Flying robot, control program and control method

Abstract

To effectively relieve the lack of exercise and stress of a cat.SOLUTION: A flight type robot comprises: an unmanned aerial vehicle which flies by automatic steering; a camera which is mounted on the unmanned aerial vehicle; and a holding part which is mounted on the unmanned aerial vehicle and holds an operation object 602. The interest of a cat 601 is attracted to a flight type robot 101 which flies around the cat 601 being the object on the basis of the image captured by the camera, and a motive for the cat 601 to move is created especially for the cat 601 that needs exercise. Consequently, the lack of exercise and stress of the cat 601 can be effectively relieved.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a flying robot that helps maintain the health of pets, a control program for the flying robot, and a control method for the flying robot. [Background technology]

[0002] In recent years, an increasing number of companies have been introducing telecommuting as part of work style reforms. This has led to more people spending more time at home, which has led to an increase in the number of people starting to keep pets. Cats are a typical pet, and as recommended by the Ministry of the Environment, they are recommended to be kept indoors for reasons such as "no risk of traffic accidents," "low risk of contracting infectious diseases," and "less trouble with neighbors."

[0003] On the other hand, indoor cats tend to lack exercise because their range of movement is limited. Lack of exercise in cats can lead to obesity and stress, which can lead to various illnesses. Furthermore, as owners spend more time at home, there is more noise indoors, reducing the cat's safe and relaxing spaces. This can cause stress in cats, leading to illnesses such as cystitis.

[0004] Specifically, as a technology for relieving lack of exercise and stress in cats, there has been a technology relating to pet toys in which, for example, a pet attractant such as a feather is attached via a wire to the tip of a handle bar with two springs along its length, and the user can grip the handle bar and swing it to make the pet attractant perform complex and varied movements, effectively teasing pets such as cats (see, for example, Patent Document 1 below). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Utility Model Registration No. 3233074 Summary of the Invention [Problem to be solved by the invention]

[0006] However, while the above-mentioned conventional technologies can effectively exercise cats when the user, such as the owner, is in contact with the cat, there is a problem in that the amount of time that can be used is limited, as being in contact with the cat constantly during working hours, even when the owner is at home, interferes with work, making it difficult to effectively relieve the cat's lack of exercise and stress.

[0007] Furthermore, the above-mentioned conventional technology has the problem that it is difficult to relieve stress in cats caused by owners being at home for long periods of time without being able to spend time with their cats due to work or other activities, resulting in a decrease in the cat's safe and relaxing places.

[0008] The present invention aims to provide a flying robot, a control program for a flying robot, and a control method for a flying robot that can effectively relieve lack of exercise and stress in cats, in order to solve the problems of the prior art described above.

[0009] In addition, in order to solve the problems of the above-mentioned conventional technology, the present invention aims to provide a flying robot, a control program for a flying robot, and a control method for a flying robot that can effectively relieve a cat's lack of exercise and stress without interfering with the activities of the cat's roommates. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems and achieve the objectives, the flying robot of the present invention comprises an unmanned aerial vehicle that flies by automatic control, a camera mounted on the unmanned aerial vehicle, and a holding unit mounted on the unmanned aerial vehicle that holds an object to be operated, and is characterized in that the unmanned aerial vehicle flies around the object based on images captured by the camera.

[0011] In addition, the flying robot of this invention is characterized in that, in the above invention, the unmanned aerial vehicle flies around the object with up and down movements based on images captured by the camera.

[0012] In addition, the flying robot of this invention is characterized in that, in the above invention, the unmanned aerial vehicle flies around an object when the same object is present in the same place for a predetermined period of time based on images taken by the camera.

[0013] In addition, the flying robot of this invention is characterized in that, in the above invention, it is provided with an operating unit that operates the object to be operated held by the holding unit, and the operating unit operates the object to be operated based on an image captured by the camera.

[0014] In addition, the flying robot of this invention is characterized in that, in the above invention, the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

[0015] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operating unit rotates the operation target.

[0016] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operating unit causes the operation target to perform a swinging motion.

[0017] In addition, in the flying robot according to the present invention, the holding unit holds the operation target in an exchangeable state.

[0018] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation object is a string-like member.

[0019] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation object is a rod-shaped member.

[0020] Furthermore, the flying robot of the present invention is characterized in that, in the above invention, the object to be operated is a rod-shaped member connected to one end of a linear member having a wing or a wing-like member attached to the other end.

[0021] Furthermore, the flying robot of this invention is characterized in that, in the above invention, the object to be operated is a rod-shaped member connected to one end of a linear member having at least one yarn, a member simulating wool, or a fringe-shaped member attached to the other end.

[0022] In addition, the flying robot of this invention is characterized in that, in the above invention, the object to be operated is a rod-shaped member having a spherical-shaped member attached to one end and a linear member connected to the other end.

[0023] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the spherical member is formed using a material that exhibits a predetermined elasticity.

[0024] In addition, the flying robot of this invention is characterized in that, in the above invention, the object to be operated is a rod-shaped member having a brush-shaped member attached to one end and a linear member connected to the other end.

[0025] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and the camera accept remote control via the wireless communication interface.

[0026] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle and outputs a predetermined sound from the speaker.

[0027] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a recorded human voice.

[0028] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded animal cry or a synthesized sound that imitates an animal cry.

[0029] In addition, the flying robot of this invention is characterized in that, in the above invention, the specified sound is output from the speaker at a position a specified distance away from the object based on an image captured by the camera.

[0030] In addition, the flying robot of this invention is characterized in that, in the above invention, the specified sound is output from the speaker within a specified range from the object based on an image captured by the camera.

[0031] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the speaker accepts remote control via the wireless communication interface.

[0032] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it outputs a sound transmitted from a predetermined terminal device via the wireless communication interface.

[0033] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and if the subject being photographed is in an abnormal state based on an image taken by the camera, it notifies a specified destination via the wireless communication interface that the subject being photographed is in an abnormal state.

[0034] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits sound collected by the microphone to a specified destination via the wireless communication interface.

[0035] In addition, in the flying robot of the present invention, the predetermined destination address is an email address set in a specific smartphone or a specific personal computer.

[0036] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the target object while turning on or flashing the light source.

[0037] In addition, the control program for the flying robot of the present invention is characterized in that the computer of the flying robot is equipped with an unmanned aerial vehicle that is mounted with a camera and a holding part for holding an object to be operated and flies by automatic control, and causes the unmanned aerial vehicle to fly around the object based on images taken by the camera.

[0038] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to fly around an object with up and down movements based on images captured by the camera.

[0039] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, when the same object is present in the same place for a predetermined period of time based on an image taken by the camera, the unmanned aerial vehicle is caused to fly around the object.

[0040] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the flying robot is provided with an operating unit that operates the object to be operated held by the holding unit, and the operating unit operates the object to be operated based on an image captured by the camera.

[0041] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

[0042] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the control program causes the operating unit to rotate the operation target.

[0043] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the control program causes the operating unit to perform a swinging motion on the operation target.

[0044] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the flying robot is provided with a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and the camera accept remote control via the wireless communication interface.

[0045] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the flying robot is equipped with a speaker mounted on the unmanned aerial vehicle and causes a predetermined sound to be output from the speaker.

[0046] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a recorded human voice.

[0047] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded animal cry or a synthesized sound that imitates an animal cry.

[0048] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the specified sound is output from the speaker at a position a specified distance away from the object based on an image captured by the camera.

[0049] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the specified sound is output from the speaker within a specified range from the object based on an image captured by the camera.

[0050] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the speaker accepts remote control via the wireless communication interface.

[0051] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, it outputs a sound transmitted from a predetermined terminal device via the wireless communication interface.

[0052] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and if the subject to be photographed is in an abnormal state based on an image taken by the camera, the flying robot notifies a specified destination via the wireless communication interface that the subject is in an abnormal state.

[0053] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits sound collected by the microphone to a predetermined destination via the wireless communication interface.

[0054] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the specified destination is an email address set in a specific smartphone or a specific personal computer.

[0055] In addition, the control program for a flying robot of this invention is characterized in that, in the above invention, the flying robot is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the target object while turning on or flashing the light source.

[0056] In addition, the control method for a flying robot according to the present invention is characterized in that the flying robot is equipped with an unmanned aerial vehicle that is mounted with a camera and a holding part for holding an object to be operated and flies by automatic control, and the computer of the flying robot causes the unmanned aerial vehicle to fly around the object based on images taken by the camera.

[0057] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is caused to fly around an object with up and down movements based on images captured by the camera.

[0058] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, when the same object is present in the same place for a predetermined period of time based on an image taken by the camera, the unmanned aerial vehicle is caused to fly around the object.

