Wake-up assistance method and unmanned aerial vehicle

Abstract

To support an object person in sleeping to wake up or rise from a bed.SOLUTION: A method for supporting rising from a bed urges an object person 150 to wake up or rise from a bed by: acquiring positional information of an object person 150 in sleeping; determining various types of flight routes for flight in the vicinity of the object person 150 by using deep learning on the basis of the positional information; causing an unmanned aircraft 100 to fly along the flight route and to generate sounds (electronic sounds, music, voices), light, wind, and fog during the flight; and optionally causing the unmanned aircraft 100 to smash itself against the object person 150 and further optionally to apply stimulation such as an electric shock, vibration to the object person 150.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present invention relates to a wake-up assistance method, a wake-up assistance program, and an unmanned aerial vehicle that assist a sleeping subject in urging them to wake up or wake up. [Background technology]

[0002] Commonly used devices to help sleepers wake up or wake up include so-called alarm clocks, which allow you to set a desired time and output a sound at that time, and wake-up assistance devices such as smartphone alarms.

[0003] Furthermore, conventionally, there has been a technology that emits light in addition to outputting sound, and uses the light to wake up a sleeper (see, for example, Patent Document 1 below).

[0004] In addition, there has been a technology in the past in which a flying robot 1000 used as a pet is equipped with a drone that flies by automatic control, and the driving is stopped to cause it to fall naturally (STEP 1), crash into the ground (STEP 2), bounce (STEP 3), and then, based on the detection of the collision, the driving is resumed and the robot is made to float (STEP 4) (for example, see Patent Document 2 below). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2016-211872 A [Patent Document 2] Patent Publication No. 2022-106252 Summary of the Invention [Problem to be solved by the invention]

[0006] However, conventional wake-up assistance devices only stimulate the user to wake up or wake up by stimulating them with sound output, which can be problematic in that the device may not be effective enough for some users, resulting in failure to wake them up or wake them up.

[0007] Furthermore, the conventional technology described in Patent Document 1 mentioned above uses light output (light emission) to stimulate awakening or waking up, but there is a problem in that the light stimulus may not be sufficiently imparted to the subject, and there is a risk that the subject may fail to awaken or wake up.

[0008] In order to solve the problems of the conventional technology described above, the present invention aims to provide a wake-up assistance method, a wake-up assistance program, and an unmanned aerial vehicle that can more reliably assist in awakening or waking up. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the objectives, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, and flies along the flight route to execute a process that encourages the subject to wake up or wake up.

[0010] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and flies along the flight route to encourage the subject to wake up or be awakened.

[0011] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject at a variable flight speed based on the location information, and performs processing to encourage the subject to wake up or wake up by flying along the flight route.

[0012] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject at a variable flight altitude based on the location information, and performs processing to encourage the subject to wake up or wake up by flying along the flight route.

[0013] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, and flies along the flight route to encourage the subject to wake up or wake up.

[0014] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, repeatedly flies based on the location information in a manner that changes the distance from the subject, determines a flight route that allows the position of closest approach to the subject to be variable, and flies along the flight route to execute processing that encourages the subject to wake up or wake up.

[0015] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, determines a flight route that repeats a flight that approaches the subject from a first location to a second location that is a predetermined distance from the subject, remains stationary at the second location for a predetermined period of time, and then returns to the first location, and by flying along the flight route, executes a process that encourages the subject to wake up or wake up.

[0016] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly in circles near the subject based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0017] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs an electronic sound while flying along the flight route to encourage the subject to wake up or wake up.

[0018] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, outputs an electronic sound while flying along the flight route, and changes the volume of the electronic sound based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0019] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, outputs an electronic sound while flying along the flight route, and changes the volume of the electronic sound based on the distance from the subject so that the volume becomes louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0020] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs an electronic sound while flying along the flight route, and varies the volume of the electronic sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0021] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs electronic sounds while flying along the flight route, and varies the type of electronic sounds at predetermined times to encourage the subject to wake up or wake up.

[0022] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs an electronic sound while flying along the flight route, and changes the type of electronic sound each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0023] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one electronic sound from a plurality of pre-stored electronic sounds at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0024] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, and flies along the flight route, and each time it approaches the subject, selects and outputs one electronic sound from a plurality of pre-stored electronic sounds, thereby executing a process to encourage the subject to wake up or wake up.

[0025] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs music while flying along the flight route to encourage the subject to wake up or be awakened.

[0026] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, outputs music while flying along the flight route, and changes the volume of the music based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0027] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs music while flying along the flight route, and changes the volume of the music based on the distance from the subject so that the volume gets louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0028] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs music while flying along the flight route, and varies the volume of the music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0029] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to repeatedly fly in a manner that changes the distance from the subject, outputs music while flying along the flight route, and changes the type of music at predetermined times to encourage the subject to wake up or wake up.

[0030] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs music while flying along the flight route, and changes the type of music each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0031] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one piece of music from a plurality of pre-stored pieces of music at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0032] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, and flies along the flight route, selecting and outputting one piece of music from a plurality of pre-stored pieces of music each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0033] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs audio while flying along the flight route to encourage the subject to wake up or wake up.

[0034] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires time information related to the current time, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, outputs audio related to the acquired time information, thereby executing a process to encourage the subject to wake up or wake up.

[0035] In addition, the wake-up assistance method of the present invention is characterized in that the unmanned aerial vehicle acquires location information of a sleeping subject, acquires schedule information regarding the subject's plans for the day, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, outputs audio related to the acquired schedule information, thereby executing a process to encourage the subject to wake up or wake up.

[0036] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, outputs audio while flying along the flight route, and changes the volume of the audio based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0037] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, outputs sound while flying along the flight route, and changes the volume of the sound based on the distance from the subject so that the volume becomes louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0038] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs audio while flying along the flight route, and varies the volume of the audio each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0039] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to repeatedly fly in a manner that changes the distance from the subject, outputs sound while flying along the flight route, and varies the type of sound at predetermined times to encourage the subject to wake up or wake up.

[0040] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, outputs sound while flying along the flight route, and changes the type of sound each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0041] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one sound from a plurality of pre-stored sounds at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0042] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, and flies along the flight route, and each time it approaches the subject, selects and outputs one sound from a plurality of pre-stored sounds, thereby executing a process to encourage the subject to wake up or wake up.

[0043] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and executes a process to encourage the subject to wake up or wake up by turning on or flashing a light while flying along the flight route.

[0044] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, turns on or flashes a light while flying along the flight route, and changes the intensity of the light based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0045] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, turns on or flashes a light while flying along the flight route, and changes the intensity of the light based on the distance from the subject so that the light is brighter the shorter the distance from the subject's eyes, thereby encouraging the subject to wake up or wake up.

[0046] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying in a manner that changes the distance from the subject, turns on or flashes a light while flying along the flight route, and varies the intensity of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0047] In addition, the wake-up assistance method of the present invention is characterized in that the unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, turns on or flashes a light while flying along the flight route, and changes the color of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0048] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, turns on or flashes a light while flying along the flight route, and changes the flashing pattern of the light each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0049] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, sprays air toward the subject to encourage the subject to wake up or wake up.

[0050] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, and while flying along the flight route, sprays air toward the subject and varies the volume of the air at predetermined times to encourage the subject to wake up or wake up.

[0051] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, and while flying along the flight route, sprays air toward the subject, and varies the volume of the air each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0052] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, and while flying along the flight route, sprays air toward the subject and varies the temperature of the air at predetermined times to encourage the subject to wake up or wake up.

[0053] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, and while flying along the flight route, sprays air toward the subject, and varies the temperature of the air each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0054] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, sprays a liquid toward the subject to encourage the subject to wake up or wake up.

[0055] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the amount of liquid sprayed at predetermined times to encourage the subject to wake up or wake up.

[0056] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the amount of liquid sprayed each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0057] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the temperature of the liquid at predetermined times to encourage the subject to wake up or wake up.

[0058] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the temperature of the liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0059] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeating flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and changes the type of liquid at predetermined times to encourage the subject to wake up or wake up.

[0060] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, which involves repeatedly flying to change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and changes the type of liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0061] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will bring the subject into contact with the subject, and flies along the flight route to encourage the subject to wake up or be awakened.

[0062] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will bring the unmanned aerial vehicle into contact with the subject's head, and flies along the flight route to encourage the subject to wake up or wake up.

[0063] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will bring the subject into contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes an electric current of a predetermined frequency through the route, thereby executing a process to encourage the subject to wake up or wake up.

[0064] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will allow it to come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency through the unmanned aerial vehicle, and varies the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0065] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will cause contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency and varies the pulse pattern of the current each time it comes into contact, thereby executing a process to encourage the subject to wake up or wake up.

[0066] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will cause the unmanned aerial vehicle to come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, vibrates the vehicle to encourage the subject to wake up or wake up.

[0067] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will cause contact with the subject, flies along the flight route, and when it comes into contact with the subject, vibrates the vehicle and varies the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0068] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will cause contact with the subject, flies along the flight route, and when it comes into contact with the subject, vibrates the aircraft and changes the vibration pattern each time it comes into contact, thereby executing a process to encourage the subject to wake up or wake up.

[0069] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, repeatedly flies in a manner that makes contact with the subject based on the location information, determines a flight route that allows the position of contact with the subject to be variable, and flies along the flight route to execute processing that encourages the subject to wake up or wake up.

[0070] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, repeatedly flies in a manner that makes contact with the subject based on the location information, determines a flight route that brings the position of contact with the subject closer to the subject's face than the position of previous contact, and flies along the flight route to execute processing that encourages the subject to wake up or wake up.

[0071] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, repeatedly flies in a manner that makes contact with the subject, determines a flight route that allows the speed at which the subject comes into contact to be variable, and flies along the flight route to encourage the subject to wake up or wake up.

[0072] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, repeatedly flies in a manner that will make contact with the subject based on the location information, determines a flight route that will make contact with the subject at a speed faster than the speed at which it made contact the subject the previous time, and flies along the flight route to encourage the subject to wake up or wake up.

[0073] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, flies near the subject at a predetermined altitude and naturally falls to come into contact with the subject at a predetermined timing, or determines a flight route that will allow the unmanned aerial vehicle to naturally fall near the subject at a predetermined timing, and flies along the flight route to encourage the subject to wake up or wake up.

[0074] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, flies near the subject at a predetermined altitude and naturally falls so as to come into contact with the subject's head at a predetermined timing, or determines a flight route that will allow the unmanned aerial vehicle to naturally fall near the subject's head at a predetermined timing, and by flying along the flight route, executes a process to encourage the subject to wake up or wake up.

[0075] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, determines a flight route that will allow the unmanned aerial vehicle to fly near the subject at a predetermined altitude and fall naturally so as to come into contact with the subject at a predetermined timing, and when the unmanned aerial vehicle flies along the flight route and comes into contact with the subject, passes an electric current of a predetermined frequency through the unmanned aerial vehicle, thereby executing a process to encourage the subject to wake up or wake up.

[0076] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, and based on the location information, determines a flight route that will allow the unmanned aerial vehicle to fly near the subject at a predetermined altitude and fall naturally so as to come into contact with the subject at a predetermined timing, and when the unmanned aerial vehicle flies along the flight route and comes into contact with the subject, vibrates the vehicle to encourage the subject to wake up or wake up.

[0077] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing and resumes flight a predetermined time after the natural fall, determining a flight route to fly along the flight route and encourage the subject to wake up or wake up.

[0078] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing and resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, and flies along the flight route to encourage the subject to wake up or wake up.

[0079] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route that makes the position at which the natural fall begins variable, and flies along the flight route to execute processing to encourage the subject to wake up or wake up.

[0080] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls so as to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route such that the natural fall position is closer to the subject's face than the previous natural fall position, and flies along the flight route to encourage the subject to wake up or wake up.

[0081] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route that makes the altitude at which the natural fall begins variable, and flies along the flight route to execute processing to encourage the subject to wake up or wake up.

[0082] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls so as to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes an electric current of a predetermined frequency to encourage the subject to wake up or wake up.

[0083] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls so as to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency, and varies the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0084] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls so as to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency, and varies the pulse pattern of the current each time it comes into contact, thereby executing a process to encourage the subject to wake up or wake up.

[0085] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats the naturally falling and resuming flight, flies along the flight route, and when it comes into contact with the subject, vibrates the aircraft to encourage the subject to wake up or wake up.

[0086] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats the naturally falling and resuming flight, flies along the flight route, and when it comes into contact with the subject, vibrates the vehicle and varies the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0087] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats the naturally falling and resuming flight, flies along the flight route, and when it comes into contact with the subject, vibrates the aircraft and changes the vibration pattern each time it comes into contact, thereby executing a process to encourage the subject to wake up or wake up.

[0088] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires sleep situation information regarding the subject's sleep status, determines a flight route based on the location information and the sleep situation information, and flies along the flight route to encourage the subject to wake up or wake up.

[0089] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, determines a flight route based on the location information and the result of the determination, and flies along the flight route to encourage the subject to wake up or wake up.

[0090] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, and based on the location information and the results of the determination, determines a flight route that approaches the subject from the direction in which the subject's face is facing if the subject is lying sideways, and flies along the flight route to encourage the subject to wake up or wake up.

[0091] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires position information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, determines a flight route based on the position information and the results of the determination so as to approach the subject from the back of the head if the subject is lying sideways, and flies along the flight route to encourage the subject to wake up or wake up.

