Flying robot, control program of the same, and control method of the same

Abstract

To provide a pet robot which is hygienic, relieves the mind of a user, and provides a sense of satisfaction to the user.SOLUTION: A flying robot 100 is a robot serving as a pet and includes: a drone 101 which flies by automatic driving; and a camera 103. The flying robot 100 realizes a specific user 600 based on images captured by the camera 103, and flies around the specific user 600 as if it has autonomy. The action allows the flying robot 100 to conduct, not as an inorganic and impersonal robot, operations imitating a pet which causes the specific user 600 to feel interaction with a living creature with mind, such as requiring the specific user 600 to communicate with it as an owner, to relieve the mind of the user 600 and provide a feeling of fullness to the user 600. Further, the flying robot 100 flies in air to prevent germs, viruses, and dirt from adhering to it from a floor etc. and is hygienic.SELECTED DRAWING: Figure 6C

Description

[Technical field]

[0001] This invention is a flying robot that mimics the movements of a pet, and a control program for the flying robot. The present invention relates to a control method for a ram and a flying robot. [Background technology]

[0002] Conventionally, robots have been designed to resemble animals such as dogs and cats, and to move and make sounds on their own. There are pet-type robots that can imitate the movements of humans. Rather than being a practical product with a user-friendly function, the product is designed to soothe and entertain the user through its appearance and operation. It is designed to make it easier to

[0003] Specifically, in the past, for example, a learning object was specified, and information about the specified learning object was associated with the learning object. The information of the newly detected object and the learning object stored in the associative recall memory section is stored in the associative recall memory section. By having the students act based on this, it is possible to share the learning subject (joint attention) and There is a technology that makes it possible to identify learning objects (for example, see Patent Document 1 below). . [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2011-115944 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, animals have their own will and do not necessarily act only in response to the actions of their owners. Sometimes the dog will not listen to the owner's commands or move around freely without the owner. However, the above-mentioned conventional technologies are uniformly in response to communication with users. They operate in a controlled manner and are less autonomous.

[0006] The present invention aims to solve the problems of the prior art described above by providing a way to soothe the user's mind. A flying robot that can give users a sense of satisfaction, and a control program for the flying robot The present invention aims to provide a control method for a flying robot. [Means for solving the problem]

[0007] In order to solve the above problems and achieve the object, the flying robot according to the present invention is The present invention relates to an unmanned aerial vehicle (UAV) that is operated by a remote control and a camera mounted on the UAV. A specific user is recognized based on the image captured by the camera, and the specific user is It is characterized by flying around the

[0008] In addition, the flying robot according to the present invention is the above-mentioned invention, is a person who has been photographed by the camera for a predetermined period of time or a predetermined number of times. It is a sign.

[0009] In addition, the flying robot according to the present invention is the above-mentioned invention, is a person photographed by the camera within a specific range. .

[0010] In addition, the flying robot according to the present invention is the above-mentioned invention, When at least a portion of the specific user approaches the unmanned aerial vehicle while flying around the In this case, the drone will fly away from the specific user.

[0011] In addition, the flying robot according to the present invention is the above-mentioned invention, If the particular user does not have visual contact with the unmanned aerial vehicle while flying around the particular It is characterized by flying close to the user.

[0012] In addition, the flying robot according to the present invention is the above-mentioned invention, The drone flies around a specific user a predetermined number of times and then flies away from the specific user. Let us assume that.

[0013] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. a wireless communication interface mounted on the When the information is acquired, the drone flies around the specific user.

[0014] In addition, in the flying robot according to the present invention, the predetermined information is The notification information is output from a specific terminal device.

[0015] In addition, in the flying robot according to the present invention, the predetermined information is Disasters, earthquakes, tsunamis, lightning, rain, strong winds, and sudden weather changes are expected to occur within a specified time from now. The information is characterized in that it indicates that there is a possibility that a malfunction may occur.

[0016] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. a speaker mounted on the device, and a voice is output from the speaker to the specific user. The drone also flies around the specific user.

[0017] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. When a predetermined sound is picked up by the microphone, the specific user It is characterized by flying around the user.

[0018] In addition, in the flying robot according to the present invention, the predetermined sound is A ringtone that notifies you that your phone has an incoming call and / or email. It is characterized by the fact that

[0019] In addition, in the flying robot according to the present invention, the predetermined sound is The voice is characterized in that it is the voice of the specific user.

