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21. 发明申请

US20100138040A1 APPARATUS FOR DETECTING USER AND METHOD FOR DETECTING USER BY THE SAME 有权
标题翻译：用于检测用户的装置和用于检测用户的方法
公开(公告)号：US20100138040A1
公开(公告)日：2010-06-03
申请号：US12373141
申请日：2008-01-14
申请人： Soon-Il Kwon
发明人： Soon-Il Kwon
IPC分类号： G10L17/00 , G05B19/04 , G06F19/00
CPC分类号： B25J13/003 , G10L17/06
摘要： An apparatus for identifying a user in a service robot for domestic use is provided, the apparatus comprising a feature vector classifying unit for classifying feature vectors converted from a user voice signal for statistics into a feature vector not causing a user identification error and a feature vector causing the user identification error to thereby set user modes corresponding to the respective feature vectors for each user, and an identifying unit for identifying the user by utilizing the classification result of the feature vector classifying unit as data for the user identification. Accordingly, time restriction caused when the service robot for domestic use identifies who a user is can be overcome, and, the degradation of the user identification due to the lack of absolutely needed data amount when the user is identified only by the user's short voice can be solved.
摘要翻译：提供了一种用于识别用于家用服务机器人中的用户的装置，该装置包括特征向量分类单元，用于将从用户统计的用户语音信号转换的特征向量分类为不导致用户识别错误的特征向量和特征向量导致用户识别错误，从而设置对应于每个用户的各个特征向量的用户模式，以及识别单元，用于通过利用特征向量分类单元的分类结果作为用户标识的数据来识别用户。因此，当用于家庭用的服务机器人识别谁可以克服用户时，引起的时间限制，并且当用户仅通过用户的短语音识别用户时，由于缺少绝对需要的数据量而导致用户识别的恶化要解决

22. 发明申请

US20100034397A1 SOUND SOURCE TRACKING SYSTEM, METHOD AND ROBOT 有权
标题翻译：声源跟踪系统，方法和机器人
公开(公告)号：US20100034397A1
公开(公告)日：2010-02-11
申请号：US12293358
申请日：2007-05-09
申请人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
发明人： Kazuhiro Nakadai , Hiroshi Tsujino , Yuji Hasegawa , Hiroshi Okuno
IPC分类号： H04R29/00
CPC分类号： G01S3/8006 , B25J5/00 , B25J13/003 , G01S5/20 , G10L2021/02166 , H04R1/406 , H04R3/005 , H04R2201/401 , H04R2201/403 , H04R2420/07 , H04R2430/20
摘要： A result of a sound source direction measurement based on an output of an REMA (first microphone array) (11) and a result of a sound source position measurement based on an output of an IRMA (second microphone array) (12) are integrated through a particle filter or in space. Thus, the different microphones, i.e., the REMA (11) and the IRMA (12) can cancel mutual defects or ambiguities with each other. Therefore, from views of improvement in accuracy and robustness a performance of sound source localization can be improved.
摘要翻译：基于REMA（第一麦克风阵列）（11）的输出的声源方向测量和基于IRMA（第二麦克风阵列）（12）的输出的声源位置测量的结果的结果被集成在一起颗粒过滤器或空间。因此，不同的麦克风，即REMA（11）和IRMA（12）可以消除彼此的相互缺陷或歧义。因此，从提高精度和鲁棒性的观点来看，可以提高声源定位的性能。