[0059] In addition, the control method for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is provided with an operating unit that operates the object to be operated held by the holding unit, and the operating unit operates the object to be operated based on an image captured by the camera.

[0060] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

[0061] Further, in the above-described invention, the flying robot control method according to the present invention is characterized in that the operation unit rotates the operation target.

[0062] Further, in the above-described invention, the control method for a flying robot according to the present invention is characterized in that the operation unit causes the operation target to perform a swinging motion.

[0063] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, the flying robot is provided with a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and the camera accept remote control via the wireless communication interface.

[0064] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the flying robot is equipped with a speaker mounted on the unmanned aerial vehicle and a predetermined sound is output from the speaker.

[0065] In addition, in the above-described control method for a flying robot according to the present invention, the predetermined voice is a recorded human voice.

[0066] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded animal cry or a synthesized sound that imitates an animal cry.

[0067] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified sound is output from the speaker at a position a specified distance away from the object based on an image captured by the camera.

[0068] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified sound is output from the speaker within a specified range from the object based on an image captured by the camera.

[0069] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, the flying robot is provided with a wireless communication interface mounted on the unmanned aerial vehicle, and the speaker is made to accept remote control via the wireless communication interface.

[0070] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, a sound transmitted from a predetermined terminal device is output via the wireless communication interface.

[0071] In addition, the flying robot control method of this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and if the subject to be photographed is in an abnormal state based on an image taken by the camera, the flying robot notifies a predetermined destination via the wireless communication interface that the subject to be photographed is in an abnormal state.

[0072] In addition, the flying robot control method of this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits sound collected by the microphone to a predetermined destination via the wireless communication interface.

[0073] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the specified destination is an email address set in a specific smartphone or a specific personal computer.

[0074] In addition, the flying robot control method of this invention is characterized in that, in the above invention, the flying robot is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the target object while turning on or flashing the light source. [Effects of the Invention]

[0075] The flying robot, the control program for the flying robot, and the control method for the flying robot according to the present invention have the effect of effectively relieving lack of exercise and stress in cats.

[0076] Furthermore, the flying robot, the control program for the flying robot, and the control method for the flying robot of the present invention have the effect of effectively relieving a cat's lack of exercise and stress without interfering with the activities of its fellow cat residents. [Brief explanation of the drawings]

[0077] [Figure 1] 1 is an explanatory diagram showing an example of the appearance of a flying robot according to an embodiment of the present invention; [Figure 2] FIG. 1 is an explanatory diagram illustrating an example of hardware of a flying robot according to an embodiment of the present invention. [Figure 3A] FIG. 1 is an explanatory diagram (part 1) showing the configuration of a station. [Figure 3B] FIG. 2 is an explanatory diagram (part 2) showing the configuration of a station. [Figure 4] 1 is an explanatory diagram showing the functional configuration of a flying robot according to the present invention; [Figure 5] 1 is a flowchart showing a processing procedure of an flying robot according to an embodiment of the present invention. [Figure 6] FIG. 1 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot according to the embodiment of the present invention. [Figure 7] FIG. 2 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot according to the embodiment of the present invention. [Figure 8] FIG. 10 is an explanatory diagram (part 3) showing an example of a usage mode of the flying robot according to the embodiment of the present invention. [Figure 9] FIG. 2 is an explanatory diagram showing another aspect of the flying robot 101 according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0078] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an flying robot, a control program for a flying robot, and a control method for a flying robot according to the present invention will be described in detail below with reference to the accompanying drawings.

[0079] (An example of the appearance of a flying robot) First, an example of the appearance of an airborne robot according to an embodiment of the present invention will be described. Fig. 1 is an explanatory diagram showing an example of the appearance of an airborne robot according to an embodiment of the present invention. As shown in Fig. 1, the airborne robot 101 takes the form of a drone (unmanned aerial vehicle).

[0080] Specifically, the drone may be, for example, a quadcopter with four propellers 102. The drone is not limited to a quadcopter, and various types of multicopters may be used, such as a hexacopter with six propellers or an octocopter with eight propellers.

[0081] The flying robot 101 is equipped with a camera 103. The camera 103 can be realized by, for example, a general-purpose digital camera. The camera 103 may be provided on the upper side (upper side during flight) of the drone's housing, or on the lower side (lower side during flight), or on the side. The lens of the camera 103 may be a standard lens, a wide-angle lens, or a fisheye lens. Using a fisheye lens makes it possible to capture a wide range.

[0082] Instead of a general-purpose digital camera, camera 103 may be realized by a night vision camera that takes pictures in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared light, an infrared color night vision camera that takes color images by analyzing the black and white shading in images taken by an infrared camera, etc. By taking images using a night vision camera, infrared camera, infrared color night vision camera, etc., it is possible to accurately recognize objects such as cats even at night or in a room with low illumination.

[0083] The flying robot 101 may be equipped with one or more cameras 103. When equipped with multiple cameras 103, each camera 103 may be attached so as to capture images in a different direction. When equipped with multiple cameras 103, the flying robot 101 is not limited to one type of camera 103, and may be equipped with multiple different types of cameras 103.

[0084] The camera 103 may be connected to the drone in a state where its attitude can be adjusted. Specifically, the camera 103 can be connected to the bottom of the drone via a universal joint such as a ball joint. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

[0085] Furthermore, the flying robot 101 may be equipped with a drive mechanism that changes the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism may be configured, for example, with a motor, a gear train, or the like. By making it possible to adjust the attitude of the camera 103 relative to the drone without human intervention, the shooting direction can be adjusted as desired while the flying robot 101 is flying, regardless of the attitude of the drone. The camera 103 may be equipped with a zoom function.

[0086] The flying robot 101 captures images of the surroundings of the flying robot 101 using the camera 103. The flying robot 101 captures images within a predetermined range, for example. The predetermined range can be, for example, a predetermined room. The predetermined range can be set by receiving a signal specifying the range from a terminal device such as a smartphone on which a predetermined application is installed.

[0087] Specifically, the predetermined range can be specified by, for example, a standard area mesh (GPS data). More specifically, the predetermined range can be specified by, for example, a first-order mesh, a second-order mesh, a third-order mesh, etc. The predetermined range may also be specified by a divided area mesh, such as a half-area mesh, a quarter-area mesh, or an eighth-area mesh, which is a further subdivision of the third-order mesh. By specifying the predetermined range by the standard area mesh, the predetermined range in which the flying robot 101 flies can be precisely limited based on position information obtained using a GPS sensor (see FIG. 2).

[0088] The flying robot 101 recognizes an object based on an image captured by the camera 103. The object can be, for example, a cat in a specified room (within the same house). The cat can be identified by image recognition using the image captured by the camera 103. Image recognition involves image preprocessing such as noise removal and background removal, and feature extraction, to determine whether or not a cat is present in the image captured by the camera 103. The flying robot 101 may store information about the captured image in a memory (see FIG. 2) provided in the flying robot 101.

[0089] The object can be specified using an image captured by the camera 103. Specifically, for example, an image captured when the flying robot 101 is set to a predetermined mode can be analyzed, and a cat included in the image can be specified as the object. The image used to specify the object is not limited to a still image, but may also be a video.

[0090] The subject is not limited to cats, but may be any animal, such as a dog, hamster, rabbit, guinea pig, turtle, etc. The subject is also not limited to indoor animals, but may be an animal such as a dog, goat, or pig kept outdoors in a garden, etc. The subject is preferably an animal that responds to external stimuli.

[0091] The flying robot 101 is equipped with a holding unit 104 that holds an operation target (see reference numeral 602 in FIG. 6). The holding unit 104 holds the operation target in a replaceable, i.e., detachable, manner. FIG. 1 shows the flying robot 101 in a state where it is not holding an operation target. The operation target is a member that attracts the interest or attention of the subject, and specifically, can be realized by, for example, a string-like member or a rod-like member that cats are likely to respond to.

[0092] The rod-shaped member can be realized, for example, by the handle of a so-called "cat toy" which has a fringe-like member such as a tuft of hair or a feather at the tip. The rod-shaped member can also be realized, for example, by the rod-shaped member of a so-called "fishing rod" which has a feather or a feather-like member attached to one end and a linear member such as fishing line connected to the other end.

[0093] At least one of the following may be attached to the handle of a cat toy or the end of the fishing line of a fishing rod: a feather, yarn, a yarn-like material, or a fringe-like material. A spherical member such as a ball or a fluffball may also be attached to the handle of a cat toy or the end of the fishing line of a fishing rod. The spherical member may be made of a material with a certain degree of elasticity, such as a bouncy ball. This allows the spherical member to bounce off the floor.