[0020] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. When a predetermined sound is picked up by the microphone, outputting a voice from the speaker to a user of the specific user; It is characterized by flying around the area.

[0021] In addition, the flying robot according to the present invention is the above-mentioned invention, The output sound is a sound that imitates the cry of an animal.

[0022] In addition, the control program for the flying robot according to the present invention is equipped with a camera and automatically The images captured by the camera are then input to a computer installed in the unmanned aerial vehicle that is operated by the pilot. The drone recognizes a specific user based on the image and flies around the recognized specific user. The present invention is characterized in that it causes the device to execute a process.

[0023] In addition, the control program for the flying robot according to the present invention includes the steps of: While flying around the specific user, at least a part of the specific user is If an aircraft approaches the specified user, the aircraft will be directed away from the specified user. It is characterized by the above.

[0024] In addition, the control program for the flying robot according to the present invention includes the steps of: While flying around the specific user, the specific user does not visually observe the unmanned aerial vehicle. In this case, the drone is caused to fly so as to approach the specific user. do.

[0025] In addition, the control program for the flying robot according to the present invention includes the steps of: After flying around the specific user a specified number of times, the drone will fly away from the specific user. The present invention is characterized in that it causes the processor to execute a process.

[0026] In addition, the control method of the flying robot according to the present invention is a method for controlling a flying robot equipped with a camera and automatically controlled by the camera. The flying robot is equipped with an unmanned aerial vehicle that flies by the camera. and recognizes a specific user based on the information, and flies around the specific user. The present invention is characterized in that:

[0027] In addition, the present invention provides a method for controlling an flying robot, comprising the steps of: While flying around a user, at least a portion of the specific user is detected by the unmanned aerial vehicle. A distinctive feature of the system is that if a specific user approaches, the drone will fly away from that user.

[0028] In addition, the present invention provides a method for controlling an flying robot, comprising the steps of: If a particular user does not visually observe the unmanned aerial vehicle while flying around that particular user, The drone is characterized by flying in such a way that it approaches the specific user.

[0029] In addition, the present invention provides a method for controlling an flying robot, comprising the steps of: After flying around a specific user a certain number of times, the drone will fly away from that specific user. The present invention is characterized in that:

[0030] The flying robot according to the present invention is a drone that flies by automatic control and a The unmanned aerial vehicle is equipped with a camera and a microphone. The specific user is recognized based on the image captured by the camera, and the microphone When a predetermined voice is collected, the specific user recognized in response to the predetermined voice is The drone is characterized by flying between the vicinity of the drone and the source of a given sound.

[0031] When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. After circling the specific user, the specific user and the vicinity of the specific user are detected. 25. The flying robot according to claim 24, characterized in that it flies between the source and the source of the generated energy.

[0032] In addition, in the flying robot according to the present invention, the predetermined sound is A ringtone that notifies you that your phone has an incoming call and / or email.

[0033] In addition, in the flying robot according to the present invention, the predetermined sound is At the entrance to a building or site, visitors to that building or site must be able to see the occupancy of that building or site. The ringtone is a call sound for a bell provided to call a person or manager.

[0034] In addition, in the flying robot according to the present invention, the predetermined sound is It is characterized by being a sound with a sound pressure equal to or greater than a predetermined threshold value.

[0035] In addition, in the flying robot according to the present invention, the predetermined sound is The sound is generated within a predetermined range from the specific user.

[0036] In the flying robot according to the present invention, the robot responds to the predetermined voice. Then, the drone flies around the recognized specific user in a flight mode corresponding to the predetermined voice. The present invention is characterized by the above.

[0037] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. When a predetermined sound is picked up by the microphone, the The image corresponding to the predetermined sound is projected in front of the specific user who has been recognized by the projector. It is characterized by projecting from

[0038] In addition, the flying robot according to the present invention is mounted on the unmanned aerial vehicle. a wireless communication interface mounted on the The system is characterized by acquiring image data related to the image to be projected from the projector.

[0039] In addition, the flying robot according to the present invention is the above-mentioned invention, When a predetermined voice is collected, the predetermined voice is displayed in front of the recognized specific user. The projector projects characters according to the image.