[0092] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines whether the subject is in REM sleep or non-REM sleep based on the sleep situation information, determines a flight route based on the location information and the result of the determination, and flies along the flight route to encourage the subject to wake up or wake up.

[0093] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires sleep status information regarding the subject's sleep status, determines a flight start time and flight route based on the location information and the sleep status information, and begins flight along the flight route at the flight start time, thereby executing a process to encourage the subject to wake up or wake up.

[0094] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires the sleep start time when the subject began to sleep, determines a flight start time and flight route based on the location information and the sleep start time, and begins flight along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0095] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires the subject's desired wake-up time, determines a flight start time and flight route based on the location information and the subject's desired wake-up time, and begins flying along the flight route at the flight start time, thereby executing a process to encourage the subject to wake up or wake up.

[0096] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, acquires the subject's desired wake-up time, acquires flight time information regarding the flight time required for the subject to wake up in the past, determines a flight start time and flight route based on the location information, the desired wake-up time, and the flight time information, and begins flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0097] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, accepts input of the subject's desired wake-up time in advance, stores the desired wake-up time, determines a flight start time and flight route based on the location information and the desired wake-up time, and begins flight along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0098] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or wake up, determines whether the subject has woken up, and terminates the flight based on the determination result.

[0099] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be woken up, determines whether the subject has woken up, and based on the determination result, ends the flight and stores the end time or transmits it to an external device.

[0100] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be woken up, determines whether the subject has woken up, terminates the flight based on the determination result, and stores information about the flight route actually flown or transmits it to an external device.

[0101] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be woken up, determines whether the subject has woken up, terminates the flight based on the determination result, and stores information regarding the actual flight route and the actual flight time, or transmits the information to an external device.

[0102] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be woken up, determines whether the subject has woken up, terminates the flight based on the determination result, evaluates the subject's ability to wake up based on information regarding the actual flight route and the actual flight time, and stores information regarding the evaluation or transmits it to an external device.

[0103] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle executes the following processes: acquires location information of a sleeping subject; acquires the subject's desired wake-up time; determines a flight route based on the location information; flies along the flight route to encourage the subject to wake up or be awakened; determines whether the subject has woken up; terminates the flight based on the determination result; evaluates the subject's ability to wake up based on the end time and the subject's desired wake-up time; and stores information regarding the evaluation or transmits it to an external device.

[0104] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or wake up, determines that the subject has woken up when the subject performs a predetermined action, and terminates the flight based on the determination result.

[0105] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or wake up, determines that the subject has woken up when the height of the subject's head is at a predetermined height or higher for a predetermined period of time, and terminates the flight based on the determination result.

[0106] In addition, the wake-up assistance method of the present invention is characterized in that an unmanned aerial vehicle acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be woken up, determines that the subject has woken up if the subject's head is at a height above a predetermined height for a predetermined period of time, terminates the flight based on the determination result, and then determines that the subject has not woken up if the subject's head is at a height below the predetermined height for a predetermined period of time, acquires location information of the subject, determines a new flight route based on the location information, and flies along the new flight route to encourage the subject to wake up or be woken up again.

[0107] In addition, the wake-up support method according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is a drone.

[0108] In addition, the wake-up support method according to the present invention is characterized in that, in the above invention, the unmanned aerial vehicle is an aerial robot.

[0109] In addition, in order to solve the above-mentioned problems and achieve the objective, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0110] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and fly along the flight route to execute a process to encourage the subject to wake up or wake up.

[0111] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject at a variable flight speed based on the location information, and execute a process to encourage the subject to wake up or wake up by flying along the flight route.

[0112] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly near the subject at a variable flight altitude, and execute a process to encourage the subject to wake up or wake up by flying along the flight route.

[0113] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, and fly along the flight route to execute processing that encourages the subject to wake up or wake up.

[0114] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, repeatedly fly in a manner that changes the distance from the subject based on the location information, determine a flight route that allows the position of closest approach to the subject to be variable, and fly along the flight route to execute processing that encourages the subject to wake up or wake up.

[0115] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, and based on the location information, determine a flight route that approaches the subject from a first location to a second location at a predetermined distance, remains stationary at the second location for a predetermined period of time, and then returns to the first location, and executes a process that encourages the subject to wake up or wake up by flying along the flight route.

[0116] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to circle near the subject based on the location information, and fly along the flight route to execute a process to encourage the subject to wake up or wake up.

[0117] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and output an electronic sound while flying along the flight route to encourage the subject to wake up or be woken up.

[0118] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output an electronic sound while flying along the flight route, and change the volume of the electronic sound based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0119] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output an electronic sound while flying along the flight route, and change the volume of the electronic sound based on the distance from the subject so that the volume becomes louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0120] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output an electronic sound while flying along the flight route, and vary the volume of the electronic sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0121] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output electronic sounds while flying along the flight route, and vary the type of electronic sounds at predetermined times to encourage the subject to wake up or wake up.

[0122] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output electronic sounds while flying along the flight route, and change the type of electronic sounds each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0123] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, fly along the flight route, and select and output one electronic sound from a plurality of pre-stored electronic sounds at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0124] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which will involve repeated flights that change the distance from the subject, and fly along the flight route.As the unmanned aerial vehicle approaches the subject, it selects and outputs one electronic sound from a plurality of pre-stored electronic sounds, thereby executing a process to encourage the subject to wake up or wake up.

[0125] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and output music while flying along the flight route to encourage the subject to wake up or be awakened.

[0126] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output music while flying along the flight route, and change the volume of the music based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0127] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output music while flying along the flight route, and change the volume of the music based on the distance from the subject so that the volume is louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0128] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeatedly flies in a manner that changes the distance from the subject, output music while flying along the flight route, and vary the volume of the music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0129] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output music while flying along the flight route, and vary the type of music at predetermined times to encourage the subject to wake up or wake up.

[0130] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output music while flying along the flight route, and change the type of music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0131] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, fly along the flight route, and select and output one piece of music from a plurality of pre-stored pieces of music at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0132] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, and fly along the flight route, selecting and outputting one piece of music from a plurality of pre-stored pieces of music each time the unmanned aerial vehicle approaches the subject, thereby executing a process to encourage the subject to wake up or wake up.

[0133] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and output audio while flying along the flight route to encourage the subject to wake up or be awakened.

[0134] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire time information related to the current time, determine a flight route to fly near the subject based on the location information, and output audio related to the acquired time information while flying along the flight route, thereby executing a process to encourage the subject to wake up or wake up.

[0135] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire schedule information regarding the subject's plans for the day, determine a flight route to fly near the subject based on the location information, and output audio related to the acquired schedule information while flying along the flight route, thereby encouraging the subject to wake up or wake up.

[0136] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output audio while flying along the flight route, and change the volume of the audio based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0137] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, output sound while flying along the flight route, and change the volume of the sound based on the distance from the subject so that the volume is louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0138] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that involves repeating flights that change the distance from the subject, output audio while flying along the flight route, and vary the volume of the audio each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0139] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output sound while flying along the flight route, and vary the type of sound at predetermined times to encourage the subject to wake up or wake up.

[0140] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, output sound while flying along the flight route, and change the type of sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0141] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, fly along the flight route, and select and output one sound from a plurality of pre-stored sounds at a predetermined timing, thereby executing a process to encourage the subject to wake up or wake up.

[0142] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which will involve repeated flights that change the distance from the subject, and fly along the flight route.As the unmanned aerial vehicle approaches the subject, it selects and outputs one sound from a plurality of pre-stored sounds, thereby executing a process to encourage the subject to wake up or wake up.

[0143] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and, while flying along the flight route, turn on or flash a light to encourage the subject to wake up or wake up.

[0144] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, turn on or flash a light while flying along the flight route, and change the intensity of the light based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0145] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject while changing the distance from the subject based on the location information, turn on or flash a light while flying along the flight route, and change the intensity of the light based on the distance from the subject so that the light is brighter the shorter the distance from the subject's eyes, thereby encouraging the subject to wake up or wake up.

[0146] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that involves repeating flights that change the distance from the subject, turn on or flash a light while flying along the flight route, and vary the intensity of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0147] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that repeats flights that change the distance from the subject, turn on or flash a light while flying along the flight route, and change the color of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0148] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information that involves repeating flights that change the distance from the subject, turn on or flash a light while flying along the flight route, and change the flashing pattern of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0149] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and, while flying along the flight route, spray air toward the subject to encourage the subject to wake up or be awakened.

[0150] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, and while flying along the flight route, spray air toward the subject and vary the volume of the air at predetermined times to encourage the subject to wake up or wake up.

[0151] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeatedly flying in a manner that changes the distance from the subject, spray air toward the subject while flying along the flight route, and vary the volume of the air each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0152] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, and while flying along the flight route, spray air toward the subject and vary the temperature of the air at predetermined times to encourage the subject to wake up or wake up.

[0153] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeatedly flying in a manner that changes the distance from the subject, and while flying along the flight route, spray air toward the subject, and vary the temperature of the air each time the vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0154] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route to fly near the subject based on the location information, and spray a liquid toward the subject while flying along the flight route to encourage the subject to wake up or wake up.

[0155] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, spray liquid toward the subject while flying along the flight route, and vary the amount of liquid sprayed at predetermined times to encourage the subject to wake up or wake up.

[0156] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, spray liquid toward the subject while flying along the flight route, and vary the amount of liquid sprayed each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0157] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, spray liquid toward the subject while flying along the flight route, and vary the temperature of the liquid at predetermined times to encourage the subject to wake up or wake up.

[0158] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which will involve repeated flights that change the distance from the subject, spray liquid toward the subject while flying along the flight route, and vary the temperature of the liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0159] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeating flights that change the distance from the subject, spray liquid toward the subject while flying along the flight route, and change the type of liquid at predetermined times to encourage the subject to wake up or wake up.

[0160] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, which involves repeatedly flying in a manner that changes the distance from the subject, spray liquid toward the subject while flying along the flight route, and change the type of liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0161] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will bring the subject into contact with the subject, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0162] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will bring the unmanned aerial vehicle into contact with the subject's head, and fly along the flight route to encourage the subject to wake up or be awakened.

[0163] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will cause contact with the subject, fly along the flight route, and when it comes into contact with the subject, pass an electric current of a predetermined frequency through the unmanned aerial vehicle to execute a process that encourages the subject to wake up or wake up.

[0164] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will allow it to come into contact with the subject, fly along the flight route, and when it comes into contact with the subject, pass a current of a predetermined frequency through it, and vary the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0165] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will cause contact with the subject, fly along the flight route, and when it comes into contact with the subject, pass a current of a predetermined frequency through it, and vary the pulse pattern of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0166] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will cause the unmanned aerial vehicle to come into contact with the subject, fly along the flight route, and when it comes into contact with the subject, vibrate the vehicle to encourage the subject to wake up or wake up.

[0167] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will cause the unmanned aerial vehicle to come into contact with the subject, fly along the flight route, and when it comes into contact with the subject, vibrate the vehicle and vary the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0168] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information to fly in a manner that will cause the unmanned aerial vehicle to come into contact with the subject, fly along the flight route, and when the unmanned aerial vehicle comes into contact with the subject, vibrate the vehicle and change the vibration pattern each time the unmanned aerial vehicle comes into contact, thereby encouraging the subject to wake up or wake up.

[0169] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, repeatedly fly in a manner that makes contact with the subject based on the location information, determine a flight route that allows the position of contact with the subject to be variable, and fly along the flight route to execute processing that encourages the subject to wake up or wake up.

[0170] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, repeatedly fly in a manner that makes contact with the subject based on the location information, determine a flight route that will bring the position of contact with the subject closer to the subject's face than the position of previous contact, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0171] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, repeatedly fly in a manner that makes contact with the subject based on the location information, determine a flight route that allows the speed at which the subject comes into contact to be varied, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0172] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, repeatedly fly in a manner that will make contact with the subject based on the location information, determine a flight route that will make contact with the subject at a speed faster than the speed at which the subject made contact the previous time, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0173] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, and based on the location information, fly near the subject at a predetermined altitude and naturally fall so as to come into contact with the subject at a predetermined timing, or determine a flight route that will naturally fall near the subject at a predetermined timing, and fly along the flight route to encourage the subject to wake up or wake up.

[0174] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, and naturally fall so as to come into contact with the subject's head at a predetermined timing, or determine a flight route that will naturally fall near the subject's head at a predetermined timing, and fly along the flight route to encourage the subject to wake up or wake up.

[0175] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, and based on the location information, to determine a flight route that will allow the unmanned aerial vehicle to fly near the subject at a predetermined altitude and fall naturally so as to come into contact with the subject at a predetermined timing, and when the unmanned aerial vehicle flies along the flight route and comes into contact with the subject, it passes an electric current of a predetermined frequency through the unmanned aerial vehicle to execute a process that encourages the subject to wake up or wake up.

[0176] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, and based on the location information, to fly near the subject at a predetermined altitude, determine a flight route for natural descent so as to come into contact with the subject at a predetermined timing, and when the unmanned aerial vehicle flies along the flight route and comes into contact with the subject, vibrate the vehicle to encourage the subject to wake up or wake up.

[0177] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, and naturally fall to contact the subject at a predetermined timing, or naturally fall near the subject at a predetermined timing and resume flight a predetermined time after the natural fall, determining a flight route, and flying along the flight route to encourage the subject to wake up or wake up.