23. 发明申请

US20100019715A1 Mobile tele-presence system with a microphone system 有权
标题翻译：具有麦克风系统的移动远程存在系统
公开(公告)号：US20100019715A1
公开(公告)日：2010-01-28
申请号：US12148464
申请日：2008-04-17
申请人： David Bjorn Roe , Daniel Steven Sanchez , Marco Pinter , Derek Walters , Charles S. Jordan
发明人： David Bjorn Roe , Daniel Steven Sanchez , Marco Pinter , Derek Walters , Charles S. Jordan
IPC分类号： B25J5/00 , B25J19/04 , G05B15/00
CPC分类号： B25J13/003 , B25J9/0003 , B25J19/023 , G06F19/00 , G06F19/3418
摘要： A remote controlled robot system that includes a robot and a remote control station. The robot includes a binaural microphone system that is coupled to a speaker system of the remote control station. The binaural microphone system may include a pair of microphones located at opposite sides of a robot head. The location of the microphones roughly coincides with the location of ears on a human body. Such microphone location creates a mobile robot that more effectively simulates the tele-presence of an operator of the system. The robot may include two different microphone systems and the ability to switch between systems. For example, the robot may also include a zoom camera system and a directional microphone. The directional microphone may be utilized to capture sound from a direction that corresponds to an object zoomed upon by the camera system.
摘要翻译：包括机器人和远程控制站的遥控机器人系统。机器人包括耦合到远程控制站的扬声器系统的双耳麦克风系统。双耳麦克风系统可以包括位于机器人头部的相对侧的一对麦克风。麦克风的位置大体上与耳朵在人体上的位置重合。这样的麦克风位置创建了更有效地模拟系统的操作员的远程存在的移动机器人。机器人可以包括两个不同的麦克风系统和在系统之间切换的能力。例如，机器人还可以包括变焦摄像机系统和定向麦克风。定向麦克风可以用于从与相机系统放大的对象对应的方向上捕获声音。

24. 发明申请

US20070297621A1 Robot Having a Head with Artificial Ears 审中-公开
标题翻译：具有人造头的机器人
公开(公告)号：US20070297621A1
公开(公告)日：2007-12-27
申请号：US11765965
申请日：2007-06-20
申请人： Frank Joublin
发明人： Frank Joublin
IPC分类号： H04R1/10 , H04R25/00
CPC分类号： B25J13/003 , H04R2410/00
摘要： An artificial ear for a robot comprises an auricle-shaped structure, a microphone which in a concha region of the auricle-shaped structure, wherein the lower or rear edge of the auricle-shaped structure forms acoustic shield for shadowing noise from any noise source located below or behind the concha region.
摘要翻译：用于机器人的人造耳包括耳廓形结构，在耳廓形结构的外耳区域中的麦克风，其中耳廓形结构的下边缘或后边缘形成声屏蔽，用于将噪声从任何噪声源在海外区域以下或之后。

25. 发明授权

US06904334B2 Robot apparatus and method for controlling the operation thereof 失效
标题翻译：用于控制其操作的机器人装置和方法
公开(公告)号：US06904334B2
公开(公告)日：2005-06-07
申请号：US10390494
申请日：2003-03-17
申请人： Yasuharu Asano , Junichi Yamashita
发明人： Yasuharu Asano , Junichi Yamashita
IPC分类号： A63H3/46 , A63H11/00 , A63H11/18 , B25J5/00 , B25J13/00 , G06N3/00 , G10L11/02 , G06F19/00
CPC分类号： G06N3/008 , B25J13/003 , G05D2201/0217 , G10L25/78
摘要： A robot apparatus which may be turned to a sound source direction by a spontaneous whole-body concerted operation. With the possible range of rotation of the neck unit of a robot apparatus 1 of ±Y° and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of X°, the entire body trunk unit of the robot apparatus 1 is rotated through (X−Y)°, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Y° to the direction of the sound source S, so that the robot apparatus is turned to the direction of the sound source S. If the robot apparatus 1 has found the face of a person already known to the robot apparatus through previous learning and has verified that the person has accosted the apparatus, the body trunk unit is rotated through Y°, at the same time as the neck joint yaw axis is rotated through −Y° to eliminate neck distortion as the apparatus is gazing at the object, so that the apparatus may face the sound source S aright by a spontaneous operation.
摘要翻译：可以通过自发的全身协调操作而转向声源方向的机器人装置。由机器人装置1的颈部单元的±Y°的旋转角度与声源S的方向相对于机器人装置1的前方的相对角度为X°，整个躯干部使机器人装置1的颈关节偏转轴沿着声源S的方向旋转Y°，使机器人装置1通过（XY）°旋转，同时将机器人装置转向声源S的方向。如果机器人装置1已经通过先前的学习找到了机器人装置已知的人的面部，并且已经证实该人已经搭载了该装置，则躯干单元旋转Y°，同时当颈部关节偏转轴线通过-Y°旋转以消除颈部变形，因为装置正在注视物体，使得该装置可以通过自发操作面对声源S。