[0040] The control program for the flying robot of the present invention is also implemented by a camera and a microphone. A flying robot equipped with an unmanned aerial vehicle that flies automatically and is equipped with a computer The personal computer recognizes a specific user based on an image captured by the camera, and When a predetermined sound is collected by the device, the specific The present invention relates to a method for flying a drone between the vicinity of a user and a source of a predetermined sound, the method comprising: It is a sign.

[0041] In addition, the control method of the flying robot according to the present invention is The flying robot is provided with an unmanned aerial vehicle that flies by automatic control, and the camera is used to capture the image. A specific user is recognized based on the projected image, and a specific voice is collected by the microphone. When a predetermined voice is heard, the vicinity of the recognized specific user and a predetermined It is characterized by flying between the source of the sound.

[0042] In addition, the control program for the flying robot of the present invention includes a camera, a microphone, and a processor. A flying robot equipped with an unmanned aerial vehicle that flies automatically and is equipped with a projector is A computer is provided to identify a specific user based on an image captured by the camera. When a predetermined sound is picked up by the microphone, the following is executed according to the predetermined sound: Flying between the vicinity of the recognized specific user and a source of a predetermined sound, An image corresponding to the predetermined voice is displayed in front of the recognized specific user by the projector. The present invention is characterized in that it projects the image from a target object and executes processing.

[0043] In addition, the control method for the flying robot according to the present invention is a method for controlling a flying robot using a camera, a microphone, and a projector. The flying robot is equipped with an unmanned aerial vehicle that flies automatically and is equipped with a robotic controller. The camera recognizes a specific user based on the image captured by the camera, and the microphone recognizes the user. When a predetermined voice is collected, the specific user recognized in response to the predetermined voice is and flying between the vicinity of the user and the source of a predetermined sound, and and projecting an image corresponding to the predetermined sound from the projector in front of the user. It is characterized by:

[0044] The flying robot according to the present invention is a drone that flies by automatic control and a A camera mounted on the unmanned aerial vehicle and a wireless communication interface mounted on the unmanned aerial vehicle. and recognizing a specific user based on an image captured by the camera. and notifying the user of a disaster, earthquake, or tsunami within a predetermined time from the present time via the wireless communication interface. Get information indicating possible waves, lightning, rain, strong winds and sudden weather changes When the user selects a specific voice, the specific voice is input to the vicinity of the specific user. It is characterized by flying between the source of the radiation and the ground.

[0045] In addition, the control program for the flying robot according to the present invention includes a camera and a wireless communication interface. A flying robot equipped with an unmanned aerial vehicle that flies automatically and is equipped with an interface. a computer including the and notifying the user of a disaster or earthquake within a predetermined time from the present time via the wireless communication interface. , tsunamis, lightning, rain, strong winds, and sudden weather changes may occur. When the predetermined voice is acquired, the vicinity of the recognized specific user and a predetermined It is characterized by flying between the source of the sound and executing processing.

[0046] In addition, the control method for the flying robot according to the present invention includes a camera and a wireless communication interface. The flying robot is equipped with a face and an unmanned aerial vehicle that flies automatically. The method recognizes a specific user based on an image captured by the camera, and Through the interface, the system can receive information on disasters, earthquakes, tsunamis, lightning, rain, strong winds, etc. within a specified time from the present time. When information indicating the possibility of a sudden change in weather is obtained, In response to a voice, the drone is flown between the vicinity of the recognized specific user and a source of a predetermined voice. The present invention is characterized by the fact that it allows Effect of the Invention

[0047] Flying robot, flying robot control program, and flying robot according to the present invention The control method of the game can soothe the user's mind and give the user a sense of fulfillment. This has the effect of: [Brief description of the drawings]