[0178] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, and naturally fall to contact the subject at a predetermined timing, or naturally fall near the subject at a predetermined timing and resume flight a predetermined time after the natural fall, determine a flight route that repeats natural fall and resumption of flight, and execute a process to encourage the subject to wake up or wake up by flying along the flight route.

[0179] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, or naturally fall near the subject at a predetermined timing, resume flight a predetermined time after the natural fall, repeat the natural fall and resumption of flight, determine a flight route that makes the position at which the natural fall begins variable, and fly along the flight route to execute processing to encourage the subject to wake up or wake up.

[0180] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, or naturally fall near the subject at a predetermined timing, resume flight a predetermined time after the natural fall, repeat the natural fall and resumption of flight, determine a flight route such that the natural fall position is closer to the subject's face than the previous natural fall position, and fly along the flight route to execute a process to encourage the subject to wake up or wake up.

[0181] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, and naturally fall to contact the subject at a predetermined timing, or naturally fall near the subject at a predetermined timing, resume flight a predetermined time after the natural fall, repeat the natural fall and resumption of flight, determine a flight route that makes the altitude at which the natural fall begins variable, and fly along the flight route to execute processing to encourage the subject to wake up or wake up.

[0182] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight a predetermined time after the natural fall, determine a flight route that repeats natural fall and resumption of flight, fly along the flight route, and when it comes into contact with the subject, pass an electric current of a predetermined frequency through it to encourage the subject to wake up or wake up.

[0183] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight a predetermined time after the natural fall, determine a flight route that repeats natural fall and resumption of flight, fly along the flight route, and when it comes into contact with the subject, pass a current of a predetermined frequency through it, and vary the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0184] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight a predetermined time after the natural fall, determine a flight route that repeats natural fall and resumption of flight, fly along the flight route, and when it comes into contact with the subject, pass a current of a predetermined frequency through it, and vary the pulse pattern of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0185] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight after a predetermined time, determine a flight route that repeats the natural fall and resumption of flight, fly along the flight route, and when it comes into contact with the subject, vibrate the vehicle to encourage the subject to wake up or wake up.

[0186] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight after a predetermined time, determine a flight route that repeats the natural fall and resumption of flight, fly along the flight route, vibrate the vehicle when it comes into contact with the subject, and vary the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0187] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, fly near the subject at a predetermined altitude based on the location information, naturally fall so as to come into contact with the subject at a predetermined timing, resume flight after a predetermined time, determine a flight route that repeats the natural fall and resumption of flight, fly along the flight route, vibrate the vehicle when it comes into contact with the subject, and change the vibration pattern each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0188] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire sleep situation information regarding the sleeping condition of the subject, determine a flight route based on the location information and the sleep situation information, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0189] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire sleep situation information regarding the sleeping condition of the subject, determine the direction of the subject's face based on the sleep situation information, determine a flight route based on the location information and the results of the determination, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0190] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire sleep situation information regarding the sleeping condition of the subject, determine the direction of the subject's face based on the sleep situation information, determine a flight route based on the location information and the results of the determination so as to approach the subject from the direction in which their face is facing if they are lying sideways, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0191] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire position information of a sleeping subject, acquire sleep situation information regarding the sleeping condition of the subject, determine the direction of the subject's face based on the sleep situation information, determine a flight route based on the position information and the results of the determination so as to approach the subject from the back of the head if the subject is lying on their side, and fly along the flight route to execute processing to encourage the subject to wake up or wake up.

[0192] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire sleep situation information regarding the sleeping condition of the subject, determine whether the subject is in REM sleep or non-REM sleep based on the sleep situation information, determine a flight route based on the location information and the result of the determination, and fly along the flight route to execute a process that encourages the subject to wake up or wake up.

[0193] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire sleep status information regarding the subject's sleep status, determine a flight start time and flight route based on the location information and the sleep status information, and begin flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0194] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire the sleep start time when the subject began to sleep, determine a flight start time and flight route based on the location information and the sleep start time, and begin flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0195] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire the subject's desired wake-up time, determine a flight start time and flight route based on the location information and the subject's desired wake-up time, and begin flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0196] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, acquire the subject's desired wake-up time, acquire flight time information regarding the flight time required for the subject to wake up in the past, determine a flight start time and flight route based on the location information, the desired wake-up time, and the flight time information, and begin flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0197] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, accept input of the subject's desired wake-up time in advance, store the desired wake-up time, determine a flight start time and flight route based on the location information and the desired wake-up time, and begin flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0198] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or wake up, determine whether the subject has woken up, and terminate the flight based on the result of the determination.

[0199] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or be woken up, determine whether the subject has woken up, and based on the determination result, end the flight and store the end time or send it to an external device.

[0200] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or be woken up, determine whether the subject has woken up, terminate the flight based on the determination result, and store information regarding the flight route actually flown or transmit it to an external device.

[0201] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or be woken up, determine whether the subject has woken up, terminate the flight based on the determination result, and store information regarding the actual flight route and the actual flight time, or transmit the information to an external device.

[0202] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or be woken up, determine whether the subject has woken up or not, terminate the flight based on the determination result, evaluate the subject's ability to wake up based on information regarding the actual flight route and the actual flight time, and store information regarding the evaluation or transmit it to an external device.

[0203] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to perform the following processes: acquire location information of a sleeping subject; acquire the subject's desired wake-up time; determine a flight route based on the location information; encourage the subject to wake up or be awakened by flying along the flight route; determine whether the subject has woken up; terminate the flight based on the determination result; evaluate the subject's ability to wake up based on the end time and the subject's desired wake-up time; and store information related to the evaluation or transmit it to an external device.

[0204] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or wake up, determine that the subject has woken up when the subject performs a predetermined action, and terminate the flight based on the determination result.

[0205] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or wake up, determine that the subject has woken up when the height of the subject's head is at a predetermined height or higher for a predetermined period of time, and terminate the flight based on the determination result.

[0206] In addition, the wake-up assistance program of the present invention is characterized in that it causes an unmanned aerial vehicle to acquire location information of a sleeping subject, determine a flight route based on the location information, fly along the flight route to encourage the subject to wake up or be woken up, determine that the subject has woken up if the subject's head is at a height above a predetermined height for a predetermined period of time, terminate the flight based on the judgment result, and then determine that the subject has not woken up if the subject's head is at a height below the predetermined height for a predetermined period of time, acquire location information of the subject, determine a new flight route based on the location information, and fly along the new flight route to encourage the subject to wake up or be woken up again.

[0207] In addition, in the wake-up support program according to the present invention, the unmanned aerial vehicle is a drone.

[0208] In addition, in the wake-up assistance program according to the present invention, the unmanned aerial vehicle is an aerial robot.

[0209] In addition, in order to solve the above-mentioned problems and achieve the objectives, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0210] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0211] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject at a variable flight speed based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0212] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject at a variable flight altitude based on the location information, and flies along the flight route to encourage the subject to wake up or be awakened.

[0213] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, and repeats flights that change the distance from the subject, and flies along the flight route to encourage the subject to wake up or wake up.

[0214] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, repeatedly flies in a manner that changes the distance from the subject based on the location information, determines a flight route that allows the position of closest approach to the subject to be variable, and flies along the flight route to encourage the subject to wake up or wake up.

[0215] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, and based on the location information, determines a flight route that approaches the subject from a first location to a second location at a predetermined distance, remains stationary at the second location for a predetermined period of time, and then returns to the first location, and by flying along this flight route, encourages the subject to wake up or wake up.

[0216] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly in circles near the subject based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0217] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs an electronic sound while flying along the flight route to encourage the subject to wake up or be woken up.

[0218] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs an electronic sound while flying along the flight route, and changes the volume of the electronic sound based on the distance from the subject to encourage the subject to wake up or be woken up.

[0219] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs an electronic sound while flying along the flight route, and changes the volume of the electronic sound based on the distance from the subject so that the volume becomes louder the shorter the distance from the subject's ear, thereby encouraging the subject to wake up or wake up.

[0220] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs an electronic sound while flying along the flight route, and varies the volume of the electronic sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0221] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs electronic sounds while flying along the flight route, and changes the type of electronic sounds at predetermined times to encourage the subject to wake up or be awake.

[0222] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs electronic sounds while flying along the flight route, and changes the type of electronic sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0223] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one electronic sound from a plurality of pre-stored electronic sounds at a predetermined timing to encourage the subject to wake up or be awake.

[0224] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, and flies along the flight route, selecting and outputting one electronic sound from a plurality of pre-stored electronic sounds each time the unmanned aerial vehicle approaches the subject, thereby waking up or waking up the subject.

[0225] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs music while flying along the flight route to encourage the subject to wake up or be awake.

[0226] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs music while flying along the flight route, and changes the volume of the music based on the distance from the subject to encourage the subject to wake up or be awake.

[0227] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs music while flying along the flight route, and changes the volume of the music based on the distance from the subject so that the volume gets louder the closer the distance to the subject's ear, thereby encouraging the subject to wake up or wake up.

[0228] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs music while flying along the flight route, and varies the volume of the music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0229] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs music while flying along the flight route, and changes the type of music at predetermined times to encourage the subject to wake up or be awake.

[0230] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs music while flying along the flight route, and changes the type of music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or be awake.

[0231] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one piece of music from a plurality of pre-stored pieces of music at a predetermined timing to encourage the subject to wake up or be awake.

[0232] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, and repeatedly flies in a manner that changes the distance from the subject, and flies along the flight route, selecting and outputting one piece of music from a plurality of pre-stored pieces of music each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or be awake.

[0233] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and outputs sound while flying along the flight route to encourage the subject to wake up or be awake.

[0234] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires time information related to the current time, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, outputs audio related to the acquired time information to encourage the subject to wake up or wake up.

[0235] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires schedule information regarding the subject's plans for the day, determines a flight route to fly near the subject based on the location information, and, while flying along the flight route, outputs audio related to the acquired schedule information to encourage the subject to wake up or wake up.

[0236] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs sound while flying along the flight route, and changes the volume of the sound based on the distance from the subject to encourage the subject to wake up or be woken up.

[0237] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, outputs sound while flying along the flight route, and changes the volume of the sound based on the distance from the subject so that the volume becomes louder the closer the distance to the subject's ear, thereby encouraging the subject to wake up or wake up.

[0238] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs audio while flying along the flight route, and varies the volume of the audio each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0239] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs sound while flying along the flight route, and varies the type of sound at predetermined times to encourage the subject to wake up or be awake.

[0240] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, outputs sound while flying along the flight route, and changes the type of sound each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0241] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, flies along the flight route, and selects and outputs one sound from a plurality of pre-stored sounds at a predetermined timing to encourage the subject to wake up or be awake.

[0242] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, and repeatedly flies in a manner that changes the distance from the subject, and flies along the flight route, selecting and outputting one sound from a plurality of pre-stored sounds each time the unmanned aerial vehicle approaches the subject, thereby urging the subject to wake up or be awake.

[0243] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and turns on or flashes a light while flying along the flight route to encourage the subject to wake up or wake up.

[0244] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject while changing the distance from the subject based on the location information, turns on or flashes a light while flying along the flight route, and changes the intensity of the light based on the distance from the subject, thereby encouraging the subject to wake up or wake up.

[0245] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly near the subject while changing the distance from the subject, turns on or flashes a light while flying along the flight route, and changes the intensity of the light based on the distance from the subject so that the light is brighter the closer the distance to the subject's eyes, thereby encouraging the subject to wake up or wake up.

[0246] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, and repeatedly flies in a manner that changes the distance from the subject, turns on or flashes a light while flying along the flight route, and varies the intensity of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0247] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, turns on or flashes a light while flying along the flight route, and changes the color of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0248] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, turns on or flashes a light while flying along the flight route, and changes the flashing pattern of the light each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0249] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and while flying along the flight route, sprays air toward the subject to encourage the subject to wake up or be awake.

[0250] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, and while flying along the flight route, sprays air toward the subject and varies the volume of the air at predetermined times to encourage the subject to wake up or wake up.

[0251] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays air toward the subject while flying along the flight route, and varies the volume of the air each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0252] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, and while flying along the flight route, sprays air toward the subject and varies the temperature of the air at predetermined times to encourage the subject to wake up or wake up.

[0253] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays air toward the subject while flying along the flight route, and varies the temperature of the air each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0254] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route to fly near the subject based on the location information, and sprays a liquid toward the subject while flying along the flight route to encourage the subject to wake up or be awake.

[0255] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the amount of liquid sprayed at predetermined times to encourage the subject to wake up or wake up.

[0256] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the amount of liquid sprayed each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0257] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the temperature of the liquid at predetermined times to encourage the subject to wake up or wake up.

[0258] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and varies the temperature of the liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0259] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and changes the type of liquid at predetermined times to encourage the subject to wake up or wake up.

[0260] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, repeats flights that change the distance from the subject, sprays liquid toward the subject while flying along the flight route, and changes the type of liquid each time the unmanned aerial vehicle approaches the subject, thereby encouraging the subject to wake up or wake up.

[0261] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route that will come into contact with the subject based on the location information, and flies along the flight route to encourage the subject to wake up or wake up.

[0262] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will bring the subject close to the head, and flies along the flight route to encourage the subject to wake up or wake up.

[0263] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a way that will come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes an electric current of a predetermined frequency to encourage the subject to wake up or wake up.