[0094] Holding unit 104 holds a part of an operation object, such as a cat toy or the handle of a fishing rod. Holding unit 104 holds the operation object in a replaceable state. Specifically, holding unit 104 can be realized, for example, by a clip-like member that holds a part of the operation object by clamping it. Furthermore, specifically, holding unit 104 may be realized, for example, by a cap-like or cylindrical member into which an end of the operation object is inserted to hold it.

[0095] The holding unit 104 can be provided, for example, on the lower side of the housing of the drone (the lower side during flight). Alternatively, the holding unit 104 may be provided, for example, on the side of the housing of the drone. Furthermore, the holding unit 104 may be provided on the upper side of the housing of the drone (the upper side during flight). The holding unit 104 may be in a state where the operation object cannot be replaced, that is, it may be configured to fixedly hold one type of operation object.

[0096] The flying robot 101 includes an operating unit (see reference numeral 407 in FIG. 4) that operates the operation target held by the holding unit 104. The operating unit, for example, rotates the operation target. For example, the operating unit rotates the operation target so that the operation target draws a circle centered on the position where the operation target is held by the holding unit 104. Alternatively, the operating unit may rotate the operation target so that the operation target draws a circle centered on the center of the flying robot 101.

[0097] The operating unit may also, for example, cause the operation object to swing. The operating unit may, for example, cause the operation object to swing left and right. Alternatively, the operating unit may, for example, cause the operation object to swing up and down.

[0098] Alternatively, the operating unit may rotate and swing the operation target. For example, the operating unit may rotate the operation target so as to draw a circle centered on the center of the flying robot 101 while swinging the operation target left and right.

[0099] Specifically, the operating unit can be configured, for example, by a motor (see reference numeral 202 in FIG. 2) mounted on the drone, or a gear train or universal joint that connects the motor to the holding unit. Also, specifically, the operating unit may be a mechanism in which a crank or link is connected to a motor, such as a slot crank mechanism. Also, specifically, the operating unit may be configured, for example, by a motor or a crank connected to the motor.

[0100] The flying robot 101 may not have a movement unit and may move the operation target by flight movements. In this case, the flying robot 101 can swing (move) the operation target in the left-right or up-down direction by flying while adjusting its flight posture and flight direction, for example.

[0101] The flying robot 101 may be equipped with a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power feeding) is a technology for receiving power from a battery (see reference numeral 201 in FIG. 2) without going through a charging contact, and is also called contactless power feeding or wireless power feeding.

[0102] The receiving coil is provided inside the exterior surface of the housing of the flying robot 101. This prevents the receiving coil from being deteriorated or broken due to water droplets, hand oil, etc. The flying robot 101 may be provided with a charging contact for charging the battery instead of or in addition to the receiving coil.

[0103] The flying robot 101 may further include a light source 105. The light source 105 may be realized by, for example, an LED lamp. The light source 105 may be provided, for example, on the underside of the drone's housing (the underside during flight). Alternatively, the light source 105 may be provided, for example, on the side of the drone's housing. Furthermore, the light source 105 may be provided, for example, on the upper side of the drone's housing (the upper side during flight).

[0104] There may be one or more light sources 105. When multiple light sources 105 are provided, the light sources 105 may be provided in different locations. Specifically, the light sources 105 may be provided, for example, on the underside of the drone's housing (the underside during flight) and on the side of the drone's housing.

[0105] When multiple light sources 105 realized by LED lamps are provided, each LED lamp may be capable of emitting multiple light colors independently. This allows multiple colors of light to be mixed to emit dimmed light that will attract cats. Furthermore, when multiple light sources 105 realized by LED lamps are provided, multiple LED lamps that emit different colors of light may be arranged side by side. Specifically, for example, an LED lamp that emits green light may be arranged next to an LED lamp that emits red light.

[0106] Light source 105 may be a laser instead of or in addition to an LED lamp. When light source 105 is realized by a laser, the laser is preferably provided on the side or upper side of the drone's housing (upper side during flight). This makes it difficult for the laser light to enter the cat's eyes, ensuring the safety of the cat.

[0107] The flying robot 101 may further include a solar cell (solar battery, see reference numeral 210 in FIG. 2) that generates electricity using external light such as sunlight. The solar cell is provided, for example, on the upper surface of the housing of the flying robot 101. This allows the flying robot 101 to reliably take in external light during flight and generate electricity efficiently. Furthermore, the inclusion of the solar cell allows charging during flight, thereby ensuring a longer flight time per flight.

[0108] (Hardware configuration of Flying Robot 101) Next, the hardware configuration of the flying robot 101 will be described. Fig. 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 according to an embodiment of the present invention. As shown in Fig. 2, the hardware of the flying robot 101 is composed of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, an acceleration sensor 208, a communication I / F 209, a light source 105, a solar cell 210, etc. The units 103, 104, 105, 201 to 210 included in the flying robot 101 are connected by a bus 200.

[0109] The battery 201 supplies power required for the operation of each component of the flying robot 101. The battery 201 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by a secondary battery may be detachable from the drone.

[0110] The motor 202 is controlled by the control circuit 207, and rotates to rotate the propellers 102. Specifically, the motor 202 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is made up of a coil. By providing the same number of motors 202 as the number of propellers 102, each propeller 102 can be rotated independently, allowing the flying robot 101 to move forward, backward, and turn left or right.

[0111] The flying robot 101 includes a motor 202 for an operating unit that constitutes an operating unit, in addition to the motor 202 that rotates the propeller 102. The motor 202 for the operating unit is controlled by a control circuit 207 so that it rotates independently of the rotational movement of the propeller 102.

[0112] If the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motor 202 that constitutes the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide range.

[0113] The camera 103 is equipped with an imaging element and captures an image by having the imaging element receive light that passes through a photographing lens. The camera 103 also outputs the captured image, i.e., image information (photographing data) obtained by converting the optical signal received by the imaging element into an electrical signal, to the control circuit 207.

[0114] The camera 103 may be one that takes still images or one that takes video. Video includes a series of still images taken at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (e.g., MPEG (Moving Picture Experts Group)).

[0115] The microphone 203 collects sounds around the flying robot 101. The microphone 203 converts sounds input as analog data into electrical signals. Specifically, the microphone 203 performs analog-to-digital conversion on the analog sound signals input as analog data, generating digital sound data.

[0116] The speaker 204 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. Alternatively, the speaker 204 may be an output terminal that outputs an audio signal, and an external speaker may be connected to the output terminal to generate sound. The speaker 204 may be a so-called directional speaker that generates sound in only one direction.

[0117] The GPS sensor 205 identifies the current position of the flying robot 101. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may further include a filter that removes unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0118] The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites and calculates the position where these distances intersect. Instead of GPS, which determines the geometric position of the GPS satellite and the flying robot 101 based on radio waves received from the GPS satellite, the current position of the flying robot 101 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0119] The object sensor 206 detects whether or not there is an obstacle within a predetermined range from the flying robot 101. An obstacle is an object that interferes with the flight of the flying robot 101, and specifically includes, for example, a wall, a ceiling, furniture, a person, etc. When the flying robot 101 is flown outdoors, any object that interferes with the flight of the flying robot 101, such as a vehicle, another flying robot 101 other than the flying robot 101, a tree, or a building, is an obstacle.

[0120] Specifically, the object sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor 206 can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The flying robot 101 may be equipped with multiple types of non-contact sensors as the object sensor 206. Furthermore, the flying robot 101 may detect the presence or absence of an obstacle present within a predetermined range from the flying robot 101 based on an image captured by the camera 103.

[0121] The acceleration sensor 208 detects gravity, vibrations, and other movements, and impacts acting on the flying robot 101. The acceleration sensor 208 may be, for example, a frequency change type acceleration sensor such as a low-noise, highly stable quartz acceleration sensor. Alternatively, a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistance acceleration sensor, or the like may be used.

[0122] Solar cell 210 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. In solar cell 210, when light energy from external light such as sunlight is applied to the PN junction surface, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 210, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0123] The control circuit 207 drives and controls each component of the flying robot 101. The control circuit 207 can be realized by a microcomputer including a CPU, memory, and the like. The memory stores various information such as a control program for the flying robot 101 according to the embodiment of the present invention, information about a specific person, and information input in advance by the user of the flying robot 101. Specifically, the control circuit 207 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0124] The CPU executes programs stored in the memory to exercise overall control over the flying robot 101. The memory stores various types of information, such as the programs executed by the CPU, information about various conditions related to the operation of the flying robot 101, and information about images captured by the camera 103.

[0125] Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). The memory may also be a memory card that is detachable from the flying robot 101 via a card slot provided in the flying robot 101. The memory card can be realized by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may also be realized by, for example, an external USB memory.