[0048] [Figure 1A] FIG. 1 is an explanatory diagram (part 1) showing an example of an external appearance of an flying robot according to a first embodiment of the present invention. [Figure 1B] FIG. 2 is an explanatory diagram (part 2) showing an example of the appearance of the flying robot of the first embodiment according to the present invention. [Diagram 2] FIG. 1 is an explanatory diagram showing a hardware configuration of a flying robot according to a first embodiment of the present invention. [Diagram 3] FIG. 1 is an explanatory diagram showing a functional configuration of a flying robot according to a first embodiment of the present invention. [Figure 4A] FIG. 1 is an explanatory diagram (part 1) showing an example of a charging spot. [Figure 4B] FIG. 2 is an explanatory diagram (part 2) showing an example of a charging spot. [Diagram 5] 5 is a flowchart showing an example of a processing procedure of the flying robot according to the first embodiment of the present invention. [Figure 6A] FIG. 1 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot of the first embodiment according to the present invention. [Figure 6B] FIG. 2 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 6C] FIG. 3 is an explanatory diagram (part 3) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 7] FIG. 11 is an explanatory diagram showing an example of the appearance of an flying robot according to a second embodiment of the present invention. [Figure 8] FIG. 11 is an explanatory diagram showing a hardware configuration of a flying robot according to a second embodiment of the present invention. [Figure 9] 11 is a flowchart showing an example of a processing procedure of the flying robot according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0049] The flying robot and the control method for the flying robot according to the present invention will be described below with reference to the accompanying drawings. A preferred embodiment of the program and the method for controlling the flying robot will now be described in detail.

[0050] <Embodiment 1> (An example of the appearance of a flying robot) First, an example of the appearance of the flying robot according to the first embodiment of the present invention will be described. 1A and 1B are diagrams showing an example of the appearance of an airborne robot according to a first embodiment of the present invention. As shown in FIG. 1A and FIG. 1B, the flying robot 100 is The drone is equipped with an unmanned aerial vehicle (UAV) 101.

[0051] Specifically, the drone 101 is, for example, a quadcopter having four propellers 102. Drones 101 is not limited to quadcopters. There are many types of drones, such as hexacopters with six propellers and octocopters with eight propellers. Various types of multicopters can be used.

[0052] The flying robot 100 is also equipped with a camera 103. As shown in FIG. 1A and FIG. 1B, In the animal-like flying robot 100, the camera 103 can, for example, Alternatively, the camera 103 may be provided on the drone 101. It may be provided on the underside of the housing.

[0053] The camera 103 captures images of the surroundings of the flying robot 100. 0, for example, recognizes a particular user based on an image captured by the camera 103. The camera 103 can be realized by, for example, a general-purpose digital camera. Cut.

[0054] For example, a specific user may be photographed by the camera 103 for a predetermined period of time or a predetermined number of times. The person photographed is a person who has had a reasonable opportunity to interact with the flying robot 100. In addition, a specific user can, for example, view images taken within a specific range. A person, i.e., someone who is likely to be within a certain area, such as at home, on school grounds, in a store, etc. Therefore, the person may be the one who is likely to be photographed by the camera 103. The specific range may also be within a predetermined range from a charging spot (see FIG. 4A and FIG. 4B). good.

[0055] Alternatively, a particular user may be captured by the camera 103 within a particular range, for example. Alternatively, the person may be a person who has been photographed for a predetermined period of time or a predetermined number of times. There is a reasonable chance that the individual will be in a particular area, such as at home, on school grounds, or in a store, and Since this person is considered to have had a fair amount of contact with flying robots, In this study, we considered people who had frequent and long-term contact with flying robots as specific users. It is possible.

[0056] The specific user may be one person or multiple people. The number of people who can be a specific user may be limited to a certain number or may be unlimited. By limiting the number of people who can be displayed to a certain number, the memory capacity (see Figure 2) can be reduced. can be done.

[0057] In addition, a specific user may be within a specific range between the present time and a specific period going back. In the above, a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times is This allows the number of people who can be designated as specific users to be limited to a certain number. The flying robot 100 may be transferred from a person who was previously identified as a specific user to another person. In schools and nursery schools, the people who can enter a certain area change due to promotion or graduation. Even if the person has been involved in a crime, the person who has had a reasonable opportunity to come into contact with the flying robot 100 in the recent past may be identified. This allows the system to be operated according to the current situation, with the system being used by a specific user.

[0058] The camera 103 is a general-purpose digital camera that can amplify the sensitivity to light. night vision cameras that can take pictures in dark places by using infrared light, infrared cameras that are sensitive to infrared light, Infrared color contrast captures color images by analyzing the black and white shading in images captured by the camera. This may be achieved by a night vision camera, an infrared camera, an infrared color night vision camera, etc. By capturing images using a camera, etc., it is possible to capture images even at night or in low-light indoors. It is possible to accurately recognize a specific user.