[0264] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency through it, and varies the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0265] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency through it, and varies the pulse pattern of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0266] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a way that will come into contact with the subject, flies along the flight route, and when it comes into contact with the subject, vibrates the aircraft to encourage the subject to wake up or wake up.

[0267] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will come into contact with the subject, flies along the flight route, and vibrates the aircraft when it comes into contact with the subject, and varies the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0268] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information to fly in a manner that will come into contact with the subject, flies along the flight route, and vibrates the aircraft when it comes into contact with the subject, and changes the vibration pattern each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0269] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, repeatedly flies in a manner that makes contact with the subject based on the location information, determines a flight route that allows the position of contact with the subject to be variable, and flies along the flight route to encourage the subject to wake up or wake up.

[0270] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, repeatedly flies in a manner that makes contact with the subject based on the location information, determines a flight route that brings the position of contact with the subject closer to the subject's face than the position of previous contact, and flies along the flight route to encourage the subject to wake up or wake up.

[0271] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, and based on the location information, determines a flight route that repeatedly flies in a manner that makes contact with the subject, varies the speed at which it makes contact with the subject, and flies along the flight route to encourage the subject to wake up or wake up.

[0272] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, repeatedly flies in a manner that makes contact with the subject based on the location information, determines a flight route that will make contact with the subject at a speed faster than the speed at which it made contact the subject the previous time, and flies along this flight route to encourage the subject to wake up or wake up.

[0273] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, and based on the location information, flies near the subject at a predetermined altitude and naturally falls to come into contact with the subject at a predetermined timing, or determines a flight route that will naturally fall near the subject at a predetermined timing, and by flying along the flight route, encourages the subject to wake up or wake up.

[0274] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, and based on the location information, flies near the subject at a predetermined altitude and naturally falls so as to come into contact with the subject's head at a predetermined timing, or determines a flight route that will naturally fall near the subject's head at a predetermined timing, and by flying along the flight route, encourages the subject to wake up or wake up.

[0275] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, determines a flight route for natural descent so as to come into contact with the subject at a predetermined timing, flies along the flight route, and when it comes into contact with the subject, passes an electric current of a predetermined frequency to encourage the subject to wake up or wake up.

[0276] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, determines a flight route for natural descent so as to come into contact with the subject at a predetermined timing, flies along the flight route, and when it comes into contact with the subject, vibrates the aircraft to encourage the subject to wake up or wake up.

[0277] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing and resumes flight a predetermined time after naturally falling, and flies along the flight route to encourage the subject to wake up or wake up.

[0278] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing and resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, and flies along the flight route to encourage the subject to wake up or wake up.

[0279] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route that makes the position at which the natural fall begins variable, and flies along the flight route to encourage the subject to wake up or wake up.

[0280] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route such that the natural fall position is closer to the subject's face than the previous natural fall position, and flies along the flight route to encourage the subject to wake up or wake up.

[0281] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, and naturally falls to come into contact with the subject at a predetermined timing, or naturally falls near the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, repeats the natural fall and resumption of flight, determines a flight route that allows the altitude at which the natural fall begins to be variable, and flies along the flight route to encourage the subject to wake up or wake up.

[0282] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes an electric current of a predetermined frequency to encourage the subject to wake up or wake up.

[0283] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency through it, and varies the frequency of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0284] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight a predetermined time after the natural fall, determines a flight route that repeats natural fall and resumption of flight, flies along the flight route, and when it comes into contact with the subject, passes a current of a predetermined frequency and varies the pulse pattern of the current each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0285] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats this natural fall and resumption of flight, flies along the flight route, and vibrates the aircraft when it comes into contact with the subject, thereby encouraging the subject to wake up or wake up.

[0286] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats this natural fall and resumption of flight, flies along the flight route, and vibrates the aircraft when it comes into contact with the subject, and varies the strength of the vibration each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0287] In addition, the unmanned aerial vehicle of this invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, flies near the subject at a predetermined altitude based on the location information, naturally falls to come into contact with the subject at a predetermined timing, resumes flight after a predetermined time, determines a flight route that repeats this natural fall and resumption of flight, flies along the flight route, and vibrates the aircraft when it comes into contact with the subject, and changes the vibration pattern each time it comes into contact, thereby encouraging the subject to wake up or wake up.

[0288] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires sleep status information regarding the sleeping condition of the subject, determines a flight route based on the location information and the sleep status information, and flies along the flight route to encourage the subject to wake up or wake up.

[0289] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires position information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, determines a flight route based on the position information and the results of the determination, and flies along the flight route to encourage the subject to wake up or wake up.

[0290] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, and, based on the location information and the results of the determination, determines a flight route that approaches the subject from the direction in which the subject's face is facing if the subject is lying sideways, and flies along the flight route to encourage the subject to wake up or wake up.

[0291] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires position information of a sleeping subject, acquires sleep situation information regarding the sleeping condition of the subject, determines the direction of the subject's face based on the sleep situation information, and determines a flight route based on the position information and the results of the determination to approach the subject from the back of the head if the subject is lying on their side, and flies along the flight route to encourage the subject to wake up or wake up.

[0292] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires sleep status information regarding the sleeping condition of the subject, determines whether the subject is in REM sleep or non-REM sleep based on the sleep status information, determines a flight route based on the location information and the results of the determination, and flies along the flight route to encourage the subject to wake up or wake up.

[0293] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires sleep status information regarding the sleeping condition of the subject, determines a flight start time and flight route based on the location information and the sleep status information, and starts flight along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0294] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires the sleep start time when the subject began to sleep, determines a flight start time and flight route based on the location information and the sleep start time, and begins flight along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0295] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires the subject's desired wake-up time, determines a flight start time and flight route based on the location information and the subject's desired wake-up time, and starts flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0296] In addition, the unmanned aerial vehicle of the present invention is characterized by being equipped with a control unit that acquires location information of a sleeping subject, acquires the subject's desired wake-up time, acquires flight time information regarding the flight time required for the subject to wake up in the past, determines a flight start time and flight route based on the location information, the desired wake-up time, and the flight time information, and begins flying along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0297] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, accepts input of the subject's desired wake-up time in advance, stores the desired wake-up time, determines a flight start time and flight route based on the location information and the desired wake-up time, and begins flight along the flight route at the flight start time, thereby encouraging the subject to wake up or wake up.

[0298] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines whether the subject has woken up, and terminates the flight based on the determination result.

[0299] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines whether the subject has woken up, and based on the determination result, ends the flight and stores the end time or transmits it to an external device.

[0300] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines whether the subject has woken up, terminates the flight based on the determination result, and stores information about the flight route actually flown or transmits it to an external device.

[0301] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines whether the subject has woken up, terminates the flight based on the determination result, and stores information regarding the actual flight route and the actual flight time, or transmits this information to an external device.

[0302] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines whether the subject has woken up, terminates the flight based on the determination result, evaluates the subject's waking up based on information regarding the actual flight route and the actual flight time, and stores information regarding the evaluation or transmits it to an external device.

[0303] In addition, the unmanned aerial vehicle of the present invention is characterized by having a control unit that acquires location information of a sleeping subject, acquires the subject's desired wake-up time, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awakened, determines whether the subject has woken up based on the determination result, terminates the flight based on the end time and the subject's desired wake-up time, and stores information regarding the evaluation or transmits it to an external device.

[0304] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines that the subject has woken up when the subject performs a predetermined action, and terminates the flight based on the determination result.

[0305] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines that the subject has woken up when the height of the subject's head is at a predetermined height or higher for a predetermined period of time, and terminates the flight based on the determination result.

[0306] In addition, the unmanned aerial vehicle of this invention is characterized by having a control unit that acquires location information of a sleeping subject, determines a flight route based on the location information, flies along the flight route to encourage the subject to wake up or be awake, determines that the subject has woken up if the subject's head is at a height above a predetermined height for a predetermined period of time, terminates the flight based on the judgment result, and then determines that the subject has not woken up if the subject's head is at a height below the predetermined height for a predetermined period of time, acquires location information of the subject, determines a new flight route based on the location information, and flies along the new flight route to encourage the subject to wake up or be awake again.

[0307] In addition, the unmanned aerial vehicle of this invention is characterized in that, in the above invention, it is provided with a cushioning member that reduces the impact when coming into contact with the target person.

[0308] In addition, the unmanned aerial vehicle according to the present invention is characterized in that, in the above invention, it is provided with an electrode that discharges a current pulse when it comes into contact with the target person. [Effects of the Invention]

[0309] The wake-up assistance method, wake-up assistance program, and unmanned aerial vehicle according to the present invention have the effect of more reliably assisting in awakening or waking up. [Brief explanation of the drawings]

[0310] [Figure 1A] FIG. 1 is an explanatory diagram (part 1) showing an overview of a wake-up support method. [Figure 1B] FIG. 2 is an explanatory diagram (part 2) showing an outline of the wake-up support method. [Figure 1C] FIG. 10 is an explanatory diagram (part 3) showing an outline of the wake-up support method. [Figure 2] FIG. 1 is an explanatory diagram showing an example of the appearance of an unmanned aerial vehicle. [Figure 3] FIG. 1 is an explanatory diagram showing an example of the hardware configuration of an unmanned aerial vehicle. [Figure 4] A block diagram showing an example of the functional configuration of a control unit of an unmanned aerial vehicle. [Figure 5] 10 is a flowchart illustrating an example of a processing procedure of a control unit of an unmanned aerial vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0311] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the wake-up assistance method, wake-up assistance program, and unmanned aerial vehicle according to the present invention will be described in detail below with reference to the accompanying drawings.

[0312] (Overview of wake-up assistance method) 1A to 1C are explanatory diagrams showing an overview of the wake-up assistance method. Fig. 1A shows unmanned aerial vehicle 100 flying above sleeping subject 150 who should be encouraged to wake up or be awakened.

[0313] At a predetermined time, unmanned aerial vehicle 100 flies in the sky near sleeping subject 150 to encourage the subject 150 to wake up or wake up. Sleeping subject 150 senses the presence of unmanned aerial vehicle 100 flying overhead, which enables the subject 150 to wake up and recognize that it is time to wake up or that the time to wake up is approaching.

[0314] In this way, at the specified time, unmanned aerial vehicle 150 flies overhead, waking or waking up sleeping subject 150. Since unmanned aerial vehicle 150 simply flies overhead, there is no disturbance such as the sound of a conventional alarm clock, allowing subject 150 to feel pleasantly awakened. Furthermore, there is less disturbance or discomfort to those other than subject 150 caused by the sound of a conventional alarm clock.

[0315] Next, the details of wake-up support for a subject who has trouble waking up will be explained. Figure 1B shows unmanned aerial vehicle 100 flying above subject 150 who should be encouraged to wake up or wake up, and further, outputting sound from a speaker (see speaker 311 in Figure 3) equipped in unmanned aerial vehicle 100 to encourage sleeping subject 150 to wake up or wake up through the sound stimulation.

[0316] 1B, unmanned aerial vehicle 100 flies close to subject 150 (close to the ear), where it outputs a voice message saying, "Good morning, it's 7:45." Subject 150 hears the voice message close to his or her own ear. Therefore, the voice message can be heard clearly enough for subject 150 to hear, and a sound stimulus can be provided to subject 150 without increasing the volume of the voice message.

[0317] Furthermore, if the subject 150 does not wake up, a loud sound can be output near the ear to more reliably prompt the subject 150 to wake up or wake up.

[0318] The types of sounds may vary, and may include content that stimulates a sense of crisis in the subject 150. For example, the sound may include content that indicates that the subject has an appointment for the day and that the time is approaching, such as "You will be late for an important meeting" or "You will miss your reserved flight." In addition to sounds, the sound may include the electronic sound of an alarm clock, music, a radio program, etc. Furthermore, a plurality of these types of sounds may be output in sequence, or a combination of a plurality of types of sounds may be output.

[0319] In order to more reliably awaken or wake up the sleeping subject 150, although not shown in the figures, the unmanned aerial vehicle 100 flies over the subject 150 who should be encouraged to awaken or wake up, approaches the subject 150 (near the face), and outputs (emits) light from a light (see light 312 in Figure 3) equipped on the unmanned aerial vehicle 100, thereby stimulating the sleeping subject 150 to awaken or wake up.

[0320] Furthermore, in order to more reliably awaken or wake up the sleeping subject 150, although not shown in the figures, the unmanned aerial vehicle 100 flies over the subject 150 who should be encouraged to awaken or wake up, approaches the subject 150 (near the face) and blows out air from a blower (see blower 315 in Figure 3) equipped on the unmanned aerial vehicle 100, so that the wind (air) can stimulate the sleeping subject 150 to awaken or wake up.

[0321] Furthermore, in order to more reliably awaken or wake up the sleeping subject 150, although not shown in the figures, the unmanned aerial vehicle 100 flies over the subject 150 who should be encouraged to awaken or wake up, approaches the subject 150 (near the face), and generates mist from a spray device (see spray device 316 in Figure 3) equipped on the unmanned aerial vehicle 100, and the stimulation of the mist (liquid) can encourage the sleeping subject 150 to awaken or wake up.

[0322] In this way, unmanned aerial vehicle 100 flies above sleeping subject 150 and provides various stimuli to subject 150, thereby encouraging sleeping subject 150 to wake up or be awakened.

