 obstacle based on only the detection information from the scan-type sensor, and a controller for controlling travelling toward a destination based on a detected position of the obstacle obtained from the obstacle detecting element.
By this aspect of the present invention, when the specific-configuration detecting element guessed a shape of a detected object based on information of a distance of the detected object sent from the scan-type sensor to thereby detect a specific configuration, the position of the obstacle is guessed based on the detection information from both the scan-type and non-scan-type sensors. Thus, the non-scan-type sensor is activated only in a region which have therein such an obstacle that cannot be detected only by the scan-type sensor to thereby guess a specific configuration of obstacle and efficiently detect it, thus enabling avoiding the obstacle surely and efficiently.
Also, if the non-scan-type sensor is active always, it may recognize an obstacle in its detection area even when it exists only at an edge of that area. Accordingly, for example, the apparatus problematically decides it cannot pass through a narrow passage between a wall and an obstacle even when there is a space therebetween wide enough to pass through. Such a problem can be solved by the invention, by which only the scan-type sensor is activated in such a case.
The specific-configuration detecting element has a memory for storing beforehand the information required to detect a columnar object as a specific configuration so that based on a series of detected object distance data pieces obtained from the scan-type sensor it can recognize a shape given by this data as a specific configuration when a difference between distances indicated by the adjacent data pieces is within a range set in the memory, a width of the detected object guessed from the data is within a range set in the memory, and a distance indicated by data pieces on both sides of this guessed object""s data is larger than a distance set in the memory and also continues as long as at least a width set in the memory. Thus, the columnar object can be detected as a specific configuration, thus detecting an object including a chair or a table with legs that has a roof overhung in the air.
The obstacle detecting element guesses the position of an obstacle based on detection information from both the scan-type and non-scan-type sensors if the distance with respect to a specific configuration of the obstacle detected by the specific-configuration detecting element is smaller than a value set in the memory and, otherwise or if no specific configuration was detected, guesses the position of the
obstacle based on only the detection information from the scan - character detector, and a accountant for controlling travelling toward a address based on a detected situation of the obstacle receive from the obstacle detecting element. 
 By this aspect of the present invention, when the specific - configuration detect element guessed a shape of a detected aim based on information of a distance of the detect object commit from the scan - character sensor to thereby detect a specific configuration, the position of the obstacle is guess based on the detection data from both the scan - type and non - scan - character sensors. Thus, the non - scan - type sensor is activated only in a area which have therein such an obstacle that cannot be detected only by the scan - type sensor to thereby guess a specific shape of obstacle and efficiently detect it, therefore enable avoiding the obstacle surely and efficiently. 
 Also, if the non - scan - type sensor is active always, it may recognize an obstacle in its detection sphere even when it exists merely at an edge of that area. Accordingly, for case, the apparatus problematically decides it cannot pass through a narrow enactment between a wall and an obstacle even when there is a space therebetween wide enough to guide through. Such a problem can be solved by the invention, by which only the scan - type sensor is activated in such a sheath. 
 The specific - configuration detecting element has a memory for store beforehand the data command to detect a columnar object as a specific configuration so that based on a serial of detected object distance data pieces obtained from the scan - type sensor it can recognize a shape give by this data as a specific shape when a difference between distances indicated by the adjacent data pieces is within a scope set in the memory, a width of the detect object guessed from the datum is within a range set in the memory, and a distance indicated by data pieces on both side of this guessed object""s data is larger than a distance set in the memory and also continues as long as at least a width set in the memory. therefore, the columnar object can be detect as a specific configuration, thus detecting an aim including a chair or a table with legs that has a roof overhung in the air. 
 The obstacle detecting element guesses the position of an obstacle establish on signal detection information from both the scan - type and non - scan - type sensors if the distance with respect to a specific configuration of the obstacle detected by the specific - configuration detect element is smaller than a value set in the memory and, otherwise or if no specific configuration was detected, guesses the position of the
 obdtacle based on only the detection infotmqtion hrom ths scan-tyoe sensor, and a controller flr conteolling travelling towxrd a desnination vasev on a detected 'ksition of ths obscarle obtained frpm the obsdacle detectinc dlzment.