[0059] The flying robot 100 may have one camera 103 or multiple cameras. In the flying robot 100 equipped with multiple cameras 103, one type of camera may be used. The camera 103 is not limited to the single camera, and a plurality of different types of cameras 103 may be provided.

[0060] The camera 103 is connected to the drone 101 in such a way that its attitude can be adjusted. Specifically, the camera 103 may be mounted on the bottom of the drone 101 with a ball joint. The camera 103 can be connected via a universal joint such as a ball joint. By connecting the camera 103 to the drone 101 via a universal joint such as a This allows for a high degree of freedom in adjustment.

[0061] Furthermore, the flying robot 100 changes the attitude of the camera 103 relative to the drone 101. This allows the drone 101 to be controlled without human intervention. The driving mechanism can adjust the attitude of the camera 103. The attitude of the camera 103 relative to the drone 101 can be By making it possible to adjust without human intervention, the flying type can be adjusted regardless of the drone's attitude. The camera 103 can adjust the shooting direction as desired while the robot 100 is flying. It may also have a zoom function.

[0062] The flying robot 100 is equipped with a wireless power transmission system (Wireless Less Power Transfer, Contactless Power Tr The wireless power supply is a battery A technology for receiving power without going through a charging contact for a portable charger (see FIG. 2), It is also called contactless power supply or wireless power supply.

[0063] The power receiving coil is provided inside the exterior surface of the housing of the drone 101. This makes it possible to avoid deterioration or breakdown of the flying robot 100 caused by water droplets from drinks or rain and dew. The flying robot 100 can be equipped with a battery instead of or in addition to the power receiving coil. A charging contact may be provided for charging.

[0064] In addition, as shown in FIG. 1A and FIG. 1B, a flying robot 100 having an animal-like shape For example, LED lamps 104 may be provided in the areas corresponding to the eyes. For example, the lamp 104 may have a portion corresponding to an eyeball, or the camera 103 may be attached to the portion corresponding to an eyeball. In the case where a lens is provided, the lens can be provided so as to surround the lens. The robot 100 has tails, ears, wings, feet (legs, limbs), horns, fangs, whiskers, and other features that birds and animals have. The device may be provided with a member 105 corresponding to a characteristic portion that can be seen.

[0065] The parts 105 corresponding to the characteristic parts of birds and beasts are the parts of birds and beasts that exist in the present day. Not limited to parts that correspond to parts of a species, but also parts of extinct animals such as dinosaurs It may be a part that corresponds to a part of a mythical beast such as a dragon or a unicorn. These members may be movable and may be provided with a driving mechanism such as a motor for operating them. This allows the flying robot 100 to imitate movements such as wagging its tail and moving its ears. It is possible.

[0066] The flying robot 100 further includes a solar cell ( The drone 10 may include a solar cell 106. The solar cell 106 may be, for example, This ensures that external light is taken in during flight for efficient operation. In addition, the solar cell 106 can be used to charge the battery during flight. This allows the drone to be charged for longer periods of time per flight.

[0067] (Hardware configuration of flying robot 100) Next, the hardware configuration of the flying robot 100 will be described. FIG. 1 is an explanatory diagram illustrating a hardware configuration of an flying robot 100 according to a first embodiment of the present invention. As shown in FIG. 2, the hardware of the flying robot 100 includes a battery 201, a motor, and a 202, the camera 103, the microphone 203, the speaker 204, the GPS sensor 205, Object sensor 206, control circuit 207, communication I / F 208, LED lamp 104, solar The flying robot 100 is made up of a control cell 106 and other components 103, 10 4, 106, 201 to 208 are connected by a bus 200.

[0068] The battery 201 supplies the power required for the operation of each part of the flying robot 100. The battery 201 is, for example, a secondary battery such as a lithium battery (a rechargeable battery, a storage battery, The battery 201 realized by a secondary battery can be realized by a drive. It may be detachable from the lawn 101.

[0069] The motor 202 is controlled by a control circuit 207 and rotates to generate a propeller. Specifically, the motor 202 has a rotor made of a permanent magnet. Therefore, a brushless motor in which the stator is composed of a coil can be used. The rotors 202 are provided in the same number as the propellers 102, so that each propeller 102 can be independently Each of them can be rotated independently to move the flying robot 100 forward, backward, left or right. It can also be rotated.