[0323] Next, we will explain the details of wake-up support for subjects who have a hard time waking up. Figure 1C shows a state in which unmanned aerial vehicle 100 flies above subject 150, who should be encouraged to wake up or wake up, and then unmanned aerial vehicle 100 itself rams subject 150, and the impact encourages sleeping subject 150 to wake up or wake up.

[0324] 1C, unmanned aerial vehicle 100 contacts subject 150 around the waist, but it may also contact other parts of subject 150, such as the face or head, or it may fall close to the face.

[0325] Furthermore, when contacting subject 150, a current is passed through electrode 111, and a current pulse stimulus (electric shock) is given to subject 150. Alternatively, when contacting subject 150, unmanned aerial vehicle 100 itself vibrates, thereby giving subject 150 a vibration stimulus.

[0326] The unmanned aerial vehicle 100 aims to have the effect that if the subject 150 is subjected to such shocks repeatedly, he or she will wake up even if he or she does not want to receive any more shocks.

[0327] (An example of the appearance of the unmanned aerial vehicle 100) Next, an example of the appearance of an unmanned aerial vehicle according to an embodiment of the present invention will be described. FIG. 2 is an explanatory diagram showing an example of the appearance of an unmanned aerial vehicle. As shown in FIG. 2, the unmanned aerial vehicle (drone, flying robot) 100 can specifically be, for example, a quadcopter equipped with four propellers 201. The unmanned aerial vehicle 100 is not limited to a quadcopter, and various types of multicopters can be employed, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0328] Although not shown in the drawings, the propeller 201 may be provided with a cover to prevent contact with the propeller 201 and damage to the propeller 201.

[0329] As shown in Fig. 2, which will be described later, a buffer member 110 is provided on the bottom of unmanned aerial vehicle 100. This is to cushion the impact of contact as much as possible when contact occurs with target person 150. The buffer member 110 can be made of a soft material such as rubber or silicone.

[0330] 2, which will be described later, electrodes 111 are provided at predetermined positions on buffer member 110. As a result, when buffer member 110 of unmanned aerial vehicle 150 comes into contact with subject 150, a current pulse is generated by a current pulse generator (not shown) (see current pulse generator 317 in FIG. 3), and an electric shock can be given to subject 150.

[0331] Unmanned aerial vehicle 100 may be a flying robot. The flying robot may have a shape that resembles, for example, a bird such as a hawk. Specifically, the flying robot may have a head with a beak, and components that resemble bird wings and a tail.

[0332] Flying robots are not limited to shapes that imitate birds such as hawks. Flying robots are not limited to birds and beasts that exist today, but may also be shaped to imitate extinct animals such as dinosaurs, mythical beasts such as dragons and unicorns, or insects, and may be equipped with parts that correspond to characteristic parts of birds and beasts, such as tails, ears, feet (legs, limbs), horns, fangs, whiskers, etc., in addition to beaks, heads, wings, and tails.

[0333] The flying robot may also be shaped to resemble an anime character, a robot, etc. The flying robot may also be shaped to resemble an airplane, a helicopter, etc. The flying robot may also be shaped to resemble a sphere such as a ball, or other shapes.

[0334] 2, camera 305 captures an image of subject 150. Specifically, camera 305 can be realized by, for example, a general-purpose digital camera. Camera 305 is fixed to drone 602 with lens 603a facing in a predetermined direction.

[0335] Camera 305 may be connected to unmanned aerial vehicle 100 in a state where the direction in which the lens is pointed is adjustable. Although not shown, camera 305 may be connected to unmanned aerial vehicle 100 via a universal joint such as a ball joint. By connecting camera 305 to unmanned aerial vehicle 100 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of camera 305 can be ensured.

[0336] In this case, unmanned aerial vehicle 100 may be equipped with a drive mechanism that changes the attitude of camera 305 relative to unmanned aerial vehicle 100 in order to adjust the direction in which the lens is pointed. The drive mechanism may be configured, for example, by a motor, a gear train, or the like.

[0337] The camera 305 is not limited to a general-purpose digital camera, but may be realized by, for example, a night vision camera that takes pictures in dark places by amplifying its sensitivity to light, or an infrared camera that is sensitive to infrared light.

[0338] By installing such a camera 305, it is possible to clearly capture an image of subject 150 even at night without using a light source for auxiliary imaging, thereby suppressing increases in the weight and power consumption of unmanned aerial vehicle 100.

[0339] (Hardware configuration of unmanned aerial vehicle 100) Next, a description will be given of the hardware configuration of unmanned aerial vehicle 100. FIG.

[0340] As shown in Figure 3, the hardware of the unmanned aerial vehicle 100 is composed of a control circuit 301, memory 302, battery 303, solar cell 304, camera 305, various sensors 306, GPS receiver 307, communication I / F (interface) 308, timing device 309, etc.

[0341] The hardware of the unmanned aerial vehicle 100 further includes a propeller drive motor 310, a speaker 311, a light 312, a heater 313, a Peltier element 314, a blower 315, a spray device 316, a current pulse generator 317, a vibrator 318, and the like.

[0342] Units 301 to 318 included in unmanned aerial vehicle 100 are connected to each other via bus 300 and controlled by control unit 101 of unmanned aerial vehicle 100.

[0343] Control circuit 301 is composed of a CPU and the like, and drives and controls each part of unmanned aerial vehicle 100. CPU controls the entire device of unmanned aerial vehicle 100 by executing programs stored in memory 302. Memory 302 stores the programs executed by the CPU. Memory 302 also stores various types of information.

[0344] Specifically, memory 302 can be realized by, for example, an IC memory, an SSD (Solid State Drive), etc. Furthermore, memory may be a memory card that is attachable to and detachable from unmanned aerial vehicle 100 via a card slot provided in unmanned aerial vehicle 100.

[0345] The memory card can be realized by an IC card such as an SD (Secure Digital) memory card, etc. The memory may be realized by an external hard disk, USB memory, etc.

[0346] Specifically, the control circuit 301 includes, for example, a flight controller and an ESC (Electronic Speed ​​Controller). The control circuit 301 may further include a BEC (Battery Elimination Circuit) and a UBEC (Universal BEC). In addition, when the battery 303 is realized by a secondary battery, the control circuit 301 may include a charging circuit that charges (stores) the battery 303.

[0347] The flight controller performs calculations related to the rotation control of the propeller drive motor 310 and outputs a control signal. The ESC controls the rotation of the propeller drive motor 310 based on the control signal output from the flight controller. While the unmanned aerial vehicle 100 is flying, the flight controller detects the inclination of the unmanned aerial vehicle 100, performs calculations repeatedly, and recursively outputs a control signal to the propeller drive motor 310.

[0348] The flight controller outputs a control signal to the ESC to control the rotation direction and rotation speed of the propeller (propeller drive motor 310). Specifically, for example, the flight controller prevents unmanned aerial vehicle 100 from rotating by outputting a control signal that controls adjacent propellers to rotate in opposite directions.

[0349] For example, the propeller on the front side of the traveling direction is controlled to rotate slower than the propeller on the rear side of the traveling direction, thereby moving the unmanned aerial vehicle 100 forward. For example, the propeller on the right side of the traveling direction is controlled to rotate slower than the propeller on the left side of the traveling direction, thereby turning the unmanned aerial vehicle 100 to the right.

[0350] Battery 303 supplies the power required for the operation of each component of unmanned aerial vehicle 100. Battery 303 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. Battery 303 realized by a secondary battery may be detachable from unmanned aerial vehicle 100.

[0351] Unmanned aerial vehicle 100 may also be provided with a charging contact for charging battery 303. The charging contact may have, for example, an exposed terminal shape or a connector shape.

[0352] Instead of or in addition to a charging contact for charging battery 303, unmanned aerial vehicle 100 may be equipped with a receiving coil for wireless power transfer (contactless power transmission).

[0353] Wireless power transfer is a technology that receives power from battery 303 without using a charging contact, and is also referred to as contactless power transfer or wireless power transfer. The power receiving coil is located inside the exterior surface of unmanned aerial vehicle 100. This makes it possible to prevent deterioration or malfunction of unmanned aerial vehicle 100 due to water droplets and the like. Battery 303 may also be realized by a primary battery that only discharges DC power.

[0354] Solar cell 304 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. When light energy from external light such as sunlight is applied to the PN junction surface of solar cell 304, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 304, 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.

[0355] Camera 305 includes an imaging element, and generates image information (photographed data) by converting light received by the imaging element through a photographing lens into an electrical signal. The generated image information is output to control circuit 301. Camera 305 may be one that captures still images or one that captures moving images.

[0356] Video includes continuous playback of still images taken at predetermined time intervals. Image information may be compressed using a predetermined video and audio data compression standard (e.g., MPEG (Moving Picture Experts Group)).

[0357] The various sensors 306 specifically include, for example, a distance sensor, a human sensor, an infrared sensor, an object sensor, an acceleration sensor, a gyro sensor, a barometric pressure sensor, an acoustic walking sensor, a magnetic direction sensor, etc. Furthermore, an IMU (Inertial Measurement Unit) or the like may be used as the various sensors 306.

[0358] The distance sensor may be any of various known sensors such as a laser distance sensor, an ultrasonic sensor, or an infrared sensor.

[0359] The human presence sensor outputs an electrical signal corresponding to a temperature change caused by the light receiving element absorbing infrared rays to the control circuit 301. Specifically, the human presence sensor converts a current signal corresponding to the temperature change into a voltage signal and amplifies it, and when the amplified voltage signal exceeds a predetermined threshold, outputs a predetermined electrical signal to the control circuit 301. The control circuit 301 detects the subject 150 when it receives an input of the predetermined electrical signal output from the human presence sensor.

[0360] The human presence sensor detects target person 150 present within a predetermined range from unmanned aerial vehicle 100. Specifically, the human presence sensor can be realized by, for example, an infrared sensor.

[0361] The infrared sensor detects the temperature rise (temperature change) caused by the absorption of infrared rays emitted by a detected object such as a user by a light-receiving element using a temperature sensor, and outputs a predetermined electrical signal. By using the infrared sensor, it is possible to detect the presence or absence of a viewer and the movement of that viewer.

[0362] The user detection range of a human presence sensor realized by an infrared sensor can be adjusted, for example, by adjusting the sensitivity of the infrared sensor, the number and arrangement of sensor elements (pixels), and the amplification factor of the current sensed by the sensor elements (pixels).

[0363] The human presence sensor is not limited to one realized by an infrared sensor, but may be one that detects the subject 150 using, for example, ultrasound or visible light, or one that detects the subject 150 using a method that combines infrared and ultrasound.

[0364] The object sensor detects whether or not there is an obstacle within a predetermined range from unmanned aerial vehicle 100. An obstacle is an object that interferes with the flight of unmanned aerial vehicle 100, and specifically includes, for example, a wall, a ceiling, furniture, etc.

[0365] Specifically, the object sensor can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. Unmanned aerial vehicle 100 may be equipped with multiple types of non-contact sensors as object sensors. Furthermore, unmanned aerial vehicle 100 may detect the presence or absence of an obstacle present within a predetermined range from unmanned aerial vehicle 100 based on an image captured by camera 305.

[0366] The acceleration sensor detects gravity, vibrations, and other movements, and impacts acting on the unmanned aerial vehicle 100. The acceleration sensor may be, for example, a frequency change type acceleration sensor such as a low-noise, highly stable quartz acceleration sensor. Alternatively, the acceleration sensor may be a piezoelectric type acceleration sensor, a capacitance type acceleration sensor, a piezo-resistive type acceleration sensor, or the like.

[0367] The IMU is a set of sensors necessary for the unmanned aerial vehicle 100 (drone) to acquire external information, and is composed of, for example, an acceleration sensor, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The GPS sensor composed of the GPS receiver 307 is also included in the IMU.

[0368] The accelerometer detects changes in the drone's speed. The gyro sensor and accelerometer can calculate changes in both the drone's tilt and its speed, allowing the drone to continue flying even if it is tilted.

[0369] 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.

[0370] 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.

[0371] 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.

[0372] This allows the drone to be stably tracked on the ground (floor, ground, etc.) and returned to the station (see Figures 3A and 3B). When an ultrasonic sensor is used as the object sensor, 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.

[0373] The magnetic orientation sensor detects whether the drone is facing north, south, east, or west. Because the unmanned aerial vehicle 100 is affected by magnetism depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flight location.

[0374] The IMU, together with the control circuit 301, constitutes a flight controller. The flight controller performs calculations related to the rotation control of the propeller drive motor 310, and outputs control signals to the ESC that control the direction and speed of rotation of the propeller drive motor 310. The ESC controls the rotation of the propeller drive motor 310 based on the control signals output from the flight controller. While the unmanned aerial vehicle 100 is flying, the flight controller detects the inclination of the unmanned aerial vehicle 100, performs calculations repeatedly, and recursively outputs control signals to the propeller drive motor 310.

[0375] Specifically, the flight controller prevents the unmanned aerial vehicle 100 from rotating by, for example, outputting a control signal that controls adjacent propellers 201 to rotate in opposite directions. It also moves the unmanned aerial vehicle 100 forward by, for example, controlling the propeller 201 at the front in the direction of travel to rotate slower than the propeller 201 at the rear in the direction of travel. It also makes the unmanned aerial vehicle 100 turn right by, for example, controlling the propeller 201 at the right in the direction of travel to rotate slower than the propeller 201 at the left in the direction of travel.