[0126] The control circuit 207 also includes a charging circuit that charges the battery 201 with power generated by the solar cell 210, and a remaining capacity measurement circuit that measures the remaining capacity of the battery 201. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 210. The remaining capacity measurement circuit measures the remaining capacity of the battery 201 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0127] The control circuit 207 also includes circuits such as an IMU (Inertial Measurement Unit: inertial sensor), an ESC (Electronic Speed ​​Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

[0128] The IMU is a set of sensors necessary for the drone to acquire external information, and is composed of, for example, an acceleration sensor 208, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The GPS sensor 205 is also included in the IMU.

[0129] The acceleration sensor 208 detects the amount of change in the drone's speed. The gyro sensor and acceleration sensor 208 can calculate the amount of change in both the drone's tilt and the drone's speed, so the drone can continue flying even if it remains tilted.

[0130] The gyro sensor detects the amount of change in the drone's angle. For example, the gyro sensor detects the amount of change in the drone's angle by measuring angular velocity using the Coriolis force. The gyro sensor enables the drone to fly stably.

[0131] The barometric pressure sensor detects the altitude of the drone. The barometric pressure sensor detects the altitude of the drone, for example, by detecting changes in air pressure. By measuring the altitude of the drone using the barometric pressure sensor, the altitude of the drone can be maintained.

[0132] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone. The ultrasonic sensor is installed, for example, on the underside of the drone, and detects the distance from an object located below the drone by using the reflected ultrasonic waves emitted below the drone.

[0133] This allows the drone to be stably tracked on the ground (floor, ground, etc.) and returned to the station (see FIGS. 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves may be emitted in all directions of the drone, and the ultrasonic sensor may function both as the object sensor 206 and as part of the IMU.

[0134] The magnetic direction sensor detects whether the drone is facing north, south, east, or west. Since the flying robot 101 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic direction sensor when changing the flying location.

[0135] The IMU, together with the microcomputer, constitutes a flight controller. The flight controller performs calculations related to the rotation control of the motor 202 and outputs control signals to the ESC that control the direction and speed of rotation of the propeller (propeller motor 202). The ESC controls the rotation of the motor 202 based on the control signals output from the flight controller. While the flying robot 101 is flying, the flight controller detects the inclination of the flying robot 101, performs repeated calculations, and recursively outputs control signals to the motor 202.

[0136] Specifically, the flight controller prevents the flying robot 101 from rotating by outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. It also moves the flying robot 101 forward by controlling the propeller 102 at the front in the direction of travel to rotate slower than the propeller 102 at the rear in the direction of travel. It also makes the flying robot 101 turn right by controlling the propeller 102 at the right in the direction of travel to rotate slower than the propeller 102 at the left in the direction of travel.

[0137] The communication I / F 209 is a wireless communication interface that connects the flying robot 101 to the network N via a communication line, and serves as an interface between the network N and the inside of the flying robot 101, controlling the input of data from and the output of data to external devices connected via the network N. The network N is realized, for example, by the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

[0138] The communication I / F 209 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 209 may also be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution)) or PHS (Personal Handy-phone System). Communication via the communication I / F 209 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line, etc. The memory may store information acquired by communication via the communication I / F 209.

[0139] The light source 105 is controlled by the control circuit 207, and turns on, off, or blinks in conjunction with the flight behavior of the flying robot 101. The light source 105 may also provide information about the status of the flying robot 101. Specifically, for example, the light source 105 may blink in a predetermined pattern when the remaining charge falls below a predetermined threshold. When the light source 105 is realized by an LED lamp, the light color of the LED lamp is not limited to one color, and may be multiple colors.

[0140] The flying robot 101 may also be equipped with other devices (not shown) such as input devices such as keys or buttons for inputting instructions to the flying robot 101, and a power switch for turning the power of the flying robot 101 on and off.

[0141] The input device may be used to set the predetermined range. Specifically, for example, when a predetermined input instruction for the flying robot 101 is received via the input device, the location (location information) where the input instruction is received can be identified using the GPS sensor 205 or the like, and a predetermined range from the identified location can be set as the predetermined range. The input device may be realized by a connection terminal to which another information processing device can be connected.

[0142] (Station configuration) Next, the configuration of the station will be described. Figures 3A and 3B are explanatory diagrams showing the configuration of the station. Figure 3A shows an example of the appearance of the station. Figure 3B shows a cross section taken along line AA in Figure 3A.

[0143] As shown in Figures 3A and 3B, the station 301 has a substantially box-shaped exterior 302 with one side open. The station 301 is installed with the open part of the exterior 302 facing a predetermined range, i.e., toward an object such as a cat. The station 301 is preferably installed at a height that is difficult for humans to reach. This prevents tampering with the station 301 and the flying robot 101.

[0144] Station 301 includes battery 303 and a power transmission coil 304 for wireless power supply. Battery 303 is preferably a large-capacity battery such as is installed in an electric vehicle. Specifically, battery 303 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery, a lead-acid battery, or a nickel-metal hydride battery. Battery 303 may also be a primary battery. Battery 303 may be detachable from exterior unit 302, or may be separate from exterior unit 302.

[0145] The power transmitting coil 304 is connected to the battery 303 and is enclosed in a waterproof cover made of ABS resin, silicone rubber, or the like, which enables the station 301 to supply power to the battery 201 by wireless power transmission.

[0146] Station 301 may also include a solar cell 305 that generates electricity using external light such as sunlight, and a charging circuit that charges battery 303 with the electricity generated by solar cell 305. Solar cell 305 is provided on the top surface of exterior part 302 of station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the electricity generated by solar cell 305. Station 301 may not include solar cell 305 or battery 303, and may be connected to a commercial power source or a generator.

[0147] The station 301 may be configured such that a window made of a transparent acrylic plate or the like is provided in a portion of the exterior 302, and a curtain-like partition is provided on the open side of the exterior 302. In a station 301 configured in this way, by installing the window facing a predetermined range, i.e., the side of a target object such as a cat, it is possible to photograph the predetermined range through the window while reducing the intrusion of dust into the inside of the station 301 and suppressing deterioration of the flying robot 101.

[0148] By installing such a station 301 indoors as described above, the flying robot 101 can charge the battery itself as needed, preventing it from running out of battery. The predetermined range may be set based on the installation location of the station 301. Specifically, for example, the station 301 may be provided with a wireless communication function, a communication distance between the station 301 and the flying robot 101 may be set, and the range within which communication with the station 301 is possible may be set as the predetermined range.

[0149] More specifically, for example, Bluetooth (registered trademark) is used for communication between the station 301 and the flying robot 101. By using Bluetooth, which was designed for one-to-one communication, it is possible to reduce the power consumption required for communication in terms of both communication speed and communication distance compared to wireless communication such as Wi-Fi.

[0150] By enabling communication between the station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to the station 301. Then, only when the flying robot 101 has returned to the station 301, can the power transmitting coil 304 be energized to generate a magnetic field in the power transmitting coil 304, thereby supplying power to the battery 201. This makes it possible to reduce the consumption of the battery 303.

[0151] The station 301 may be equipped with a wireless communication router such as a mobile Wi-Fi router. This allows the station 301 to function as a communication spot, allowing the flying robot 101 to communicate via the station 301. Also, one station 301 can be installed to use multiple flying robots 101.

[0152] Furthermore, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold value set in advance for battery 303, a notification may be sent to a mobile phone or the like owned by a specific person, such as an administrator, that battery 303 needs to be charged or replaced. This makes it possible to reliably maintain the functionality of station 301 while reducing the burden on the administrator in managing station 301.

[0153] (Functional configuration of flying robot 101) Next, the functional configuration of the flying robot 101 will be described. Fig. 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to the present invention. As shown in Fig. 4, the functions of the flying robot 101 are realized by a memory unit 401, a detection unit 402, an image capture unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, an operation unit 407, and a control unit 408.

[0154] The storage unit 401 stores various programs related to the control by the control unit 408 (including the control program for the flying robot 101 according to the embodiment of the present invention) and various information including thresholds used for executing the programs. Specifically, the storage unit 401 stores information related to the feature amounts of cats, for example, related to pattern recognition (image recognition) used to recognize cats.

[0155] Furthermore, the storage unit 401 may store image information captured by the image capturing unit 403, information acquired by the acquisition unit 404, etc. The storage unit 401 may also store information relating to battery charging spots, etc. Specifically, the function of the storage unit 401 can be realized by, for example, a memory in the control circuit 207 shown in FIG.