[0070] When the flying robot 100 is provided with a driving mechanism for adjusting the attitude of the camera 103, The control circuit 207 also controls the operation of the motor that constitutes the drive mechanism. The walking robot 100 adjusts the posture of the camera 103 while moving without human intervention. This allows you to capture any range or a wide range.

[0071] The camera 103 includes an image sensor, and receives light that passes through a photographing lens on the image sensor. The camera 103 captures the captured image, i.e., The image information (photographed data) obtained by converting the received optical signal into an electrical signal is output to the control circuit 207. To exert effort.

[0072] The camera 103 may be a camera for taking still images or a camera for taking moving images. The video may include a video in which still images taken at a predetermined time interval are continuously played back. The information is stored in a file that contains a standard for compressing a given video or audio data (e.g., MPEG (Movie Compressed by the National Video Picture Experts Group (NFC) or other It's fine.

[0073] The microphone 203 collects sounds around the flying robot 100. The microphone 203 converts the voice input as analog data into an electrical signal. Analog audio signals input as analog data are converted to digital and Generates audio data in digital format.

[0074] The speaker 204 generates sound by vibrating a diaphragm with an electrical signal, which is an audio signal. The speaker 204 may be an output terminal that outputs an audio signal. An external speaker 204 may be connected to the output terminal to generate sound.

[0075] The GPS sensor 205 identifies the current location of the flying robot 100. GPS sensor Specifically, the 205 includes, for example, a GPS antenna, an RF (Radio Frequency The GPS antenna is a part that receives the GPS signal from the GPS satellite. The RF section converts the unmodulated signal received by the GPS antenna into a baseband signal. The baseband section demodulates the baseband signal into a flying type The current position of the robot 100 is calculated. The GPS sensor 205 further removes unnecessary components. Filters that remove noise, LNAs (Low Noise Amplifiers), and power amplifiers It may also be equipped with an amplifier such as a PA (Power Amplifier).

[0076] The current position of the flying robot 100 is measured based on radio waves transmitted from multiple GPS satellites. The baseband section can determine the distances to the four GPS satellites. The position is determined by calculating the distances from each point and calculating the position where each distance intersects. Based on the radio waves received from the GPS satellites, the geometric relationship between the GPS satellites and the flying robot 100 is calculated. Instead of GPS for determining geographical position, Michibiki, GLONASS, and Galileo The current position of the flying robot 100 is determined using a satellite positioning system such as (Galileo). It may be specified.

[0077] The object sensor 206 detects whether or not there is an obstacle within a predetermined range from the flying robot 100. The obstacle is an object that hinders the flying robot 100 from flying. Examples of objects that can be detected include walls, ceilings, furniture, and people. When flying, for example, vehicles, flying robots other than the own device, trees, buildings, etc. Any object that impedes the flight of the flying robot 100 is considered an obstacle.

[0078] Specifically, the object sensor 206 may be, for example, an infrared sensor, a capacitance sensor, This can be achieved by a non-contact sensor such as an ultrasonic sensor. 6 is a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The flying robot 100 can be realized by at least one of the following: The non-contact sensor may be mounted as the object sensor 206. The robot 100 detects the flying robot 100 based on the image captured by the camera 103. The presence or absence of an obstacle within a predetermined range may be detected.

[0079] The solar cell 106 is made up of a P-type silicon semiconductor that is easily charged with positive charges and a It is made by bonding a thin N-type silicon semiconductor to a PN junction surface. In the solar cell 106, light energy from external light such as sunlight is applied to the PN junction surface. When a P-type silicon semiconductor is charged with a positive charge, an N-type silicon semiconductor is charged with a negative charge. In the solar cell 106, the P-type silicon semiconductor and the N-type silicon semiconductor are Each electrode is connected to the other, and the generated electricity is transmitted through the wires connected to the electrodes. can be extracted.

[0080] The control circuit 207 drives and controls each part of the flying robot 100. 7 can be realized by a microcontroller consisting of a CPU, memory, etc. Specifically, the control circuit 207 is, for example, a large scale integrated circuit (LSI). gration) and FPGA (Field-Programmable Gate Array This can be achieved by using a 3D 3D scanner such as ray.