[0376] Communication I / F 209 is a wireless communication interface that connects unmanned aerial vehicle 100 to network N via a communication line, and is responsible for interfacing network N with the inside of unmanned aerial vehicle 100, controlling the input of data from and the output of data to external devices connected via network N. Network N is realized, for example, by the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0377] The communication I / F 209 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). Alternatively, the communication I / F 209 may 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. The memory may store information acquired by communication via the communication I / F 209.

[0378] LED lamp 104, provided in the portion corresponding to the eye, is controlled by control circuit 207 and turns on, off, or blinks in conjunction with the flight operation of unmanned aerial vehicle 100. LED lamp 104 may also indicate the status of unmanned aerial vehicle 100. Specifically, for example, when the remaining charge falls below a predetermined threshold, LED lamp 104 blinks in a predetermined pattern. The light color of LED lamp 104 is not limited to one color, and may be multiple colors.

[0379] The unmanned aerial vehicle 100 may also be equipped with input devices such as keys or buttons for inputting instructions to the unmanned aerial vehicle 100, a power switch for turning the power of the unmanned aerial vehicle 100 on and off, and an LED lamp located in a position other than the part corresponding to the eye, although these are not shown in the figure.

[0380] The input device may be used to set the predetermined range described above. Specifically, for example, when a predetermined input instruction for unmanned aerial vehicle 100 is received via the input device, a GPS sensor or the like may be used to identify the location (location information) where the input instruction was received, and a predetermined range from the identified location may be set as the predetermined range. The input device may be realized by a connection terminal or the like to which another information processing device can be connected.

[0381] GPS receiver 307 identifies the current position of unmanned aerial vehicle 100. Specifically, GPS receiver 307 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 pre-modulation signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of unmanned aerial vehicle 100 based on the baseband signal demodulated by the RF unit.

[0382] The GPS receiver 307 may further include a filter for removing unnecessary components, and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0383] The current position of unmanned aerial vehicle 100 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit performs positioning by calculating the distances to each of the four GPS satellites and calculating the position where these distances intersect. Instead of GPS, which determines the geometric position of unmanned aerial vehicle 100 and the GPS satellites based on radio waves received from the GPS satellites, the current position of unmanned aerial vehicle 100 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0384] Communication I / F (interface) 308 is an interface that connects unmanned aerial vehicle 100 to network 350 via a communication line, and is responsible for interfacing network 350 with the inside of unmanned aerial vehicle 100, and controls the input of data from and the output of data to external devices connected via network 350. Network 350 is realized, for example, by the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

[0385] The communication I / F 308 is, for example, a wireless interface based on Wi-Fi (registered trademark). Alternatively, the communication I / F 308 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System)).

[0386] The control circuit 301 communicates with the external device 352 or the smartphone / smartwatch 351 of the subject 150 via the communication I / F 308, and can thereby acquire, for example, various types of information from the external device 352. Furthermore, every time the control circuit 301 acquires various types of information from the external device 352, it may store the acquired information in the memory 302 or update the contents stored in the memory 302 based on the acquired information.

[0387] The timekeeping device 309 keeps track of time, including the current time. Specifically, it may be a quartz clock that uses a quartz oscillator, a radio-controlled clock that receives standard radio waves and automatically adjusts the time, or a satellite-controlled clock that receives radio waves from a satellite and automatically adjusts the time.

[0388] Propeller drive motor 310 is controlled by control circuit 301, and rotates to rotate the propellers. Specifically, propeller drive motor 310 can be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is composed of a coil. The same number of propeller drive motors 310 can be provided as the number of propellers. This allows each propeller to rotate independently, making unmanned aerial vehicle 100 move forward, backward, and turn left or right.

[0389] If a drive mechanism for adjusting the attitude of camera 305 is provided, control circuit 301 also controls the operation of the motors provided in each of these drive mechanisms. This allows unmanned aerial vehicle 100 to adjust the attitude of each of cameras 305 independently (individually) while moving.

[0390] Speaker 311 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. Speaker 311 may also be an output terminal that outputs an audio signal, and an external speaker may be connected to the output terminal to generate sound.

[0391] The light 312 emits light of various colors using an LED (Light-Emitting Diode) light that emits light using the electroluminescence (EL) effect.

[0392] Heater 313 is a device that generates Joule heat by electromagnetic induction and heats the air blown by blower 315. Heater 313 also heats the liquid sprayed by sprayer 316.

[0393] Peltier element 314 is a thermoelectric element that utilizes the Peltier effect, and cools the air blown by blower 315. It also cools the liquid sprayed by sprayer 316.

[0394] The blower 315 is a device that blows out air (wind) by compressing the air and spraying it using a nozzle or the like.

[0395] The spray device 316 is a spray device that sprays a liquid (mist). It may be a carburetor-type device that has a liquid container, puts the liquid in the container, and sets up a thin tube to generate negative pressure by the Venturi effect, and then sprays the sucked-up liquid as a mist using the air. It may also be an injector-type device that sends the liquid at a set flow rate and pressure into a spray nozzle with a very small opening, and sprays it as a mist.

[0396] The current pulse generator 317 is a device that generates current pulses to stimulate muscles. Specifically, for example, an EMS (Electrical Muscle Stimulation) "electrical muscle stimulation device" may be used, in which a machine sends electricity instead of pulses from the brain to move muscles.

[0397] The vibrator (vibration generator) 318 may be a linear resonant actuator (LRA) type that generates linear vibrations by applying a force generated by an electric current to a spring and then releasing the force stored in the spring.

[0398] Alternatively, the vibrator 318 may be an eccentric rotating mass (ERM) type that generates a circular motion by rotating a weight with an uneven shape using a motor.

[0399] The vibrator (vibration generator) 318 may also be of a piezo actuator type that uses a piezo element. The piezo type uses a piezo element that mechanically deforms when voltage is applied. When the voltage is turned off, the deformation returns to its original state, so if the voltage is turned on and off continuously, the deformation generates vibrations.

[0400] In addition, the smartphone and smartwatch 351 are owned by the subject 150, and in particular the smartwatch is worn on the subject 150's arm, etc., and acquires physical information such as the subject's 150's heart rate and respiratory rate, and provides this information to the unmanned aerial vehicle 150.

[0401] External device 352 is connected to network 350 such as the Internet, and provides various information about subject 150 and other information to unmanned aerial vehicle 150. In addition, various information held by unmanned aerial vehicle 150 may be transmitted to external device 352 and stored therein.

[0402] Although not shown, unmanned aerial vehicle 100 may also be equipped with a microphone. The microphone collects sounds around unmanned aerial vehicle 100. The microphone converts sounds input as analog data into electrical signals. Specifically, for example, the microphone performs analog-to-digital conversion on an analog audio signal input as analog data to generate digital audio data.

[0403] Furthermore, although not shown, unmanned aerial vehicle 100 may also include input / output devices such as LED lamps that indicate the status of unmanned aerial vehicle 100, and keys or buttons that input instructions to unmanned aerial vehicle 100. The input / output devices may be realized by connection terminals to which other information processing devices can be connected.

[0404] Furthermore, unmanned aerial vehicle 100 may be equipped with a memory card I / F, which is an interface connected to unmanned aerial vehicle 100 via a card slot. The memory card I / F manages the interface between the memory card and the internal components, and controls the input of data from the memory card and the output of data to the memory card.

[0405] (An example of the functional configuration of the unmanned aerial vehicle 100) Next, a description will be given of an example of the functional configuration of unmanned aerial vehicle 100. FIG. 8 is a block diagram showing an example of the functional configuration of unmanned aerial vehicle 100.

[0406] As shown in Figure 8, the functions of the unmanned aerial vehicle 100 of an embodiment of the present invention, more specifically the control unit 101 of the unmanned aerial vehicle 100, are realized by an overall control unit 400, a flight route determination unit 401, a sleep situation judgment unit 402, a face direction judgment unit 403, a flight start time determination unit 404, a wake-up judgment unit 405, an evaluation unit 406, an information storage unit 407, a position information acquisition unit 411, a sleep situation information acquisition unit 412, a sleep start time acquisition unit 413, a desired wake-up time acquisition unit 414, a desired wake-up time acceptance unit 415, an information receiving unit 416, an information transmitting unit 417, a propeller drive control unit 421, a sound output control unit 422, a light emission control unit 423, an injection control unit 424, a spray control unit 425, a current output control unit 426, and a vibration control unit 427. Therefore, the functions of control unit 101 of unmanned aerial vehicle 100 can be realized by these components 400 to 426 and the like.

[0407] The overall control unit 400 controls the entire components 401 to 427. In particular, the overall control unit 400 is responsible for each process, such as determination by the flight route determination unit 401, determination by the sleep state determination unit 402, determination by the face direction determination unit 403, determination by the flight start time determination unit 404, determination by the wake-up determination unit 405, and evaluation by the evaluation unit 406. The overall control unit 400 is also responsible for each process related to input and output of information to and from the information storage unit 407.

[0408] In addition, in controlling each process, the overall control unit 400 controls each process of acquiring location information from a location information acquisition unit 411, acquiring sleep situation information from a sleep situation information acquisition unit 412, acquiring a sleep start time from a sleep start time acquisition unit 413, acquiring a desired wake-up time from a desired wake-up time acquisition unit 414, and accepting input of a desired wake-up time from a desired wake-up time acceptance unit 415. The overall control unit 400 also controls processes related to acquiring various information received by an information receiving unit 416. The overall control unit 400 also controls processes related to transmitting various information from an information transmitting unit 417.

[0409] In addition, the overall control unit 400 is responsible for various processes related to the control of propeller drive by a propeller drive control unit 421, the control of sound output such as electronic sounds, music, and voice by a sound output control unit 422, the control of light emission related to lighting and blinking of light by a light emission control unit 423, the control of wind injection by a jet control unit 424, the control of liquid spray by a spray control unit 425, the control of current pulse output by a current output control unit 426, and the control of vibration by a vibration control unit 427.

[0410] Specifically, the overall control unit 400 can realize its functions by, for example, causing the control circuit 301 shown in FIG.

[0411] The flight route determination unit 401 determines the flight route to be taken by the unmanned aerial vehicle 100. The flight route of the unmanned aerial vehicle 100 is determined based on at least one of the location information acquired by the location information acquisition unit 411, the sleep situation information acquired by the sleep situation information acquisition unit 412, the sleep start time acquired by the sleep start time acquisition unit 413, the desired wake-up time acquired by the desired wake-up time acquisition unit 414, the desired wake-up time accepted by the desired wake-up time acceptance unit 415, various information received by the information receiving unit 416, various information stored in the information storage unit 407, and the like.

[0412] In addition, the flight route of the unmanned aerial vehicle 100 may be determined based on at least one of the sleeping condition determined by the sleeping condition determination unit 402 and the facial direction of the subject 150 determined by the sleeping condition determination unit 403.

[0413] Specifically, the flight route determination unit 401 can realize its functions by, for example, causing the control circuit 301 shown in FIG.

[0414] The sleeping situation determination unit 402 determines the sleeping situation of the subject 150. More specifically, for example, the sleeping situation determination unit 402 receives location information from the location information acquisition unit 411, receives sleeping situation information from the sleeping situation information acquisition unit 412, and determines whether the subject 150 is in REM sleep or non-REM sleep based on the location information received from the location information acquisition unit 411 and the sleeping situation information (more specifically, information related to the heart rate measured by the smart watch 351 of the subject 150, the movement status of the subject 150, etc.).

[0415] Specifically, the function of the sleeping state determining section 402 can be realized by, for example, the control circuit 301 shown in FIG.

[0416] Based on the sleeping situation information, face direction determination unit 403 determines the direction of the face of target person 150. More specifically, for example, face direction determination unit 403 receives sleeping situation information (e.g., information on whether target person 150 is sleeping on his / her back, stomach, or side) from sleeping situation information acquisition unit 412, and determines, based on the sleeping situation information, whether target person 150's face is facing up, down, or to the left or right, including the angle.

[0417] The flight route determination unit 401 may determine the flight route based on the determination result of the face direction determination unit 403.

[0418] Specifically, the functions of face direction determination unit 403 can be realized by, for example, control circuit 301 shown in FIG. 3 executing a program stored in memory 302.

[0419] The flight start time determination unit 404 determines the flight start time based on the position information and the sleep status information. More specifically, for example, the flight start time determination unit 404 may receive sleep status information (e.g., information such as the amount of sleep that the subject 150 has had up to the present time) from the sleep status information acquisition unit 412, and determine the flight start time of the unmanned aerial vehicle 100 based on the sleep status information.

[0420] Also, for example, the flight start time determination unit 404 may receive the sleep start time from the sleep start time acquisition unit 413 and determine the flight start time of the unmanned aerial vehicle 100 based on the sleep start time.

[0421] Also, for example, the flight start time determination unit 404 may receive the desired wake-up time from the desired wake-up time acquisition unit 414 and determine the flight start time of the unmanned aerial vehicle 100 based on the desired wake-up time.

[0422] Also, for example, the flight start time determination unit 404 may receive the desired wake-up time from the desired wake-up time acceptance unit 415 and determine the flight start time of the unmanned aerial vehicle 100 based on the desired wake-up time.

[0423] Also, for example, the flight start time determination unit 404 may receive the desired wake-up time from the desired wake-up time acquisition unit 414 or the desired wake-up time acceptance unit acquisition unit 415, and further acquire flight time information regarding the flight time required for the subject to wake up in the past from the information storage unit 407, and determine the flight start time of the unmanned aircraft 100 based on the desired wake-up time and the flight time information.