[0156] The detection unit 402 is controlled by the control unit 408, and detects a signal output from a terminal device such as a smartphone on which a predetermined application is installed. The detection unit 402 may also detect that a predetermined input instruction to the flying robot 101 has been received via an input device such as a key or button, performed by a user of the flying robot 101. Specifically, the detection unit 402 can realize its function using, for example, the communication I / F 209 (or an input device) shown in FIG. 2.

[0157] The detection unit 402 also detects whether or not there is an obstacle within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 206 shown in FIG. 2. In this case, the detection unit 402 can specifically realize its function by, for example, the camera 103 shown in FIG. 1 or 2 instead of or in addition to the object sensor 206.

[0158] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a mobile stereo method that calculates the distance to the obstacle based on the parallax (difference between images) between images taken at different positions obtained by moving the flying robot 101. By using the mobile stereo method, the presence or absence of an obstacle within a predetermined range from the flying robot 101 can be detected using a monocular camera.

[0159] The photographing unit 403 is controlled by the control unit 408 and photographs an image within a predetermined range. The photographing unit 403 photographs, for example, an image of the interior of a room. If there are multiple rooms in the house, all the rooms in the house may be photographed, or only a specific room may be photographed. Specifically, the photographing unit 403 can realize its function by, for example, the camera 103 shown in FIG. 1 or FIG. 2.

[0160] The storage unit 401 may store image information relating to an image captured by the image capturing unit 403. In addition to the image information, the storage unit 401 may also store information relating to the location and time at which the image relating to the image information was captured in association with the image information. The information relating to the location and time at which the image was captured can be identified, for example, using the GPS sensor 205 shown in FIG. 2.

[0161] The acquisition unit 404 acquires information external to the flying robot 101. Specifically, the acquisition unit 404 acquires predetermined information from an external device via, for example, the network N. Specifically, the acquisition unit 404 can realize its functions using, for example, the communication I / F 209 shown in FIG. 2 .

[0162] Specifically, the acquisition unit 404 acquires information learned by another flying robot 101. This allows information acquired through learning by a single flying robot 101 to be shared by multiple other flying robots 101. Specifically, the flying robots 101 can share information such as what kind of behavior will elicit an active reaction from a cat, allowing them to perform more appropriate behavior.

[0163] The acquisition unit 404 may acquire the surrounding situation of the flying robot 101 using various sensors provided in the flying robot 101, such as the GPS sensor 205, the object sensor 206, and the acceleration sensor 208. In this case, the acquisition unit 404 can specifically realize its functions using various sensors, such as the GPS sensor 205, the object sensor 206, and the acceleration sensor 208 shown in FIG. 2.

[0164] The driving unit 405 is controlled by the control unit 408 and controls the flight of the flying robot 101. Specifically, the driving unit 405 can realize its functions using, for example, the propeller 102 shown in FIG. 1, the flight controller in the control circuit 207 shown in FIG. 2, the ESC, the BEC (UBEC), the motor 202, and the object sensor 206.

[0165] Output unit 406 is controlled by control unit 408 to output a predetermined sound from speaker 204. The predetermined sound may be, for example, a recorded human voice, a recorded animal cry or a synthesized sound that imitates an animal cry, or an alarm sound such as "beep beep." In this case, the function of output unit 406 can be specifically realized by, for example, speaker 204 shown in FIG. 2.

[0166] Furthermore, the output unit 406 is controlled by the control unit 408 to turn on or blink the light source 105. In this case, the function of the output unit 406 can be realized specifically by the light source 105 such as an LED lamp or a laser shown in Figs.

[0167] The operating unit 407 is controlled by the control unit 408 to operate the operation target held by the holding unit 104, which is realized by a clip-like member or the like. Specifically, the function of the operating unit 407 can be realized by, for example, the motor 202 for the operating unit 407 shown in Fig. 2. The operating unit 407 rotates or swings the operation target.

[0168] The control unit 408 controls the entire flying robot 101. Specifically, the control unit 408 can realize its functions by, for example, the control circuit 207 shown in Fig. 2. More specifically, the control unit 408 can realize its functions by, for example, executing a program stored in a memory or the like by the CPU in the control circuit 207 shown in Fig. 2.

[0169] The control unit 408 controls the driving unit 405, for example, to fly the flying robot 101. The control unit 408 also takes pictures, for example, by controlling the driving of the image capturing unit 403. The control unit 408 also recognizes the object, a cat, based on the image captured by the image capturing unit 403. The recognition of the object (cat) is performed, for example, by determining whether or not the image captured by the image capturing unit 403 includes a cat.

[0170] The control unit 408 may have an AI (Artificial Intelligence) function and may learn multiple types of objects (cats), such as short-haired cats, long-haired cats, cats with erect ears, cats with folded ears, walking cats, and sleeping cats. The control unit 408 may also have specialized AI specialized for recognizing cats. In recent years, computers equipped with AI have become increasingly miniaturized, and even a control circuit 207 (computer) equipped with AI can make the flying robot 101 fly smoothly.

[0171] When recognizing the object, the control unit 408 makes it easier to extract the object (cat) contained in the image by, for example, removing noise and distortion from the image captured by the image capturing unit 403, emphasizing the outline of the object contained in the image, and adjusting the brightness and color of the image. Furthermore, if the lens of the camera 103 is a wide-angle lens, distortion of the image may be corrected.

[0172] In addition, when recognizing an object, the control unit 408 extracts features such as the shape of the face and body and the position of the eyes and whiskers, for example, on a pixel-by-pixel basis, and determines whether the object (cat) is included in the image captured by the capturing unit 403 based on various information such as color and brightness assigned to the pixels.

[0173] When recognizing an object, the control unit 408 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or may recognize the object based on an image that has been corrected for distortion so that the image is similar to that of a standard lens.

[0174] When recognizing an object, the control unit 408 may, for example, learn (machine learning) the characteristics of the recognized cat and store the learning results in the storage unit 401. The characteristics of the cat may be, for example, the size of the cat, what kind of movement of the flying robot 101 makes the cat react actively, what time of day the cat reacts well, what kind of operation object (such as a cat toy, a fishing rod, or a string) makes the cat move actively, etc.

[0175] In this case, the control unit 408 may take an image only under conditions where the cat is likely to have a favorable reaction, by controlling the driving of the image capturing unit 403. Alternatively, in this case, the control unit 408 may take an image continuously under conditions where the cat is likely to have a favorable reaction, and take an image intermittently at time intervals of 5 or 10 minutes, for example, under conditions where the cat is unlikely to have a favorable reaction.

[0176] Intermittent filming may be performed, for example, by filming for one minute, stopping filming for five minutes, and then filming for another minute.Whether or not the conditions are such that the cat is likely to respond favorably may be determined, for example, by whether elements such as the current day of the week and time meet preset conditions.Alternatively, whether or not the conditions are such that the cat is likely to respond favorably may be determined, for example, by whether the number of elements meeting the preset conditions exceeds a predetermined threshold.

[0177] When the control unit 408 recognizes an object (cat), it controls the drive unit 405 to fly the flying robot 101 in the vicinity of the cat. Furthermore, the control unit 408 may control the operation unit 407 to operate the operation object held by the holding unit 104 during the flight. Furthermore, the control unit 408 may control the output unit 406 to cause the light source 105 to emit light during the flight. Furthermore, the control unit 408 may control the operation unit 407 to operate the operation object held by the holding unit 104 only when the flying robot 101 is flying in the vicinity of the cat.

[0178] When the control unit 408 recognizes the target object (cat), it flies within a predetermined range at a speed equal to or less than a set speed, for example. Furthermore, when the control unit 408 recognizes the target object (cat), it may fly in a hovering manner or fly in an up-and-down motion at an arbitrary position within the predetermined range. The arbitrary position within the predetermined range may be, for example, a range within the field of view of the cat. This can effectively attract the cat's attention.

[0179] Flying robot 101, which is equipped with camera 103 as an integral part, can fly autonomously to a position within a predetermined range where it is easy to photograph the cat. This allows the cat to be photographed without any blind spots, regardless of environmental factors such as the camera position, the cat's posture, the cat's size, or the cat's fur color.

[0180] Furthermore, the flying robot 101, which is equipped with the integrated camera 103, can fly autonomously to a position where it can reliably photograph the cat. This makes it possible to avoid losing sight of the target cat and fly in a way that reliably attracts the target cat's attention, compared to a case where the drone is flown based on images taken randomly by flying the drone based on images taken by a fixed camera.

[0181] The inventor has named the flying robot 101 "Dorojara" or "Nekojara Drone" as a robot that allows cats, who tend to lack exercise and accumulate stress due to being kept indoors, to have fun and effective whole-body exercise, thereby effectively relieving the lack of exercise and stress in the cats.