[0081] The CPU executes the program stored in the memory to control the flying robot 1. It is responsible for the overall control of the 00. For example, memory stores the programs executed by the CPU, Information on various conditions related to the operation of the flying robot 100, images taken by the camera 103, It stores various information such as information about the image.

[0082] Specifically, memory is, for example, IC memory or SSD (Solid State Drive). The memory can be realized by a flying robot 100. A removable memory is inserted through a card slot provided in the flying robot 100. The memory card may be, for example, a Secure Digital (SD) card. l) The function can be realized by an IC card such as a memory card. Alternatively, this function may be realized by an external USB memory or the like.

[0083] The control circuit 207 controls the power generated by the solar cell 106 to be supplied to the battery 201. The charging circuit is a circuit for charging the solar cell 106. This includes DC / DC converters that adjust the voltage

[0084] In addition, the control circuit 207 is an IMU (Inertial Measurement Unit). it), ESC (Electronic Speed ​​Controller), BE C(Battery Elimination Circuit) or UBEC(UBEC) It includes circuits such as the Universal BEC.

[0085] IMU is a type of sensor that Drone 101 needs to acquire external information. For example, gyro sensors, acceleration sensors, air pressure sensors, ultrasonic sensors, magnetic sensors, The GPS sensor 205 is also , included in the IMU.

[0086] The gyro sensor detects the amount of change in the angle of the drone 101. For example, by measuring the angular velocity using the Coriolis force, the angle of the drone 101 The gyro sensor detects the change in the angle of the drone, allowing it to fly stably. It is possible.

[0087] The acceleration sensor detects the amount of change in the speed of the drone 101. The drone 101's tilt and speed are both measured by the acceleration sensor. The amount of change can be calculated, so even if the drone 101 is tilted, it will continue to fly. It can be done.

[0088] The air pressure sensor detects the altitude of the drone 101. The air pressure sensor detects, for example, air pressure By detecting the change in the air pressure, the altitude of the drone 101 is detected. By measuring the altitude of the drone 101 using the can.

[0089] The ultrasonic sensor detects the distance from the object (floor, obstacle, etc.) located below the drone 101. The ultrasonic sensor detects the distance. For example, the ultrasonic sensor is provided on the underside of the drone 101. The system uses the reflected ultrasonic waves emitted below the drone 101 to detect the drone located below the drone 101. This allows the drone 101 to track the ground (floor, ground, etc.). The tracking and landing can be performed stably. Ultrasonic sensor as objective sensor 206 When using the ultrasonic sensor, the drone 101 emits ultrasonic waves in all directions, and the ultrasonic sensor detects the following: The function as the objective sensor 206 and the function as part of the IMU may be compatible. .

[0090] The magnetic orientation sensor detects whether Drone 101 is facing north, south, east or west. The flying robot 100 is subject to magnetic influences depending on the place where it is flown. When changing the flying location, please calibrate the compass and adjust the magnetic orientation. It is recommended to adjust the position sensor.

[0091] The IMU and the above microcontroller constitute the flight controller. The roller performs calculations related to the rotation control of the motor 202 and transmits the propeller to the ESC. The motor outputs a control signal to control the direction and speed of rotation of the propeller motor 202. The SC controls the rotation of the motor 202 based on a control signal output from the flight controller. The flight controller controls the flying robot 100 during the flight of the flying robot 100. 0, etc., and repeats the calculation to regenerate the control signal for the motor 202. Output recursively.

[0092] Specifically, the flight controller, for example, rotates adjacent propellers in opposite directions. The control signal is output to control the flying robot 100 to rotate. Also, for example, the propeller at the front of the aircraft rotates slower than the propeller at the rear of the aircraft. The flying robot 100 moves forward by controlling it to rotate. For example, the propeller on the right side of the aircraft's direction of travel is controlled to rotate slower than the propeller on the left side of the aircraft's direction of travel. This causes the flying robot 100 to turn right.

[0093] The control circuit 207 also includes a remaining capacity measurement circuit that measures the remaining capacity of the battery 201. The remaining charge measurement circuit may be, for example, an impedance track type, a voltage measurement type, or a coulo Using various well-known methods such as the counter method or the battery cell modeling method, The remaining charge of the battery 201 is measured.