[0424] Specifically, the flight start time determination unit 404 can realize its functions by, for example, causing the control circuit 301 shown in FIG.

[0425] The wake-up determination unit 405 determines whether the subject 150 has woken up. More specifically, it receives position information from the position information acquisition unit 411 and sleep situation information from the sleep situation information acquisition unit 412, and can determine whether the subject 150 has woken up based on whether the subject 150 has gotten out of bed and sat up, etc.

[0426] Specifically, the wake-up determination unit 405 may determine that the subject 150 has woken up when the subject 150 performs a predetermined action (for example, the subject 150 stands up and operates the smartphone 351, etc.).

[0427] Specifically, wake-up determination unit 405 may determine that subject 150 has woken up when the height of the head of subject 150 has been at a height equal to or higher than a predetermined height for a predetermined period of time. Furthermore, if the height of the head of subject 150 has subsequently been at a height equal to or lower than the predetermined height for a predetermined period of time, it may be determined that subject 150 has not woken up.

[0428] Specifically, the wake-up determination unit 405 can realize its function by, for example, causing the control circuit 301 shown in FIG.

[0429] The evaluation unit 406 evaluates the wake-up of the subject 150 , stores information about the evaluation results in the information storage unit 407 , and also transmits the information to the external device 352 via the information transmission unit 417 .

[0430] More specifically, the evaluation unit 406 may evaluate the subject's waking-up based on information about the flight route actually flown and the flight time actually flown. The evaluation unit 406 may also evaluate the subject's waking-up based on the flight end time and the desired wake-up time.

[0431] The evaluation may be quantified (scored) or may be graded (excellent, good, fair) or the like.

[0432] Specifically, the evaluation unit 406 can realize its functions by, for example, causing the control circuit 301 shown in FIG. 3 to execute a program stored in the memory 302.

[0433] The information storage unit 407 stores information about flight routes, information about actual flight history (flight routes, flight times, evaluations, etc.), and various other related information.

[0434] Specifically, the information storage unit 407 can realize its functions by, for example, the memory 302 shown in FIG. 3, and by the control circuit 301 executing a program stored in the memory 302.

[0435] The position information acquisition unit 411 acquires position information of the sleeping subject 150. Specifically, the position information acquisition unit 411 can realize its functions by, for example, the camera 305, various sensors 306, GPS receiver 307, communication I / F 308, etc., shown in FIG. 3 , and also by the control circuit 301 executing a program stored in memory 302, etc.

[0436] More specifically, the position information of subject 150 may be position information regarding the three-dimensional position (including whether it is at a height close to the floor or at bed height) of subject 150's head (face), position information regarding the three-dimensional position of subject 150's arms or hands, three-dimensional position information of subject 150's legs or feet, or other position information regarding the three-dimensional position of each part of subject 150's body, such as the back, stomach, buttocks, etc.

[0437] Furthermore, the position information regarding the three-dimensional position of the head (face) of the subject 150 may include information on the height of the head (face) depending on the height of the pillow.

[0438] The sleeping situation information acquisition unit 412 acquires information related to the sleeping situation of the subject 150. Specifically, the sleeping situation information acquisition unit 412 can realize its functions by, for example, the camera 305, various sensors 306, GPS receiver 307, communication I / F 308, etc., which are shown in FIG. 3 , and by the control circuit 301 executing a program stored in memory 302, etc.

[0439] The sleep start time acquiring unit 413 acquires information regarding the sleep start time of the subject 150. Specifically, the sleep start time acquiring unit 413 can realize its functions by, for example, the memory 302, the camera 305, the various sensors 307, the communication I / F 308, the timing device 309, and the like shown in FIG. 3 , and also by the control circuit 301 executing a program stored in the memory 302, and the like.

[0440] The desired wake-up time acquisition unit 414 acquires information regarding the desired wake-up time of the subject 150. Specifically, the desired wake-up time acquisition unit 414 can realize its functions by, for example, the memory 302, the communication I / F 308, the timing device 309, etc., shown in FIG. 3 , or by the control circuit 301 executing a program stored in the memory 302, etc.

[0441] Desired wake-up time accepting unit 415 accepts input of the desired wake-up time of the subject. Specifically, the functions of desired wake-up time accepting unit 415 can be realized by, for example, memory 302, communication I / F 308, timing device 309, etc., shown in Fig. 3, or by control circuit 301 executing a program stored in memory 302, etc.

[0442] The information receiving unit 416 receives various types of information from the external device 352 via the network 350. The information receiving unit 416 also receives various types of information from the smartphone / smartwatch 351 via the network 350 or directly.

[0443] Specifically, the information receiving unit 416 can realize its functions by, for example, the communication I / F 308 shown in FIG. 3, and by the control circuit 301 executing a program stored in the memory 302, etc.

[0444] The information transmission unit 417 transmits various types of information to the external device 352 via the network 350. The information transmission unit 417 also transmits various types of information to the smartphone / smartwatch 351 via the network 350 or directly.

[0445] Specifically, the information transmission unit 417 can realize its functions, for example, by the communication I / F 308 shown in Figure 3, and by the control circuit 301 executing a program stored in the memory 302, etc.

[0446] The propeller drive control unit 421 controls the rotational drive of the propellers of the unmanned aerial vehicle 100, such as the rotation direction and rotation speed of the propellers.

[0447] Specifically, the propeller drive control unit 421 can realize its functions by, for example, the memory 302 and the propeller drive motor 310 shown in FIG. 3, and by the control circuit 301 executing programs stored in the memory 302, etc.

[0448] Sound output control unit 422 controls the output of sounds (electronic sounds, music, voice). Specifically, sound output control unit 422 can realize its functions by, for example, memory 302, speaker 311, etc. shown in FIG. 3, or by control circuit 301 executing a program stored in memory 302, etc.

[0449] Light emission control unit 423 controls the lighting or blinking of the light. Specifically, the functions of light emission control unit 423 can be realized by, for example, memory 302, light 312, etc. shown in FIG. 3, or by control circuit 301 executing a program stored in memory 302, etc.

[0450] The ejection control unit 424 controls the ejection of air. Specifically, the functions of the ejection control unit 424 can be realized by, for example, the memory 302, the heater 313, the Peltier element 314, the blower 315, and the like shown in FIG. 3 , and also by the control circuit 301 executing the program stored in the memory 302, and the like.

[0451] Spray control unit 425 controls the spray of the liquid. Specifically, spray control unit 425 can realize its functions by, for example, memory 302, heater 313, Peltier element 314, spray device 316, etc., which are shown in FIG. 3, and also by control circuit 301 executing a program stored in memory 302, etc.

[0452] The current output control unit 426 controls the discharge of the current pulse. Specifically, the current output control unit 426 can realize its functions by, for example, the memory 302 and the current pulse generator 317 shown in FIG. 3 , and by the control circuit 301 executing a program stored in the memory 302.

[0453] Vibration control unit 427 controls the vibration of the unmanned aerial vehicle. Specifically, vibration control unit 427 can realize its functions by, for example, memory 302, vibrator (vibration generator) 318, and the like shown in FIG. 3, and also by control circuit 301 executing a program stored in memory 302, and the like.

[0454] (Processing of the control unit 101 of the unmanned aerial vehicle 100) Control unit 101 of unmanned aerial vehicle 100 performs the following processes (process 1 to process 98) to encourage target person 150 to wake up or wake up.

[0455] (Process 1) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0456] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411 and determines the flight route of the unmanned aerial vehicle 100 based on the received location information. The flight route may be a route along which the unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position. The flight route may also be a route along which the unmanned aerial vehicle 100 flies at a predetermined speed. The flight route may also be a route along which the unmanned aerial vehicle 100 flies at a predetermined altitude. The flight route may also be a flight route along which the unmanned aerial vehicle 100 flies while maintaining a predetermined distance from the target person 150.

[0457] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0458] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0459] The determined flight route may be stored in the information storage unit 407. Furthermore, the flight route that has been changed (modified) midway may also be stored in the information storage unit 407.

[0460] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 flying, more specifically the sound of the motor and propeller of the unmanned aerial vehicle 100 rotating and the air currents generated by the flight of the unmanned aerial vehicle 100, even while sleeping, and this sense will encourage the subject 150 to wake up or be awakened.

[0461] (Process 2) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0462] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 that will fly near the target person 150.

[0463] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0464] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0465] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude. The flight route may also be a flight route along which unmanned aerial vehicle 100 flies near subject 150 while maintaining a predetermined distance from subject 150.

[0466] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0467] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0468] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0469] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense will encourage the subject 150 to wake up or be awakened.

[0470] (Process 3) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0471] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which will fly near the target person 150 at a variable flight speed.

[0472] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0473] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0474] The flight route may be a route in which unmanned aerial vehicle 100 flies near target person 150 at a predetermined speed and changes speed at predetermined timing. The speed change may include, for example, a sudden acceleration or deceleration. It is desirable that the speed change be such that target person 150 senses a change in presence.

[0475] The flight route may be a route in which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150, i.e., a flight speed of zero. The flight route may also be a route in which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude. The flight route may also be a flight route in which unmanned aerial vehicle 100 flies near subject 150 while maintaining a predetermined distance from subject 150.

[0476] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0477] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0478] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, a flight route that is changed (modified) midway and flies near another target person 150 at a variable flight speed may be stored in the information storage unit 407.

[0479] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100's flight, particularly the change in presence due to a change in flight speed, even while sleeping, and this change in presence will prompt the subject 150 to wake up or be awakened.

[0480] (Process 4) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0481] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which will fly near the target person 150 at a variable flight altitude.

[0482] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0483] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0484] The flight route may be a route in which unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the altitude at predetermined timing. The change in altitude may be, for example, a change in altitude that increases or decreases the altitude in a substantially vertical direction, or a change in altitude that increases or decreases while flying around the vicinity. It is desirable that the change in altitude be such that target person 150 senses a change in presence.

[0485] The flight route may be a route along which unmanned aerial vehicle 100 flies at a predetermined speed near subject 150. The flight route may also include a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150.

[0486] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0487] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0488] The flight route, which flies at a variable flight altitude near the determined target person 150, may be stored in the information storage unit 407. Also, the flight route, which flies at a variable flight altitude near another target person 150 that has been changed (corrected) midway, may be stored in the information storage unit 407.

[0489] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the change in the atmosphere of the unmanned aerial vehicle 100's flight, even while sleeping, and this change in atmosphere will encourage the subject 150 to wake up or be awakened.

[0490] (Process 5) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0491] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0492] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0493] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0494] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0495] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0496] The flight route may be a route along which unmanned aerial vehicle 100 flies at a predetermined speed near subject 150. The flight route may also include a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150.

[0497] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0498] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0499] The flight route that repeats flights that change the distance to the determined target person 150 may be stored in the information storage unit 407. Also, the flight route that repeats flights that change the distance to another target person 150 that is changed (corrected) midway may be stored in the information storage unit 407.

[0500] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the change in the atmosphere of the unmanned aerial vehicle 100's flight, even while sleeping, and this change in atmosphere will encourage the subject 150 to wake up or be awakened.

[0501] (Process 6) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0502] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance from the target person 150 and makes the position at which it approaches the target person 150 variable.

[0503] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0504] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0505] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0506] Specifically, the closest position may be, for example, about 10 cm from the target person 150. This position may be 10 cm or more, or may be 10 cm or less. It is desirable to be closest to the target person 150 but at a distance that does not allow contact with the target person 150.

[0507] The closest position may be determined by changing a body part such as the face (head), arm (hand), leg (foot), or body, and keeping the distance to that body part the same, or by changing only the closest distance without changing the body part. Also, the closest position (orientation) may be changed, such as the front of the face or the back of the head. Alternatively, two or more of the body part, orientation, and distance may be changed.

[0508] The change in the distance to the subject 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the attending doctor 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the subject 150 can sense a change in the presence of the subject 150.

[0509] The flight route may be a route along which unmanned aerial vehicle 100 flies at a predetermined speed. The flight route may include a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near target person 150.

[0510] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0511] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0512] A flight route that varies the position of closest approach to the target person 150 by repeating flights that vary the distance from the determined target person 150 may be stored in the information storage unit 407. Also, a flight route that varies the position of closest approach to the target person 150 by repeating flights that vary the distance from another target person 150 that is changed (corrected) midway may be stored in the information storage unit 407.

[0513] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the change in the atmosphere of the unmanned aerial vehicle 100's flight, even while sleeping, and this change in atmosphere will encourage the subject 150 to wake up or be awakened.

[0514] (Process 7) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0515] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which will fly from a first position to a second position at a predetermined distance from the target person 150, remain stationary at the second position for a predetermined period of time, and then return to the first position, repeating this flight.

[0516] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude, and a predetermined position on the flight path is designated as the first position.

[0517] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by hand. It is desirable to set the proximity distance so that such a situation does not occur. This proximity distance can be set arbitrarily.

[0518] Specifically, the second position may be, for example, about 10 cm from the target person 150. This position may be 10 cm or more, or may be 10 cm or less. It is desirable to be close to the target person 150 but not at a distance that makes contact with the target person 150.

[0519] It is desirable to locate this second position so that the presence of the unmanned aerial vehicle 100 in flight can be sensed (more specifically, the sound of the motor and propellers of the unmanned aerial vehicle 100 rotating, and the air currents generated by the flight of the unmanned aerial vehicle 100, etc.).