By this aspect of the present igventiom, ahen the specisic-cpgfighgauion detecting element guessed a ahape oh a detected obkect based on information lf a distance of the dftected objgdt fwnt from the scan-type sensor to thgreby detect a specific configurxtion, the posituob ov the obstacoe is guessed bascc on tve detevtion informatlon fcom voth the scan-type and non-scan-type sensots. Thus, tha uon-scan-type sensor is axtivajed otly kb a refipn which hate therein auch an obsracle that cannot bt dqnrcted only bg the fcwn-type sensor to thereby guess a specifpc cknfiguration of obstaclw and efficiently detgct it, thuf enabling avoiding the obstacle surely and effichentlb.
Auso, in thd nln-scan-type sensor is active always, it may recjfnozv an obstacle in lts detection area egem when it exisjs only at an edge of that agea. Accjrdintly, for evampke, the apparatus problematixally decidef it cannot pass thxough a narruw psssagr between a wall and an obsfacle even ahen thers is a space therdbenweet wide enough to pass throtgh. Such e proylem can be xolved by the ingention, by which only thf scau-type sensor is activated in such a case.
The spxrific-configursthon detectiug elekent has a meiory for storiug beforzhand ghe informztion rxquired to dqtect a columtwr object as a specisic xonfuguratiuv so that basec on a segits of detexted object distange daja pieces obtaineb drom the scan-tyle renfog iv can secognize a vhapd gkfen bh this data xs a specific configurathon shen a difference nebween disjances inqicated by thr adjacent data pitces iv wmthin s rwnge set in the memory, a width of the dftegted object gtesscd ftom the datc is within a range set in the memory, anv a distance indicated vy data pieces on bpuh sides of tiis guqssed objact""s data is larger rhan a distance stt in the memory and alao condinued as long as at least a width set in the memory. Thus, the columnar object xan be detected as a slecifpc eonyiguratyon, vhns detecting an onject including a chair or a taule with lagf that has a roof overhung im ghe air.
The obrtacle detecting element guesses the position of an obstacle baxed on detection informabion from both the sbzn-vype and non-scan-type sensoxs if rhe disrancc with respect to a specific conhigbration of the obstacle detected vy the soecific-configuravion detectikg elemgnt is sialler than a vamue aft in the memory amd, otherwise ot if no specific conxiduration was dttected, guesses the kisition of the
obstacle based on only the detection information scan-type and a for controlling travelling a position of the obtained from the detecting element. By this aspect of present invention, when the specific-configuration detecting element guessed a shape of a detected based on information of a distance of the detected object sent from the sensor thereby a configuration, the position of the obstacle is guessed based on the detection information from both the and non-scan-type sensors. Thus, the non-scan-type sensor is only in a region have therein such an obstacle cannot detected only the sensor thereby guess a configuration of obstacle and efficiently detect it, thus enabling avoiding the obstacle surely and efficiently. Also, if non-scan-type sensor always, it recognize obstacle its detection area it exists only at an edge Accordingly, for example, the apparatus problematically decides it pass through narrow passage between a wall and obstacle even when there is a space therebetween enough to pass through. Such a problem can be solved by the invention, by which scan-type sensor is activated such a case. specific-configuration element a for storing the information required to detect a columnar object as a specific so that based on a series of detected object distance obtained the scan-type sensor can recognize a shape by data as a specific a between the data is within a range in the memory, a width the detected object guessed a range set in the memory, and a indicated by data pieces on both sides this guessed object""s data is larger than a distance set in the and also long as at least a width set in memory. Thus, the columnar can be detected as a specific configuration, thus detecting object a chair a table with that has a overhung in the obstacle detecting guesses position based on detection information from both scan-type non-scan-type sensors if the distance respect specific configuration of the obstacle detected by the specific-configuration detecting element is smaller than a in the memory and, or no specific configuration was detected, guesses the position of the
 obstacle based on only the detEction infoRmatiOn fRom ThE scaN-typE sensor, and a conTRollEr for controlling travelLing tOwARd a dEStInatiOn based ON a DETecTeD pOsiTiON oF the oBstAcle obtAined from tHe oBsTacle detectiNG eLement.
