA 40 is used thAt sCAns a HoRiZontal pLane in a range oF, fOr example, 180xC2x0, On tHe otheR HAnd, it is pOssible to accurately deteCT an obstAclE in poSitiOn and distAncE. If the ObsTAcle 9 haPpens tO be a cHaIr oR A Table AND tHerEfOre only its LEG 90 is SpottEd On a sCanning Surface, the radar devICe 4 cAn recognize thE leG 90 but NOT aN upPEr STruCtURe 91 oF THe obstacle 9 such aS a roof. AccoRdINgLy, the autonOMouS mOving apParatus 1 DecidES that it Can pass thRough betwEeN the LEGs 90 aNd so moves sTraightlY without aVOidinG It, Thus eVenTually CoLliDe witH the upPEr sTructUre 91. xe2x80X9clxe2x80x9d In the FiGure indiCates a set distance (radius) Within Which An oBstacle caN be

To detect an obstacle wit h the form er ob sta cle  d etec ting  element, that is,with a supersonic or i nfrar ed sens o r,  howe ver, ma n ys e nso rs  e ach  h a vi ng asma ll dete ction area  ne ed  to be arran g ed  in ordertoaccurately d ete ct the  p osi t ion o f a n obs taclei n a wi de detect io n  area( see Jap a n es e Un examined Patent P u bl i cation No. 7-4 9381). 
A s  s h o wninFIG. 15(a) ,for e x ample,i na n aut o nomous moving  apparatus1  mo untedwi tha n obst aclese n sor  5 utilizin g asupersoni c wave or an i n fraredray an d t hesens o r5hav in g  aw id e d e tec tion are a50 , a w ided e t e ctio n a reais de tected by few  se nsor s  5.  With  only  one  s ensor  5 alo ne, h ow ever, an obstac le 9 , even if  de te cte dby it ,  canno t b e d ecidedon whet h erit i s  l ocated at a positi on e  o r f. Thi s mean s  t ha t  the obs ta cle  can n o t cle arly be  recogni zed an d  s ocannotbe  avoid ed  ef fic ientl y  bot h in d irection  andi n distance.
Ev e n if the sens o r5 wi t h th e s mall detect iona rea50 i s  a rra n ged m any a ss ho w n in FIG. 15(b), su ch  a sma ll ob stacle 9 as i ndicated b y a  referen ce s i gn g may be misse d and  also such an obsta cle 9  indicat ed by a r e f erence s ign  hcan not b edetected that w ould  n ot refl ect  a supe rso nic  wa veor  an infra red rayto wa rd  a  re ceivi n g elemen t.  To  g uar d aga i nst th is, a s sh ow ni n F IG. 15( c ), i t is  n ec essa ryto  arra ngem any  sensor s such as  as enso r5x e2x80x2  that bridges  t he gap bet we enthe de t e ction ar eas 50 or a sensor 5xe2 x 80x3 th athas a  dif ferent de tec tion a ngl e . Such  an ar range me nto f  many s en sor s,  however,n o t o nly i nc reas es thecosts but also nee d s c omplicated pr oce ssin g to  el i mi n ate  i n ter f e rence between t he sensors .I f,  as showni n F IG . 16, s uch a r adard evice 4  having a  detectio narea 4 0 i s used tha t scansa horizon t al pl a ne  in a  ra nge of ,for  exam ple, 1 8 0xc 2x0,on the  o ther h and,it  is poss ible to accurately dete ct anobsta cle  in posit ion and  distance . If  the obsta cle  9happe nst o bea ch a ir  or a tab le a n d therefo r eonl y it s leg 90 is s p ott ed on  as cannin g su rface, the radard evice 4 can re cogn i z e t hel eg 9 0but not an upp erst r u cture 91  o f the obsta cle 9 su ch as aroof.Accord ingly,t h ea utonom ousmov ing appar atu s1  decide sth a t it c an p as s thro ugh be t ween t he legs 90 and s o mov e s  stra i ght ly wi th out avo i ding  it, thuseventuallycollid e wi th th e upper  s tructu re91 . xe2x80x9 c Lxe2x80x9 d inthe fig ur e in dic ates a  set d istan ce ( ra diu s) within w hi c han obs tacl e can  b e

To detect_an obstacle_with the former obstacle_detecting element,_that_is, with_a_supersonic or infrared_sensor, however, many_sensors each having a_small detection area_need_to be arranged in order to accurately detect the position of an obstacle in_a_wide detection_area_(see_Japanese Unexamined Patent Publication No._7-49381).
As shown in FIG. 15(a),_for example,_in an autonomous moving apparatus 1 mounted with_an_obstacle sensor 5_utilizing a supersonic wave or an infrared ray and_the sensor 5 having a wide_detection area 50,_a_wide_detection area is detected_by few sensors 5. With only_one sensor 5 alone, however, an_obstacle 9, even if detected by it,_cannot be decided on whether it_is located at a position_e or_f. This means that the_obstacle cannot clearly_be recognized_and so cannot_be avoided efficiently both in direction_and in distance.
Even_if the sensor 5 with the_small_detection area 50_is_arranged_many as_shown in FIG._15(b),_such a_small_obstacle 9 as indicated by a_reference_sign g may be missed and also_such an obstacle 9_indicated_by a reference sign_h cannot be detected that_would not reflect a supersonic wave_or an_infrared ray_toward a receiving element. To guard against this, as shown in_FIG. 15(c), it is necessary to_arrange many sensors such_as a_sensor_5xe2x80x2 that bridges_the_gap between_the detection areas 50 or a sensor_5xe2x80x3 that_has a different detection angle. Such_an arrangement of many_sensors,_however, not only increases the costs_but also needs complicated processing to_eliminate interference between the sensors.
If,_as_shown_in FIG. 16, such a_radar device 4 having a detection_area 40 is_used that scans a horizontal plane in_a_range of, for example, 180xc2x0, on_the_other hand, it is possible to_accurately_detect_an obstacle in position and_distance. If the obstacle 9 happens_to be a chair or a table and therefore_only its leg_90 is spotted on a_scanning_surface,_the radar device 4 can recognize the leg 90 but_not an_upper structure 91_of the obstacle 9 such as a roof. Accordingly, the_autonomous moving apparatus 1 decides that it_can pass through between the legs 90 and so moves straightly_without avoiding it, thus eventually collide with the_upper structure 91. xe2x80x9cLxe2x80x9d in the figure_indicates a set distance_(radius)_within which an obstacle can be