Mobile apparatus, method of controlling the same, and recording medium

Patent metadata

Field	Value
Publication number	US-10419924-B2
Application number	US-201815901198-A
Country	US
Kind code	B2
Filing date	Feb 21, 2018
Priority date	Mar 31, 2017
Publication date	Sep 17, 2019
Grant date	Sep 17, 2019

Abstract

A mobile apparatus according to the present embodiment includes a voice input unit configured to detect a signal from a user. In a case where the voice input unit detects a signal from the user and as a detection result of the signal from the user, it is determined that there is a signal from the user, the mobile apparatus performs sound source localization and specifies a location or direction in which the detected signal from the user is given. In a case where it is determined that the mobile apparatus is not able to move to the location where the signal from the user is given, a voice output unit configured to output a voice signal, a driving unit configured to move the mobile apparatus, and a light emitting unit configured to emit light performs predetermined control.

First claim

What is claimed is:

1. A mobile apparatus comprising:
a signal detector configured to detect a signal from a user;
a specifier configured to specify a location or direction in which the signal detected by the signal detector is given as a location or direction in which the user exists;
a movement controller configured to move the mobile apparatus to the location or direction in which the user exists specified by the specifier;
an imager;
a face detector configured to detect a face of the user from a captured image captured by the imager;
a first determiner configured to determine whether the mobile apparatus is able to move to the location or direction in which the user exists by the movement controller;
a second determiner configured to determine whether the face of the user is detected by the face detector; and
a controller configured to perform predetermined control for enabling the mobile apparatus and the user to move closer to each other in a case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists.

2. The mobile apparatus according to claim 1 , further comprising a notifier,
wherein, in a case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists, the controller performs a predetermined notification by controlling the notifier by the predetermined control.

3. The mobile apparatus according to claim 2 , wherein, in a case where the second determiner determines that the face of the user is not detected, a notification by which the mobile apparatus prompts the user to call is performed by controlling the notifier to enable the mobile apparatus to move closer to the user.

4. The mobile apparatus according to claim 2 , wherein the notifier comprises a voice outputter capable of outputting a voice, and
wherein the predetermined notification comprises a voice output to the user by control of the voice outputter by the predetermined control.

5. The mobile apparatus according to claim 2 , wherein each part of the mobile apparatus is operable as the notifier, and
wherein the predetermined notification comprises an operation performed for the user by control of each part of the mobile apparatus by the predetermined control.

6. The mobile apparatus according to claim 2 , wherein the notifier comprises a light emitter capable of emitting light, and
wherein the predetermined notification comprises light emission by the light emitter performed for the user by control of the light emitter by the predetermined control.

7. The mobile apparatus according to claim 2 , wherein the predetermined notification comprises a notification performed for the user by performing the predetermined control, the notification being a notification to prompt the user to take a predetermined action.

8. The mobile apparatus according to claim 2 , wherein the notifier comprises a voice outputter capable of outputting a voice, and
wherein the predetermined notification comprises a call performed for the user by control of the voice output from the voice outputter by the predetermined control in the case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists, the call being one of (i) a call to prompt the user to move near the mobile apparatus from the location or direction in which the user exists, and (ii) a call to prompt the user to move from the location or direction in which the user exists to a location where there is no obstacle between the user and the mobile apparatus.

9. The mobile apparatus according to claim 2 , wherein each part of the mobile apparatus is operable as the notifier, and
wherein the predetermined notification comprises an operation performed for the user by control of each part of the mobile apparatus by the predetermined control in the case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists, the operation being one of (i) an operation to prompt the user to move near the mobile apparatus from the location or direction in which the user exists, and (ii) an operation to prompt the user to move from the location or direction in which the user exists to a location where there is no obstacle between the user and the mobile apparatus.

10. The mobile apparatus according to claim 2 , wherein the notifier comprises a light emitter, and
wherein, in the case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists, the predetermined notification comprises one of (i) light emission outputted to the user by control of the light emitter by the predetermined control to prompt the user to move near the mobile apparatus from the location or direction in which the user exists, and (ii) light emission outputted to the user by control of the light emitter by the predetermined control to prompt the user to move from the location or direction in which the user exists to a location where there is no obstacle between the user and the mobile apparatus.

11. The mobile apparatus according to claim 2 , further comprising a notification count determiner configured to determine a number of times of notifications by the notifier,
wherein the controller controls the mobile apparatus based on a determination result by the notification count determiner.

12. The mobile apparatus according to claim 1 , further comprising a searcher configured to search for a movement route to the location or direction in which the user exists specified by the specifier,
wherein the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists by the movement controller in a case where the searcher is not able to find a movement route to the location or direction in which the user exists specified by the specifier.

13. The mobile apparatus according to claim 1 , wherein the first determiner determines that the mobile apparatus is not able to move to the location or direction in which the user exists by the movement controller in a case where the specifier is unable to specify the location or direction in which the user exists.

14. The mobile apparatus according to claim 1 , further comprising a searcher configured to search for a movement route to the location or direction in which the user exists specified by the specifier,
wherein, in the case where the second determiner determines that the face of the user is detected and the first determiner determines that the mobile apparatus is not able to move to the location or direction where the user exists, the controller moves the mobile apparatus to a position at which the mobile apparatus can more easily view the location or direction where the user exists by performing the predetermined control.

15. The mobile apparatus according to claim 1 , wherein the first determiner determines whether a movement route, on which the mobile apparatus is able to move a certain distance or longer to the location or direction in which the user exists, is found.

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Assignees

• Casio Computer Co Ltd

Inventors

• Yamaya Takashi
• Nakagome Kouichi
• Shimada Keisuke

Classifications

• H04W64/006

  with additional information processing, e.g. for direction or speed determination · CPC title

• H04W68/00

  User notification, e.g. alerting and paging, for incoming communication, change of service or the like · CPC title

• H04W4/02 Primary

  Services making use of location information · CPC title

• H04W8/22 Primary

  Processing or transfer of terminal data, e.g. status or physical capabilities · CPC title

• B25J9/16 Primary

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title