Patent ID: 9639084
Date: 2017-05-02
CPC Classifications: G01S,G05D,Y10S

Claim:
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.