An image processing method and apparatus performs calculating flash-component image data based on a first image captured without flash emission and a second image captured with flash emission, and generating a finally-adjusted image by using an intensity-adjusted flash-component image generated by executing intensity adjustment on the flash-component image data. According to the present invention, vibration-proof rollers are installed inside a roller frame instead of conventional rollers and the shock absorption bridge is fixed between the main frame and the roller frame, thereby absorbing an external shock in two steps and thus enhancing ride comfort. The yoke layer is disposed at the magnetic pole rear part and includes a yoke front part and a yoke rear part. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.