[0520] The second position may be determined by changing a body part such as the face (head), arm (hand), leg (foot), or body, and keeping the distance to that body part the same, or by changing only the closest distance without changing the body part. Alternatively, the closest position (orientation) may be changed, such as the front of the face or the back of the head. Alternatively, two or more of the body part, orientation, and distance may be changed.

[0521] The flight between the first position and the second position may involve, for example, increasing or decreasing the altitude in a substantially vertical direction, or changing the distance in a substantially horizontal direction or at another angle. Furthermore, the distance to the attending doctor 150 may be changed while flying around the vicinity. It is desirable that these changes in distance allow the subject 150 to sense a change in presence. Alternatively, the altitude may be decreased substantially vertically from the first position to the second position, and when returning from the second position to the first position, the return route may be other than the vertical direction, or vice versa.

[0522] The flight route may be a route that unmanned aerial vehicle 100 flies at a predetermined speed. The flight route may include a route that unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near target person 150 not only at the second position but also when placed at the first position.

[0523] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0524] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0525] The determined flight route, which approaches the target person 150 from a first position to a second position at a predetermined distance, stops at the second position for a predetermined period of time, and then repeats flying back to the first position, may be stored in the information storage unit 407. Also, another flight route, which is changed (corrected) midway through the process, approaches the target person 150 from a first position to a second position at a predetermined distance, stops at the second position for a predetermined period of time, and then repeats flying back to the first position, may be stored in the information storage unit 407.

[0526] In this way, as unmanned aerial vehicle 100 flies along the flight route, subject 150 can sense a change in the presence of unmanned aerial vehicle 100 even while asleep, and this change in presence will awaken or wake subject 150. In particular, by remaining stationary for a predetermined period of time at the second position close to subject 150, subject 150 can sense the presence more reliably.

[0527] (Process 8) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0528] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 as it circles near the target person 150.

[0529] The turning flight may be a flight that draws a circle around a predetermined position. It is not limited to a circle, and may also be a flight that draws an ellipse or a figure eight. The circle, ellipse, figure eight, etc. may be drawn at the same altitude, or the circle, ellipse, figure eight, etc. may be drawn while changing altitude.

[0530] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0531] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0532] The flight route may be a route along which unmanned aerial vehicle 100 circles near subject 150 at a predetermined speed. The flight route may include a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 circles near subject 150 at a predetermined altitude. The flight route may also be a flight route along which unmanned aerial vehicle 100 circles near subject 150 while maintaining a predetermined distance from subject 150.

[0533] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0534] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0535] The determined flight route for circling the vicinity of the target person 150 may be stored in the information storage unit 407. Also, the flight route for circling the vicinity of another target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0536] In this way, by the unmanned aerial vehicle 100 circling along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 flying even while sleeping, and this sense will encourage the subject 150 to wake up or be awakened.

[0537] (Process 9) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0538] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 that will fly near the target person 150.

[0539] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0540] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0541] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude. The flight route may also be a flight route along which unmanned aerial vehicle 100 flies near subject 150 while maintaining a predetermined distance from subject 150.

[0542] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0543] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0544] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0545] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound. The electronic sound may be a known electronic sound such as that used in an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0546] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0547] (Process 10) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0548] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 as it flies near the target person 150 while changing the distance from the target person 150.

[0549] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0550] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0551] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0552] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0553] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0554] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0555] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0556] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound and change the volume of the electronic sound based on the distance to the target person 150. The electronic sound may be a known electronic sound used in, for example, an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0557] For example, the volume of the electronic sound can be reduced when the distance to the subject 150 is short, and can be increased when the distance to the subject 150 is long. By doing so, even if the volume of the electronic sound does not change, the electronic sound that the subject 150 can hear becomes louder as the distance becomes shorter, thereby gently encouraging the subject 150 to wake up or wake up without startling the subject 150.

[0558] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0559] (Process 11) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0560] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 as it flies near the target person 150 while changing the distance from the target person 150.

[0561] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0562] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0563] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0564] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0565] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0566] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0567] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0568] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0569] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound, and changes the volume of the electronic sound based on the distance to the target person 150 so that the shorter the distance to the target person 150's ear, the louder the sound. The electronic sound may be, for example, a known electronic sound used in an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0570] Specifically, the volume of the electronic sound can be increased when the distance to the ear of the subject 150 is short, and decreased when the distance to the ear of the subject 150 is long. In this way, the electronic sound becomes louder as the distance becomes short, and becomes quieter as the distance becomes long, so that the stimulus by the electronic sound can be more efficiently given to the subject 150.

[0571] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0572] (Process 12) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0573] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0574] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0575] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0576] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0577] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0578] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0579] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0580] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0581] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0582] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound, and varies the volume of the electronic sound as the drone approaches the target person 150. The electronic sound may be a known electronic sound used in, for example, an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0583] Specifically, the volume may be gradually increased as the subject approaches, or conversely, may be gradually decreased. Alternatively, the volume may be changed randomly as the subject approaches. In this way, the change in the volume of the electronic sound can more efficiently stimulate the subject 150 with the electronic sound.

[0584] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0585] (Process 13) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0586] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0587] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0588] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0589] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0590] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0591] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0592] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0593] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0594] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0595] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output electronic sounds and vary the type of electronic sounds at predetermined timing. The electronic sounds may be known electronic sounds used in alarm clocks, for example. The type and volume of the electronic sounds can be set arbitrarily in advance.

[0596] Specifically, different types of electronic sounds may be output at predetermined time intervals. Also, different types of electronic sounds may be output when flying in a direction approaching the subject 150 and when flying in a direction away from the subject 150. The order in which the electronic sounds are output may be set arbitrarily. Multiple types of electronic sounds may be output in sequence, or may be output randomly. In this way, by changing the types of electronic sounds, the electronic sound stimulation can be more efficiently provided to the subject 150.

[0597] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0598] (Process 14) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0599] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0600] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0601] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0602] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0603] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0604] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0605] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0606] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0607] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0608] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound, and changes the type of the electronic sound as the drone approaches the target person 150. The electronic sound may be a known electronic sound used in, for example, an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0609] Specifically, a different type of electronic sound is output each time the subject approaches. The order in which the electronic sounds are output can be set arbitrarily. Multiple types of electronic sounds may be output in order, or may be output randomly. In this way, by changing the type of electronic sound, the subject 150 can be stimulated by the electronic sound more efficiently.

[0610] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0611] (Process 15) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0612] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0613] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0614] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0615] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0616] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0617] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0618] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0619] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0620] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0621] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound, and at a predetermined timing, selects and outputs one electronic sound from a plurality of electronic sounds previously stored in the information storage unit 407 or the like. The electronic sound may be a known electronic sound used in, for example, an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0622] Specifically, one different type of electronic sound may be selected and output at each predetermined time. Also, different types of electronic sounds may be selected and output when flying in a direction approaching the subject 150 and when flying in a direction away from the subject 150. The order in which the electronic sounds are selected may be set arbitrarily. Multiple types of electronic sounds may be selected and output in order, or may be selected and output randomly. In this way, by changing the type of electronic sound, the electronic sound stimulus can be more efficiently provided to the subject 150.

[0623] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0624] (Process 16) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0625] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100, which repeats flights that change the distance between the unmanned aircraft 100 and the target person 150.

[0626] The flight route is such that unmanned aerial vehicle 100 flies near target person 150 at a predetermined altitude and changes the distance to the target person at predetermined timing.

[0627] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0628] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0629] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0630] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0631] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0632] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0633] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0634] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output an electronic sound, and each time the drone approaches the target person 150, it selects and outputs one electronic sound from a plurality of electronic sounds previously stored in the information storage unit 407 or the like. The electronic sound may be, for example, a known electronic sound used in an alarm clock. The type and volume of the electronic sound can be set arbitrarily in advance.

[0635] Specifically, each time the subject approaches, one of a different type of electronic sound is selected and output. The order in which the electronic sounds are selected can be set arbitrarily. Multiple types of electronic sounds may be selected in order, or may be selected randomly. In this way, by changing the type of electronic sound, the subject 150 can be stimulated by the electronic sound more efficiently.

[0636] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 even while sleeping, and this sense further prompts the subject 150 to wake up or be woken up by the output of an electronic sound.

[0637] (Process 17) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0638] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 that will fly near the target person 150.

[0639] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0640] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0641] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude. The flight route may also be a flight route along which unmanned aerial vehicle 100 flies near subject 150 while maintaining a predetermined distance from subject 150.

[0642] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0643] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0644] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0645] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output music. The music may be a melody synthesized with electronic sounds, or may be recorded music that has been stored in advance in the information storage unit 407 or the like. The type and volume of the music can be set arbitrarily in advance. The music may also be program content such as radio.

[0646] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 flying even while sleeping, and this sense can be further stimulated by the subject 150 listening to the music that is output, thereby waking the subject 150 up or causing the subject 150 to wake up.

[0647] (Process 18) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). The time interval may be shorter or longer than 1 second. This time interval may also be variable. This makes it possible to understand how the subject 150 has moved and changes in the position of the subject 150.

[0648] In the overall control unit 400 of the control unit 101, the flight route determination unit 401 receives the location information from the location information acquisition unit 411, and based on the received location information, determines the flight route of the unmanned aircraft 100 as it flies near the target person 150 while changing the distance from the target person 150.

[0649] The proximity of the target person 150 may be, for example, a linear distance of about 50 cm from the position of the head of the target person 150. This distance may be greater than or less than 50 cm. This proximity distance is preferably a distance that the target person 150 lying down cannot reach with an outstretched hand. If the target person 150 were to reach out, the unmanned aerial vehicle 100 would be brushed away or grabbed by a hand. It is preferable to set the distance so that such a situation does not occur.

[0650] Furthermore, it is desirable that this proximity distance be set at a distance that allows the presence of unmanned aerial vehicle 100 in flight (more specifically, the sound of the motor and propellers of unmanned aerial vehicle 100 rotating, the air currents generated by the flight of unmanned aerial vehicle 100, etc.) to be sensed. This proximity distance can be set arbitrarily.

[0651] The flight route may be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined speed. The flight route may be a route along which unmanned aerial vehicle 100 stops (hovers) at a predetermined three-dimensional position near subject 150. The flight route may also be a route along which unmanned aerial vehicle 100 flies near subject 150 at a predetermined altitude.

[0652] The change in the distance to the target person 150 may be, for example, a change in altitude in a substantially vertical direction, or a change in the distance in a substantially horizontal direction or at another angle. Also, the distance to the target person 150 may be changed while flying around the vicinity. It is desirable that the change in distance be such that the target person 150 senses a change in presence.

[0653] These flight routes may be created each time using deep learning, or the contents of these flight routes may be determined in advance and stored as flight route patterns in the information storage unit 407, with the most appropriate one being selected from the stored patterns.

[0654] Overall control unit 400 controls propeller drive control unit 421 to fly unmanned aerial vehicle 100 along the flight route determined by flight route determination unit 401. At this time, based on the latest information on the location information of target person 150 acquired by location information acquisition unit 411 and the location information of unmanned aerial vehicle 100, propeller drive control unit 421 may be controlled to correct the flight route of unmanned aerial vehicle 100.

[0655] The determined flight route flying near the target person 150 may be stored in the information storage unit 407. Also, another flight route flying near the target person 150 that has been changed (modified) midway may be stored in the information storage unit 407.

[0656] Then, while flying along the determined flight route, the overall control unit 400 controls the sound output control unit 422 to output music. The music may be a melody synthesized with electronic sounds, or may be recorded music that has been stored in advance in the information storage unit 407 or the like. The type of music, volume, etc. can be set arbitrarily in advance.

[0657] For example, the volume of the music can be reduced when the distance to the subject 150 is short, and increased when the distance to the subject 150 is long. By doing this, even if the volume of the music remains unchanged, the music that the subject 150 can hear becomes louder as the distance decreases, thereby gently waking up or encouraging the subject 150 to wake up without startling him or her.

[0658] In this way, as the unmanned aerial vehicle 100 flies along the flight route, the subject 150 can sense the presence of the unmanned aerial vehicle 100 flying even while sleeping, and this sense can be further stimulated by the subject 150 listening to the music that is output, thereby waking the subject 150 up or causing the subject 150 to wake up.

[0659] (Process 19) The position information acquisition unit 411 of the control unit 101 of the unmanned aerial vehicle 100, which is the device itself, acquires the position information of the sleeping subject 150 and passes the acquired position information to the overall control unit 400. The position information may be acquired at a predetermined time interval (for example, 1 second). T...

Claims

1. Unmanned aerial vehicles, Obtaining location information of the subject while sleeping, determining a flight route that flies near the target person based on the location information; Flying the flight route encourages the subject to wake up or wake up. A wake-up assistance method comprising:

2. Unmanned aerial vehicles, Obtaining location information of the subject while sleeping, Based on the location information, a flight route is determined that will cause the drone to come into contact with the target person; Flying the flight route encourages the subject to wake up or wake up. A wake-up assistance method comprising:

3. Unmanned aerial vehicles, Obtaining location information of the subject while sleeping, Based on the location information, a flight route is determined to fly near the target person at a predetermined altitude and naturally fall to contact the target person at a predetermined timing, or to naturally fall near the target person at a predetermined timing; Flying the flight route encourages the subject to wake up or wake up. A wake-up assistance method comprising:

4. Obtaining location information of the subject while sleeping, determining a flight route based on the location information; Flying the flight route encourages the subject to wake up or wake up. An unmanned aerial vehicle characterized by having a control unit.

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