[0182] Furthermore, when the control unit 408 determines, for example, based on an image captured by the camera 103, that the cat is experiencing some kind of health problem, such as the cat having convulsions or vomiting, it may control the output unit 406 to output a sound to notify those in the vicinity. This allows people living with the cat experiencing some kind of health problem to be quickly notified of the cat's abnormality, even if they are in a different room from the cat.

[0183] 2, if control unit 408 determines, for example, based on an image captured by camera 103, that the cat is having some kind of health problem, such as the cat having convulsions or vomiting, it may control drive unit 405, image capture unit 403, etc. to find any other person living in the room, and control output unit 406 to output a sound informing that person that something is wrong with the cat. This allows a person living in the same room as the cat experiencing some kind of health problem to be quickly notified of the cat's abnormality, even if they are in a different room from the cat.

[0184] 1 and 2, the control unit 408 may control the output unit 406 to turn on or blink the light source (such as an LED lamp) 105 when it determines that the cat is experiencing some kind of health problem. The control unit 408 may also control the output unit 406 to turn on or blink the light source (such as an LED lamp) 105 even when the cat is not experiencing any health problems. By blinking the light source 105 in this way, the visibility of the flying robot 101 by the cat and its cohabitants can be increased, making the cat and its cohabitants aware of the presence of the flying robot 101 from a distance.

[0185] (Flying Robot 101 Processing Procedure) Next, a description will be given of the processing procedure of the flying robot 101. Fig. 5 is a flowchart showing the processing procedure of the flying robot 101 according to the embodiment of the present invention. In the flowchart of Fig. 5, first, it is determined whether or not to start shooting (step S501).

[0186] In step S501, for example, it is determined that shooting should be started when a predetermined time has elapsed since the previous flight accompanied by shooting was performed. Alternatively, in step S501, it is determined that shooting should be started when a predetermined time has elapsed since the previous operation unit 407 operated the operation target. In step S501, if it is not determined that shooting should be started (step S501: No), it continues to wait.

[0187] In step S501, if it is determined that shooting should be started (step S501: Yes), flight is started by rotating motor 202 of propeller 102, for example (step S502), and shooting by camera 103 is started (step S503). Then, image recognition is performed based on the captured image, and it is determined whether a cat has been recognized in the image (step S504). In step S504, if a cat has not been recognized (step S504: No), the process returns to step S501.

[0188] In step S504, if a cat is recognized (step S504: Yes), it is determined whether the recognized cat has been in the same place for a predetermined time (step S505). In step S505, if it is determined that the recognized cat has not been in the same place for a predetermined time, i.e., has moved (step S505: No), the process proceeds to step S509.

[0189] In step S505, for example, if the location of the recognized cat is the same a predetermined number of times based on each of the images taken at predetermined time intervals, it is determined that the cat is in the same place for the predetermined time. Alternatively, if images are continuously taken from station 301, in step S505, for example, if the location of the cat is the same for the predetermined time consecutively, it is determined that the cat is in the same place for the predetermined time.

[0190] Whether or not the location is the same may be determined by whether or not the cat is within a predetermined range, such as within a 30 cm radius. This makes it possible to determine that a cat that has only slightly changed its posture or position, such as by rolling over, has been in the same place for a predetermined period of time.

[0191] In step S505, if it is determined that the cat has been in the same place for the predetermined time (step S505: Yes), the control unit 407 moves (flies) to the vicinity of the cat (step S506), drives the motor 202 of the operation unit 407 (step S507), and moves the operation target. In step S506, the control unit 407 moves to a position in front of the cat's field of vision but out of the reach of the cat. If the field of vision in front of the cat is open, the control unit 407 may move to a position as far away as possible within the cat's field of vision in step S506.

[0192] In step S507, the control object, such as a cat toy or a feather or ribbon attached to the end of a fishing rod, is moved within the cat's field of vision, thereby attracting the cat's attention to the control object. This allows a cat that continues to sleep in the same place to approach the control object, effectively relieving the cat's lack of exercise and stress.

[0193] When a cat showing interest in the control object or the flying robot 101 approaches the flying robot 101, the flying robot 101 may move away from the cat while moving the control object. The flying robot 101 may also move with up and down motion. Furthermore, the flying robot 101 may move with up and down motion while moving the control object. This increases the amount of exercise the cat gets chasing the control object, and more effectively alleviates the lack of exercise and stress in the cat.

[0194] If the flying robot 101 is equipped with a laser as the light source 105, in step S507, in addition to or instead of moving the controlled object, the laser light may be projected onto the wall. It has been widely known that cats are interested in and follow light projected onto walls or floors, and by moving the projected light position using the flying robot 101, it is possible to effectively alleviate the lack of exercise and stress of the cat without interfering with the activities of other cats living with the cat.

[0195] Then, it is determined whether the cat has exercised a predetermined amount (step S508). In step S508, for example, it is determined based on the image captured by the camera 103 whether the cat has chased the operation target or the flying robot 101 for a predetermined period of time.

[0196] In this case, since cats have the habit of stopping, lowering their posture, and preparing to pounce on their prey when targeting prey, not only does the cat continuously chase the controlled object or flying robot 101 at all times, but also states where the cat stops for several seconds to several tens of seconds in between are included in the state of continuing for a predetermined period of time.

[0197] Alternatively, in step S508, for example, it is determined based on the image captured by the camera 103 whether the cat chasing the operation target or the flying robot 101 has jumped a predetermined number of times or more.

[0198] In step S508, the flying robot 101 proceeds to step S507 until it determines that the cat has exercised a predetermined amount (step S508: No), and while moving, drives the motor 202 for the movement unit 407 to move the operation target. On the other hand, in step S508, if the cat has exercised a predetermined amount (step S508: Yes), the flying robot 101 returns to the station 301 (step S509) and waits until the next shooting starts.

[0199] (An example of how the flying robot 101 is used) Next, a description will be given of an example of how the flying robot 101 is used. Figures 6 to 8 are explanatory diagrams showing an example of how the flying robot 101 according to the embodiment of the present invention is used.

[0200] The flying robot 101 and the station 301 are placed within a predetermined range, for example, in a room where a cat, which is the object, is kept. The room may be a single room in a house or the entire house. The predetermined range in which the flying robot 101 flies may also be within a predetermined premises, including outdoors.

[0201] The number of airborne robots 101 and the number of stations 301 do not have to be the same. Specifically, for example, if the predetermined flight range of the airborne robots 101 is the entirety of a house with multiple rooms, a station 301 may be placed in each room, with the number of airborne robots 101 being fewer than the number of stations 301. This allows the airborne robots 101 to be reliably charged regardless of which room they are in.

[0202] The flying robot 101 according to the embodiment of the present invention uses the camera 103 to capture an image of a predetermined area, such as a room, and determines whether the captured image includes the cat 601. The camera 103 may capture an image of the room while flying the robot 101 periodically in the room, or while the flying robot 101 is charging at the station 301.

[0203] 6 shows an example in which the flying robot 101 is charging at the station 301. In this case, the station 301 is preferably placed so as to capture images of a place where a cat is likely to stay for a long time, such as a cat tower or a cat bed (or a human bed). In the case of the camera 103 using a wide-angle lens or a fisheye lens, the station 301 is preferably placed in a location where it can capture images of the entire room.

[0204] If the location of the cat 601 being photographed remains the same for a predetermined period of time, such as two hours, the flying robot 101 starts flying and flies to a position where the operation target 602 is within the field of view of the corresponding cat 601. As described above, whether the location of the corresponding cat 601 remains the same can be determined by whether it is within a predetermined range, such as "within a radius of 30 cm." For example, it can be determined that the cat 601 has only slightly changed its posture or position by turning over in its sleep, and has been in the same place for the predetermined period of time.

[0205] The flying robot 101 then performs an action such as rocking the operation target 602 around the corresponding cat 601. If the flying robot 101 determines, based on the image captured by the camera 103, that the cat 601 does not wake up (shows little reaction) even when the operation target 602 is rocked, it may output a predetermined sound from the speaker 204. Also, if the cat 601 notices the flying robot 101 but shows no interest in the operation target 602, it may turn on the light source (laser) 105. FIG. 7 shows a state in which the corresponding cat 601 notices the flying robot 101 (and the operation target 602) as a result of rocking the operation target 602 or outputting a predetermined sound from the speaker 204.

[0206] When the cat 601 notices the flying robot 101 and tries to play with the operation target 602, the flying robot 101 moves, and the cat 601 flies so as to chase the operation target 602. At this time, the flying robot 101 may move with up and down movements, or may move so as to fly at a position where the cat 601 is on the edge of touching the operation target 602, based on an image captured by the camera 103. Fig. 8 shows a state in which the cat 601 is flying so as to chase the operation target 602 while the operation target 602 is being swung.