26. 发明申请

US20040174129A1 Medical tele-robotic system with a head worn device 有权
标题翻译：具有头部磨损装置的医疗远程机器人系统
公开(公告)号：US20040174129A1
公开(公告)日：2004-09-09
申请号：US10781150
申请日：2004-02-17
发明人： Yulun Wang , Charles S. Jordan , Keith Phillip Laby , Jonathan Southard
IPC分类号： B25J005/00 , B65H003/00 , B65G057/00
CPC分类号： G06F3/012 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , A61B2090/372 , B25J5/007 , B25J13/003
摘要： A robot system that includes a robot and a remote station. The remote station includes a head worn device worn on the head of a user. The head worn device senses movement of the user's head and generates corresponding input signals. The input signals are processed into robot movement commands and transmitted to the robot, typically through a broadband network. The robot movement commands move a camera of the robot. The camera movement tracks movement of the user's head so that the user can scan the visual field without having to generate separate input commands for the robot.
摘要翻译：包括机器人和远程站的机器人系统。远程站包括佩戴在用户头部上的头部磨损装置。头戴设备感测用户头部的移动并产生相应的输入信号。输入信号被处理成机器人运动命令，并通常通过宽带网络传送到机器人。机器人移动命令移动机器人的相机。相机运动跟踪用户头部的移动，使得用户可以扫描视野而不必为机器人生成单独的输入命令。

27. 发明授权

US06782308B2 Robot performing dance along music 失效
标题翻译：机器人沿着音乐表演舞蹈
公开(公告)号：US06782308B2
公开(公告)日：2004-08-24
申请号：US10264488
申请日：2002-10-04
申请人： Atsushi Yamaura
发明人： Atsushi Yamaura
IPC分类号： G06F1900
CPC分类号： G06N3/008 , A63H3/28 , A63H11/00 , A63H13/12 , A63H2200/00 , B25J13/003
摘要： In a music information reproducing device 1, a music information reproducing unit 2 reads a music information file 6 stored in a storage unit 4 and reproduces it as consecutive audible sound signal to sound audible sounds from a loud speaker 5. The music information file 6 comprises predetermined music information that a robot can recognize by analyzing as an audible sound signal and that specifies a movement pattern data for making the robot perform a movement pattern and normal music information for reproducing music. The robot 2 is a human form or an animal form robot that moves each part of the robot 2 in accordance with the specified movement pattern. A robot that performs a movement pattern along music by inputting the music as an audible sound signal and a movement pattern control program of the robot is provided in a cheap price.
摘要翻译：在音乐信息再现装置1中，音乐信息再现单元2读取存储在存储单元4中的音乐信息文件6，并将其再现为连续可听声音信号，以从扬声器5发出声音。音乐信息文件6包括机器人可以通过分析作为可听见的声音信号来识别预定的音乐信息，并且指定用于使机器人执行运动模式的运动模式数据和用于再现音乐的普通音乐信息。机器人2是根据指定的运动模式移动机器人2的每个部分的人形或动物形式的机器人。以便宜的价格提供通过输入音乐作为声音信号和机器人的运动模式控制程序来沿着音乐执行运动模式的机器人。

28. 发明申请

US20040093219A1 Home robot using home server, and home network system having the same 审中-公开
标题翻译：家用机器人使用家庭服务器，家庭网络系统具有相同的功能
公开(公告)号：US20040093219A1
公开(公告)日：2004-05-13
申请号：US10674509
申请日：2003-10-01
发明人： Ho-Chul Shin , Kyong-Joon Chun , Young-Jip Kim , Bo-Seung Hwang , Jae-Kil Lee , Ki-Yeon Sung
IPC分类号： G10L021/00
CPC分类号： G06N3/008 , B25J9/0003 , B25J13/003 , G10L15/26 , G10L15/30 , G10L2015/223
摘要： A home robot controlled by a home server. When a user gives a voice command to the home robot, the home robot A/D converts the voice command and transmits the voice command to the home server. The home server interprets the voice command, generates a response control signal to the command, and by wireless transmission, transmits the response control signal to the home robot. A control unit in the home robot receives the response control signal, outputs the response control signal as one or more of a digital voice signal, motion control signal and an image signal. The digital voice signal is converted to an analog signal for reproduction through a speaker. A driving unit moves body components of the home robot in response to one or more of the motion control signals from the control unit. A display unit displays an image in response to the image signal.
摘要翻译：由家庭服务器控制的家用机器人。当用户向家庭机器人发出语音命令时，家用机器人A / D转换语音命令并将语音命令发送到家庭服务器。家庭服务器解释语音命令，生成响应控制信号到命令，通过无线传输，将响应控制信号发送到家用机器人。家庭机器人中的控制单元接收响应控制信号，将响应控制信号输出为数字语音信号，运动控制信号和图像信号中的一个或多个。数字语音信号被转换为模拟信号，以通过扬声器再现。驱动单元响应于来自控制单元的一个或多个运动控制信号移动家用机器人的身体部件。显示单元响应于图像信号显示图像。