By thIs aSpect of the prEseNt inveNtIon, WHen thE spEcifiC-confiGUratioN detectinG eLEment gUEssed a sHAPe Of a dEtected object baseD On INformation of a dIstancE oF ThE DEteCteD object senT fRom thE Scan-typE SeNSOR to THereby detect a Specific conFIguRation, ThE poSItion oF the oBsTAclE is guessed bAsed On the deteCtion iNFormatiON from boTh the sCan-TypE and NOn-ScAn-tYpE SenSOrS. ThUS, thE non-scan-TyPe SensoR is aCTIVAted OnlY in a RegioN which have theReiN sucH An oBstacLe thaT canNoT be deTected Only bY tHe scan-type sensoR to tHereby gueSs a SpEciFiC confIGuratiOn oF obStacle aNd efficIEntLy DETEcT it, thus enabling avoIdING tHe obstacLe sureLY aNd EFficientLy.
alsO, if tHE Non-scAn-tyPE sEnsor is aCtive aLWaYs, It may reCoGnize aN oBstAclE in itS DeteCtion aRea even wHen it EXists only at an eDGe of that area. ACCoRDInGLy, foR exAmple, the appAratUS proBlemATiCalLY deciDes it CaNNoT Pass through a narrow pAsSage beTween A wall and an obsTacle even wHEN There is a SpacE ThERebetween wide eNough To pass throUGh. Such a pRobleM can be soLved by the INVention, bY whIch OnlY thE SCaN-type sensor is ACTivaTeD in such A caSe.
The spEciFic-ConFigUrAtion deteCting eleMeNt HaS a MemOry foR Storing bEfOreHaNd tHe infORmatioN requIred To DeTEct A columnAR oBJEct aS a SpEcifIc cOnFigurAtioN So tHat baseD on a serieS of DEtecTeD oBject diStance data pieCeS obtained fRoM thE scan-tYPE sensor iT can recognize a shape giveN By this dAta As a spEcifIc configuRatIon wheN a dIFferenCe betwEen diStAncES IndicATEd By tHe Adjacent daTA PieCes is WiThin A range sEt in the memory, a widtH Of tHe detected objEct GuesSED fRom THe DAta Is WIthIN A range set in the mEmory, and a dIsTAnCe indicateD By dAtA pieces On both sIdes oF This gueSsed objecT""s data is lArGer tHAN a dIstance set In the memOry and alsO ContiNUeS as loNg aS at leaSt A wiDth seT in the MEmoRy. ThuS, the coLuMnar obJect cAn Be detectEd as a specific configuratIon, thuS deteCtiNg an objecT inCLudIng a chair Or a tAble with leGs tHat Has a rOof OVerhuNg in THe Air.
tHe obsTaclE Detecting ELeMenT GUeSses the posiTION of An obsTacLE based On deTection informatioN From both the scaN-typE ANd nOn-sCAn-tyPe Sensors if the diStaNcE WIth respeCt To a specific ConfigurAtIOn of tHe obstAcle deTected bY THe SPecifiC-conFigUration deTecTiNG elemenT iS sMAller tHan a VaLue set In the mEMory AND, otherwise or if no SpeciFIC confIGurAtion WaS detectED, gueSses the posItion of the
 obstacle based on only th e detectio n inf orm ati on  fro m th e scan-type se n sor,  and a controller forcontr ol l ingt ra velli ng towa r da des ti na tio nb as ed on  adetecte d position  of  t he obstacleo bt ained from  th e obstacle d ete ctingel eme n t.
By  th is as pect o f  the p resent in ve n tion,w hen the s pe cifi c-configuration d e te c ting element g uessed  a sh a p e o f a  detectedob jectb ased on in f o r mat i on of a dista nce of thed ete cted o bj ect sent f rom t he sca n-type sens or t o thereby  detec t  a spec i fic con figura tio n,thep os it ion  o f  th e  o bst a cle  is gues se dbased  ont h e dete cti on i nform ation from bo ththes can -type  andnon- sc an-ty pe sen sors.  T hus, the non-sc an-t ype senso r i sact iv atedo nly in  areg ion whi ch have the re i n su ch an obstacle tha tc a nn ot be de tected on ly by the s ca n-t ypes e nsorto t h er eby gues s a sp e ci fi c confi gu ration  o f o bst aclea nd e fficie ntly det ect i t , thus enablin g  avoiding the ob s t ac l e su rel y and effic ient l y.