[0207] Alternatively, if the station 301 is placed in a location where it can capture an image of the entire room, the flying robot 101 may charge and wait at the station 301, determine whether the cat 601 is present in an image captured by the camera 103, and fly to approach the cat 601 if the captured image includes the cat 601. In this case, the station 301 is installed so as to capture an image of a place where the cat 601 is likely to remain for a long time, such as a cat tower or a bed. The cat 601 recognized as the target object may be a specific cat designated in advance, or may be all cats in the room.

[0208] When flying around the cat 601, the flying robot 101 holds an operation target 602, such as a stick like a string or a cat toy handle, or a fishing rod with a feather or the like attached to the tip, and flies while rotating or swinging the held operation target 602. The flying robot 101 may move the operation target 602 using the operation unit 407, or may move the operation target 602 by adjusting the flight pattern. Specifically, the operation target 602 can be moved by, for example, moving horizontally or flying while changing altitude with up and down movement.

[0209] The flying robot 101 flies so that the cat 601 moves its whole body by having the cat 601 play with an operation target 602 held by the flying robot 101. For example, the flying robot 101 periodically flies around a room, photographing the room, and when the captured image includes the cat 601, the flying robot 101 flies so as to approach the cat 601 and moves the operation target 602 around the cat 601.

[0210] In this way, the flying robot 101 operates the operation target 602 while checking the movements of the cat 601 based on the image captured by the camera 103, and thereby makes complex movements according to the posture and position of the cat 601, thereby attracting and capturing the attention of the cat 601. By making complex movements in this way, the cat 601 can exercise without getting bored, and can effectively relieve the lack of exercise and stress of the cat 601.

[0211] The flying robot 101 can also check the cat's health based on images captured by the camera 103. Specifically, based on the images captured by the camera 103, it can determine, for example, the speed of the cat's movements, the brightness of the eyes, whether the cat is limping, etc. Furthermore, by communicating with another flying robot 101 via the communication I / F 209, it can compare the cat's health with that of a cat 601 of the same age.

[0212] The flying robot 101 may be provided with a storage unit for storing silver vine, cat food, etc. The storage unit can be realized, for example, by a mesh pocket-shaped member. This allows the flying robot 101 to fly while storing silver vine, cat food, etc. in the storage unit.

[0213] By storing silver vine, cat food, or the like in the storage section and flying it, it is possible to stimulate the sense of smell in addition to sight and hearing, and further attract the interest of the cat 601. By stimulating the various senses of the cat 601 and attracting the interest of the cat 601, the exercise of the cat 601 is promoted, and the lack of exercise and stress of the cat 601 can be more effectively alleviated.

[0214] In the above-described embodiment, the flying robot 101 is described as using a drone with a general-purpose shape, but the shape of the flying robot 101 according to the present invention is not limited to this. The shape of the flying robot 101 according to the present invention may be, for example, a shape that resembles a bird or insect that cats are interested in.

[0215] FIG. 9 is an explanatory diagram showing another aspect of the flying robot 101 according to the embodiment of the present invention. FIG. 9 shows a flying robot 101 that imitates a bird. As shown in FIG. 9, the flying robot 101 that imitates a bird or an insect may include components 901 that imitate parts of birds or insects, such as wings and a tail. Furthermore, each of the components 901 that imitate parts of birds or insects may be movable.

[0216] Specifically, for example, the beak, head, wings, tail, and other components 901 may be independently movable by a motor, a gear train, or a link mechanism, allowing the flying robot 101 to imitate movements such as wagging its tail or moving its wings.

[0217] The flying robot 101 is not limited to a shape imitating a bird such as a hawk. The flying robot 101 is not limited to birds and animals that exist today, but may be shaped to imitate extinct animals such as dinosaurs, mythical beasts such as dragons and unicorns, or insects, and may be equipped with parts such as a tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc., in addition to a beak, head, wings, and tail.

[0218] Furthermore, in flying robot 101 shaped like an animal, for example, a lens of camera 103 may be provided in a portion corresponding to the eye. Furthermore, in flying robot 101 shaped like an animal, for example, a light source (such as an LED lamp or laser) 105 may be provided in a portion corresponding to the eye. If a lens of camera 103 is provided in a portion corresponding to the eye, light source 105 may be provided so as to frame the lens.

[0219] As described above, the flying robot 101 of an embodiment of the present invention comprises an unmanned aerial vehicle that flies by automatic control, a camera 103 mounted on the unmanned aerial vehicle, and a holding unit 104 mounted on the unmanned aerial vehicle and holding an object to be operated 602, and is characterized in that the unmanned aerial vehicle flies around the object, cat 601, based on images captured by the camera 103.

[0220] According to the embodiment of the flying robot 101 of the present invention, the flying robot 101 flies around the cat 601 identified based on the image captured by the camera 103 in a manner that moves against the will of the cat 601, thereby attracting the attention of the cat 601, and by focusing on the cat 601 that needs exercise, it is possible to create an opportunity for the cat 601 to move.

[0221] The flying robot 101 moves (flies) based on the images captured by the camera 103, and therefore is not monotonous, but can perform complex movements according to the posture and position of the cat 601. This can attract the interest of the cat 601 for a long period of time, and can effectively relieve the lack of exercise and stress of the cat 601.

[0222] In particular, by identifying a cat 601 that is attracting attention based on an image captured by the camera 103, it is possible to attract the attention of the cat 601 and create an opportunity for the cat 601 to move around without requiring the efforts of the owner or other people living with the cat 601. This makes it possible to effectively alleviate the lack of exercise and stress of the cat 601 without interfering with the activities of the people living with the cat 601.

[0223] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that the unmanned aerial vehicle flies around an object with up and down movements based on images captured by the camera 103 .

[0224] The flying robot 101 according to the embodiment of the present invention can effectively attract the attention of the cat 601 by varying its movements, and can certainly create an opportunity for the cat 601 to move. This can effectively relieve the lack of exercise and stress of the cat 601.

[0225] Furthermore, the flying robot 101 of the embodiment of the present invention is characterized in that the unmanned aerial vehicle flies around an object when the same object is present in the same place for a predetermined period of time based on images captured by the camera 103.

[0226] The flying robot 101 according to the embodiment of the present invention can fly around the cat 601, which is mostly sleeping and does not get much exercise, based on the images captured by the camera 103. This makes it possible to focus on the cat 601 that needs exercise, and to create an opportunity for the cat 601 to move, thereby effectively relieving the lack of exercise and stress of the cat 601.

[0227] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that the operating unit 407407, which operates the operation target 602 held by the holding unit 104, operates the operation target 602 based on an image captured by the camera 103.

[0228] According to the flying robot 101 of the embodiment of the present invention, in addition to the movement of the flying robot 101 itself, the flying robot 101 can move an operation target 602 such as a cat toy or a fishing rod with feathers attached, thereby effectively attracting the attention of the cat 601. This can effectively relieve the lack of exercise and stress of the cat 601.

[0229] Furthermore, the flying robot 101 of this embodiment of the present invention is characterized in that it operates the operating unit 407 when the unmanned aerial vehicle is flying around an object based on an image captured by the camera 103.

[0230] According to the flying robot 101 of the embodiment of the present invention, in addition to the flying robot 101 itself, an operation object 602 such as a cat toy or a fishing rod with feathers attached can be moved around the cat 601, thereby reducing unnecessary power consumption and effectively attracting the attention of the cat 601. This allows the flying robot 101 to fly for a longer period of time, effectively relieving the lack of exercise and stress of the cat 601.

[0231] The flying robot 101 according to the embodiment of the present invention is characterized in that the operating unit 407 rotates the operation target 602 and swings the operation target 602 .

[0232] According to the flying robot 101 of the embodiment of the present invention, in addition to the movement of the flying robot 101 itself, the movement of the operation target 602 can be varied by the operating unit 407, which can effectively attract the attention of the cat 601. This can effectively relieve the lack of exercise and stress of the cat 601.

[0233] The flying robot 101 according to the embodiment of the present invention is characterized in that the holding unit 104 holds the operation target 602 in an exchangeable state.

[0234] According to the flying robot 101 of the embodiment of the present invention, it is possible to replace the operation target 602 that has deteriorated due to the cat 601 playing with it using its claws and teeth with a new operation target 602, or to appropriately attach an operation target 602 that suits the preference of the cat 601. This prevents the cat 601 from getting bored, and effectively relieves the lack of exercise and stress of the cat 601.

[0235] The flying robot 101 according to the embodiment of the present invention is characterized in that the operation target 602 is a string-like member or a rod-like member.