29. 发明申请

US20030182122A1 Robot device and control method therefor and storage medium 失效
标题翻译：机器人装置及其控制方法和存储介质
公开(公告)号：US20030182122A1
公开(公告)日：2003-09-25
申请号：US10296403
申请日：2003-05-19
发明人： Rika Horinaka , Masahiro Fujita , Atsushi Okubo , Kenta Kawamoto , Gabriel Costa , Masaki Fukuchi , Osamu Hanagata , Kotaro Sabe
IPC分类号： G10L021/00
CPC分类号： G06N3/008 , B25J13/003 , G10L15/22 , G10L17/26
摘要： Sentences corresponding to internal statuses of a robot device or the like are created and uttered, thereby expressing the internal statuses. The robot device or the like comprise means for recognizing an external status, and means for generating an emotion based on the internals status, whereby a change in the emotion is reflected upon a dialogue. The internal status is not associated with a sentence, but it exists independently of the system and is always varied depending on various external inputs and internal changes of the system. Accordingly, even when the same question is made on the robot device or the like, the contents of a reply are changed depending on the internal status at that time, and a manner of providing a reply also differs depending on the internal status.
摘要翻译：创建并发出对应于机器人装置等的内部状态的句子，从而表示内部状态。机器人装置等包括用于识别外部状态的装置，以及用于基于内部状态产生情绪的装置，由此在对话中反映情绪的改变。内部状态与句子不相关，但它与系统无关，并且总是根据系统的各种外部输入和内部变化而变化。因此，即使在机器人装置等上进行同样的问题时，答复的内容根据当时的内部状态而变化，提供答复的方式也根据内部状态而不同。

30. 发明申请

US20020181773A1 Gesture recognition system 有权
标题翻译：手势识别系统
公开(公告)号：US20020181773A1
公开(公告)日：2002-12-05
申请号：US09820130
申请日：2001-03-28
发明人： Nobuo Higaki , Yuichi Yoshida , Kikuo Fujimura
IPC分类号： G06K009/00
CPC分类号： G06K9/00335 , B25J11/0005 , B25J13/003 , G06F3/017 , G06F3/167 , G10L15/26
摘要： The present invention provides a system for recognizing gestures made by a moving subject. The system comprises a sound detector for detecting sound, one or more image sensors for capturing an image of the moving subject, a human recognizer for recognizing a human being from the image captured by said one or more image sensors, and a gesture recognizer, activated when human voice is identified by said sound detector, for recognizing a gesture of the human being. In a preferred embodiment, the system includes a hand recognizer for recognizing a hand of the human being. The gesture recognizer recognizes a gesture of the human being based on movement of the hand identified by the hand recognizer. The system may further include a voice recognizer that recognizes human voice and determines words from human voice input to the sound detector. The gesture recognizer is activated when the voice recognizer recognizes one of a plurality of predetermined keywords such as nullhellonullnull, nullbyenull, and nullmovenull.
摘要翻译：本发明提供了一种用于识别由移动的被摄体制作的手势的系统。该系统包括用于检测声音的声音检测器，用于捕获移动被摄体的图像的一个或多个图像传感器，用于从由所述一个或多个图像传感器捕获的图像中识别人的人类识别器，以及手势识别器，被激活当由所述声音检测器识别人声时，用于识别人的手势。在优选实施例中，系统包括用于识别人的手的手识别器。手势识别器基于由手识别器识别的手的移动来识别人的手势。该系统还可以包括语音识别器，其识别人类语音并且确定从人声输入到声音检测器的单词。当语音识别器识别诸如“你好”，“再见”和“移动”的多个预定关键字之一时，手势识别器被激活。

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