Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2000-12-19
2001-10-23
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S002000, C700S009000, C700S159000, C700S169000, C700S174000, C700S195000, C340S679000, C340S680000, C340S683000, C340S686500, C720S724000, C720S724000, C446S175000
Reexamination Certificate
active
06308114
ABSTRACT:
DESCRIPTION
1. Technical Field
The present invention relates to a robot apparatus for detecting a direction of sound source to move thereto; and, more particularly, to a robot apparatus for receiving a sound signal having a specific pattern, outputted from a sound source, and detecting a current direction of the robot apparatus and a correct direction of the sound source by using a phase difference between the sound signals, to thereby move thereto, and a method for operating the same.
2. Background Art
Generally, a movable robot is widely used in various fields such as industrial robot and a toy. Such a movable robot has several detectors and a moving means, wherein the detectors include a distance measurement instrument, a sensor for sensing a human body, and the like. The robot detects a target spot or a current position and then moves to the target spot by using detected target spot or detected current place.
As one of the detectors, an apparatus for detecting a direction of sound source is disclosed in Korea Patent No. 91-2926. Instead of detecting a correct place of the sound source, however, the apparatus detects a direction of the sound source in a six direction by using a sequence of sound signals received through receivers that are mounted to the robot. Therefore, the detection of the sound source may be incorrect and an error may also occur due to surrounding sounds, so that the conventional robot is applicable only to a toy. There are limitations to apply to a robot requiring a sophisticated detection. That is, it is difficult to implement a robot having an auto charging function for docking to the charger by detecting a place of the charger to move to the charger.
DISCLOSURE OF INVENTION
In accordance with an aspect of the present invention, there is provided a robot apparatus for detecting a sound signal outputted from a sound signal generating means to move to a position of the sound signal generating mean, wherein the sound signal has a specific pattern, the robot apparatus comprising: at least three sound receiving means for receiving the sound signal outputted from the sound signal generating means; a phase difference detection means for detecting a phase difference between each sound signals from the sound receiving means; a processing means for determining a position of the sound generating means using the phase difference, to generate a moving control signal; and a moving means, in response to the moving control signal, for moving the robot apparatus to the position of the sound generating means.
In accordance with another aspect of the present invention, there is provided a method for operating a robot apparatus for detecting a sound signal outputted from a sound signal generating means to move to a position of the sound signal generating mean, wherein the sound signal has a specific pattern, the method comprising the steps of: a) determining whether an operation mode is set up; b) if the operation mode is not set up, setting up a standby mode to sense and tracing a human body existing within a predetermined distance; c) if the operation models set up, determining a kind of operation mode; and d) according to the operation mode, clearing a predetermined area by using an information of a plane structure obtained by searching and analyzing the plane structure, docking to a battery by searching the battery generating a sound signal when the battery is discharged, searching a sound source for generating a sound signal and performing a guard operation.
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Kobyashi et al., New ensemble system based on mutual entrainment, 2000, IEEE, pp. 288-291.*
Tse, et al., Design of a Navigation System for a Household Mobile Robot Using Neural Networks Proceedings, 1998, pp. 2152-2154.
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Cuchlinski Jr. William A.
Greenblum & Bernstein P.L.C.
Marc McDieunel
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