[0236] According to the flying robot 101 of the embodiment of the present invention, the control object 602 that suits the preferences of the cat 601 can be used to effectively attract the attention of the cat 601. This can effectively relieve the lack of exercise and stress of the cat 601.

[0237] The operation object 602 may be a rod-shaped member having a feather or a feather-like member attached to one end and a linear member connected to the other end, or a rod-shaped member having a woolen thread or a member simulating wool, or at least one fringe-like member attached to one end and a linear member connected to the other end, or a rod-shaped member having a spherical-shaped member attached to one end and a linear member connected to the other end, or a rod-shaped member having a brush-like member attached to one end and a linear member connected to the other end.

[0238] When the operation object 602 is a rod-shaped member having a spherical member attached to one end and a linear member connected to the other end, it is preferable that the spherical member be formed using a material exhibiting a predetermined elasticity.

[0239] According to the flying robot 101 of the embodiment of the present invention, by providing a wide variety of operation targets 602, it is possible to use an operation target 602 that suits the preferences of the cat 601, and to effectively attract the attention of the cat 601. This makes it possible to effectively relieve the lack of exercise and stress of the cat 601.

[0240] In addition, the flying robot 101 of this embodiment of the present invention is characterized by having a communication I / F 209, which is a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and camera 103 accept remote control via the communication I / F 209.

[0241] According to the flying robot 101 of the embodiment of the present invention, it is possible to accept remote control by a housemate who is away from home, such as at work, and to allow the housemate, such as the owner, to check on the condition of the cat 601 while away from home.

[0242] This allows the housemate to take pictures of the cat 601 indoors at any time, even when they are out, and check whether there are any abnormalities in the health of the cat 601. In addition, by flying the flying robot 101 through remote control by the housemate, the cat 601 can be encouraged to exercise at any time, and the lack of exercise and stress of the cat 601 can be effectively alleviated.

[0243] The flying robot 101 according to the embodiment of the present invention is characterized in that it outputs a predetermined sound from the speaker 204 mounted on the unmanned aerial vehicle. The predetermined sound is a recorded human voice, a recorded animal cry, or a synthesized sound that imitates an animal cry.

[0244] According to the flying robot 101 of the embodiment of the present invention, the interest of the cat 601 in the flying robot 101 can be effectively attracted by outputting sounds from the speaker 204. In particular, the interest of the cat 601 in the flying robot 101 can be more effectively attracted by outputting a recorded voice of the owner or the voice of another cat 601 from the speaker 204.

[0245] This makes it easier for the cat 601 to notice the presence of the flying robot 101 and the operation target 602 even when the cat 601 is sleeping, and effectively relieves the cat 601 from lack of exercise and stress.

[0246] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that it outputs a predetermined sound from the speaker 204 at a predetermined distance from the cat 601 based on an image captured by the camera 103.

[0247] According to the flying robot 101 of the embodiment of the present invention, by outputting a predetermined sound from the speaker 204 at a position a predetermined distance away from the cat 601, it is possible to avoid accidentally startling the sleeping cat 601 and effectively attract the cat 601's attention to the flying robot 101. This prevents the sleeping cat 601 from being wary of the flying robot 101 and avoiding it, which would otherwise be caused by accidentally startling the sleeping cat 601, and effectively relieves the lack of exercise and stress of the cat 601.

[0248] In the flying robot 101 according to the embodiment of the present invention, a predetermined sound may be output from the speaker 204 within a predetermined range of the cat 601 based on an image captured by the camera 103. In this case, it is preferable to output a sound such as an animal cry after the cat 601 notices the flying robot 101 and starts to play with the operation target 602.

[0249] Such flying robot 101 can lift the spirits of cat 601 and keep it moving for a longer period of time, thereby effectively alleviating the lack of exercise and stress of cat 601.

[0250] In addition, the flying robot 101 of this embodiment of the present invention is characterized in that it is equipped with a communication I / F 209 mounted on the unmanned aerial vehicle, and the speaker 204 accepts remote control via the communication I / F 209.

[0251] The flying robot 101 according to the embodiment of the present invention can be remotely controlled by a person living with the cat who is away from home, such as at work, and the person living with the cat, such as the owner, can exercise the cat 601 at any time from the outside. This can effectively alleviate the lack of exercise and stress of the cat 601.

[0252] The flying robot 101 according to the embodiment of the present invention is characterized in that it outputs a sound transmitted from a predetermined terminal device via the communication I / F 209. The predetermined terminal device can be, for example, a specific smartphone or a specific personal computer, such as a smartphone or personal computer of the owner of the cat 601 or a person living with the cat 601.

[0253] The flying robot 101 according to the embodiment of the present invention allows the cat 601 to hear the voice of the owner or the like in real time. This allows the owner or other housemate to call out to the cat 601 at any time while away from home, which can more strongly attract the attention of the cat 601 and encourage it to exercise, compared to when the same recorded voice is always output. This can effectively alleviate the lack of exercise and stress of the cat 601.

[0254] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that, when the subject is in an abnormal state based on the image captured by the camera 103, the flying robot 101 notifies a predetermined destination via the communication I / F 209 mounted on the unmanned aerial vehicle that the subject is in an abnormal state. The predetermined destination can be, for example, an email address set in a specific smartphone or a specific personal computer.

[0255] According to the flying robot 101 of the embodiment of the present invention, if the condition of the cat 601 is different from normal due to illness, injury, natural disaster, etc., a notification is sent to a predetermined address, thereby making it possible to quickly and reliably notify the housemate of an emergency involving the cat 601. As a result, even if an emergency occurs while the housemate is out, such as when the cat 601 suddenly becomes ill or when furniture that has fallen over due to an earthquake or the like blocks the cat's path, the housemate can be notified that something is wrong with the situation in which the cat 601 is placed.

[0256] The notification to the predetermined destination may include an image captured by the camera 103. This allows the person living with the cat 601 to be notified promptly and accurately of an emergency that has occurred to the cat 601, who does not speak the same language as humans.

[0257] The flying robot 101 according to the embodiment of the present invention is characterized in that it transmits the sound collected by the microphone 203 mounted on the unmanned aerial vehicle to a predetermined destination via the communication I / F 209 mounted on the unmanned aerial vehicle. The predetermined destination can be, for example, an email address set on a specific smartphone or a specific personal computer.

[0258] The flying robot 101 according to the embodiment of the present invention can transmit indoor sounds as well as images of the cat 601 to a roommate who is out, allowing the roommate to know in more detail what the cat 601 is doing while away from home.

[0259] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that it flies around an object while turning on or blinking the light source 105 mounted on the unmanned aerial vehicle.

[0260] According to the flying robot 101 of the embodiment of the present invention, it is possible to attract the attention of the cat 601 by using an LED lamp to emit colorful light or by shining a laser on a wall. This allows the cat 601 to chase the flying robot 101 or the irradiated light without getting bored, and effectively relieves the lack of exercise and stress of the cat 601.

[0261] The flying robot control method described in this embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, flexible disk, CD-ROM, DVD, or USB memory, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet. [Industrial Applicability]

[0262] As described above, the flying robot, the control program for the flying robot, and the control method for the flying robot according to the present invention are useful for supporting the maintenance of the health of pets, and are particularly suitable for supporting the maintenance of the health of cats. [Explanation of symbols]

[0263] 101 Flying Robot 102 Propeller 103 Camera 104 Holding part 105 Light source 201 Battery 202 Motor 203 Mike 204 speakers 205 GPS sensor 206 Objective Sensor 207 Control Circuit 208 Accelerometer 209 Communication I / F 210 solar cells Station 301 302 Exterior part 303 Battery 304 Transmission Coil 305 solar cells 401 Storage section 402 Detection unit 403 Photography Department 404 Acquisition Department 405 Drive unit 406 Output section 407 Operating unit 408 Control Unit

Claims

1. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; A holding unit mounted on the unmanned aerial vehicle and holding an operation target; an operation unit that operates the operation target held by the holding unit; Equipped with The unmanned aerial vehicle flies around the cat, which is a target object, based on the image captured by the camera, The flying robot is characterized in that the operating unit controls the operation target based on an image captured by the camera.

2. A computer for a flying robot equipped with a camera and a holding unit for holding an operation target and an unmanned aerial vehicle that flies by automatic control, A control program characterized by flying the unmanned aerial vehicle around an object, which is a cat, based on images taken by the camera and operating the object held by the holding unit.

3. A flying robot equipped with a camera and a holding unit for holding an object to be operated, and an unmanned aerial vehicle that flies by automatic control, A control method characterized by flying around an object, which is a cat, based on an image captured by the camera and moving the object held by the holding unit.

Images