发明名称 |
AUTONOMOUS ACTION ROBOT, AND CONTROL METHOD FOR AUTONOMOUS ACTION ROBOT |
摘要 |
An autonomous action robot includes: a sound acquisition unit that acquires an acoustic signal; a sound source localization unit that estimates a direction of a sound source with respect to the acoustic signal; a distance measurement unit that performs measurements related to distance for a predetermined range; a map information generation unit that generates two-dimensional map information and that estimates a self-location of the autonomous action robot, using information of the distance; a sound source direction determination unit that re-estimates the direction of the sound source based on the two-dimensional map information, the estimated self-location information, and the estimated sound source direction; an action generation unit that generates an action plan based on the two-dimensional map information and the sound source direction estimated by the sound source direction determination unit; and a control unit that controls the autonomous action robot according to the action plan. |
申请公布号 |
US2016059418(A1) |
申请公布日期 |
2016.03.03 |
申请号 |
US201514831279 |
申请日期 |
2015.08.20 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
Nakamura Keisuke;Nakadai Kazuhiro |
分类号 |
B25J9/16 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
1. An autonomous action robot comprising:
a sound acquisition unit configured to acquire an acoustic signal; a sound source localization unit configured to estimate a direction of a sound source with respect to the acoustic signal, using the acquired acoustic signal; a distance measurement unit configured to perform measurements related to distance for a predetermined range; a map information generation unit configured to generate two-dimensional map information and that estimates a self-location of the autonomous action robot, using information of the distance; a sound source direction determination unit configured to re-estimate the direction of the sound source by determining whether the acoustic signal is a reflection reflected from a reflective object or a direct sound from the sound source, based on the two-dimensional map information, the estimated self-location information, and the estimated sound source direction; an action generation unit configured to generate an action plan for moving toward a first direction if the acoustic signal is determined as a reflection and that generates an action plan for moving toward a second direction that differs from the first direction if the acoustic signal is determined as a direct sound, based on the two-dimensional map information and the sound source direction estimated by the sound source direction determination unit; and a control unit configured to control the autonomous action robot according to the action plan. |
地址 |
Tokyo JP |