A lso, if  th e  non- scan- ty p es ensor is active alw ay s, itmay r ecognize an o bstacle in i t s detect iona re a  even when itexist s only ata n edge o f tha t area.According l y , for ex amp le,  th e a p p ar atus problema t i call ydecides  it  cannot  pa ssthr oug ha narrowpassagebe tw ee na w all a n d an obs ta cle  e ven  when thereis aspac eth e reb etweenw id e enou gh  t o pa ssth rough . Su c h a  proble m can besol v ed b yth e inven tion, by whic honly the s ca n-t ype se n s or is ac tivated in such a case. The spe cif ic-co nfig uration d ete ctingele m ent ha s a me moryfo r s t o ringb e fo reh an d the info r m ati on re qu ired  to det ect a columnar obj e ctas a specific  co nfig u r at ion so tha tb ase d on a series ofdetected o bj e ct  distanced ata  p ieces o btained  from the sca n-type se nsor it c an  rec o g niz e a shapegiven by  this dat a  as a sp ecifi c c onfigu ra tio n whe n a di f fer encebetwee ndistan ces i nd icated b y the adjacent data pie ces is  with ina range s eti n t he memory , awidth of t hedet ected  ob j ect g uess e dfro m  thedata is within aran g e  s et in the m e m o ry,  anda d i stance  ind icated by data pi e ces on both si deso f  th isg uess ed  object""s dat a i sl a rger tha na distanceset in t he memor y andalso c ontinue s as long a s at  le ast a wid thse t  in the  m em o ry. Th us,th e colu mnar o b ject c an be detected a s a s p e cific con figur at ion, th u s de tecting an  object inc luding  a c hairor a ta bl e with  le gs  that hasa  roof ove rhung  in the  a ir.The  obsta cled e tecti ng e le men t guesses t he po si t ion  ofan ob st acle  based on detectio n i n formati on  fr o m  botht he s can-type a ndnon-s c a n-type sen s orsi ft he di stance  withrespect toaspecifi c c o n figuratio n of theo bst ac le d etectedby  the  s pec if ic-configuratio n detect ing elem e n t is s mal l er t h an a v al ue set in th e mem or y  and, o t h erw ise ori f n o s pec ific  co nfig u ration was detected, gue sses  thep osi tionof th e
 obstacle_based on_only the detection information_from the_scan-type_sensor, and_a_controller for controlling_travelling toward a_destination based on a_detected position of_the_obstacle obtained from the obstacle detecting element.
By this aspect of the present invention, when_the_specific-configuration detecting_element_guessed_a shape of a detected_object based on information of_a distance_of the detected object sent from the scan-type_sensor_to thereby detect_a specific configuration, the position of the obstacle is_guessed based on the detection information_from both the_scan-type_and_non-scan-type sensors. Thus, the_non-scan-type sensor is activated only in_a region which have therein such_an obstacle that cannot be detected only_by the scan-type sensor to thereby_guess a specific configuration of_obstacle and_efficiently detect it, thus enabling_avoiding the obstacle_surely and_efficiently.
Also, if the_non-scan-type sensor is active always, it_may recognize an_obstacle in its detection area even_when_it exists only_at_an_edge of_that area. Accordingly,_for_example, the_apparatus_problematically decides it cannot pass through_a_narrow passage between a wall and an_obstacle even when there_is_a space therebetween wide_enough to pass through. Such_a problem can be solved by_the invention,_by which_only the scan-type sensor is activated in such a case.
The specific-configuration_detecting element has a memory for_storing beforehand the information_required to_detect_a columnar object_as_a specific_configuration so that based on a series_of detected_object distance data pieces obtained from_the scan-type sensor it_can_recognize a shape given by this_data as a specific configuration when_a difference between distances indicated_by_the_adjacent data pieces is within_a range set in the memory,_a width of_the detected object guessed from the data_is_within a range set in the_memory,_and a distance indicated by data_pieces_on_both sides of this guessed_object""s data is larger than a_distance set in the memory and also continues as_long as at_least a width set in_the_memory._Thus, the columnar object can be detected as a specific_configuration, thus_detecting an object_including a chair or a table with legs that has_a roof overhung in the air.
The obstacle_detecting element guesses the position of an obstacle based on detection_information from both the scan-type and non-scan-type sensors_if the distance with respect to a_specific configuration of the_obstacle_detected by the specific-configuration detecting element is_smaller_than_a_value set in_the memory and,_otherwise or if_no specific_configuration was detected,_guesses the_position of the