[0094] The communication I / F 208 connects the flying robot 100 to the network N through a communication line. A wireless communication interface that connects the network N and the inside of the flying robot 100. It is responsible for the interface with external devices connected via network N. The network N controls the input of data to the external device and the output of data to the external device. For example, the Internet, LAN (Local Area Network), WAN (Wi-Fi) This can be achieved through systems such as the Multimedia Area Network (MWA).

[0095] The communication I / F 208 is, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 208 is connected to a mobile phone line (for example, LTE (Long Term Evolution), PHS (Personal Handy-phone System) The interface may be a wireless communication interface such as a cellular phone (cellular phone) or a cellular phone (cellular phone).

[0096] Communication via the communication I / F 208 is performed periodically, such as at a specified time or at specified intervals. The above memo may be performed at any time depending on the status of the communication line. The memory may store information acquired by communication via the communication I / F 208. The memory stores information input in advance by the user of the flying robot 100. This is also fine.

[0097] The LED lamps 104 provided in the areas corresponding to the eyes are controlled by a control circuit 207. The light turns on, goes out, or blinks in conjunction with the flying motion of the flying robot 100. The LED lamp 104 may also provide information about the state of the flying robot 100. For example, the LED flashes in a predetermined pattern when the remaining charge falls below a predetermined threshold. The light emission color of the ED lamp 104 is not limited to one color, but may be multiple colors.

[0098] The flying robot 100 has other features (not shown) for the flying robot 100. Input / output devices such as keys or buttons for inputting instructions, and the flying robot 100 The power switch for turning the power on and off and the area other than the eyes are not included. The input / output device may be connected to another information processing device. Alternatively, the above may be realized by a connection terminal to which the above can be connected.

[0099] (Functional configuration of flying robot 100) Next, the functional configuration of the flying robot 100 will be described. FIG. 3 is an explanatory diagram showing a functional configuration of the flying robot 100 according to the first embodiment. Thus, the flying robot 100 has the functions of a memory unit 301, a detection unit 302, and an image capture unit 303. 3, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307. It will be revealed.

[0100] The storage unit 301 stores various programs related to the control by the control unit 307 and the execution of the programs. The storage unit 301 stores various information including the threshold value used for the row. The storage unit 301 stores information about captured images and information acquired by the acquisition unit 304. The storage unit 301302 may store information about battery charging spots. Specifically, the function is controlled by a memory in the control circuit 207 shown in FIG. It is possible to realize this function.

[0101] The detection unit 302 detects whether or not there is an obstacle within a predetermined range from the flying robot 100. Specifically, the detection unit 302 includes, for example, the objective sensor 206 shown in FIG. Therefore, the function can be realized. For example, instead of or in addition to the objective sensor 206, the The function may be realized by the camera 103 or the like.

[0102] The camera 103 detects the presence or absence of an obstacle, for example, when the flying robot 100 moves. The parallax between images taken at different positions (each image) is calculated by By using a moving stereo method to calculate the distance to an obstacle based on the difference between images, By using the moving stereo method, it is possible to realize the image without using a monocular camera. By doing so, the flying robot 100 can detect the presence or absence of an obstacle within a predetermined range. Cut.

[0103] The photographing unit 303 photographs the surroundings of the flying robot 100. Specifically, the function can be realized by, for example, the camera 103 shown in FIG. The storage unit 301 stores image information related to the image captured by the image capture unit 303. do.

[0104] In addition to the image information, the storage unit 301 stores the location where the image related to the image information was taken. Information about the location where the image was taken may be stored in association with the image information. The information can be determined, for example, using a GPS sensor 205.

[0105] The acquisition unit 304 acquires information from outside the flying robot 100. 304, for example, acquires an image of the surroundings of the flying robot 100. In this case, the acquisition unit Specifically, the camera 103 shown in FIG. 2 is used as the camera 304. The storage unit 301 can store a small amount of information acquired by the acquisition unit 304. At the very least, information about the person or characteristics of the person in the captured image is stored. do.

[0106] Specifically, the acquisition unit 304 receives, for example, In this case, the acquisition unit 304 may acquire predetermined information from, for example, The function can be realized by the communication I / F 208 shown in FIG.

[0107] In this case, the acquisition unit 304 acquires notification information output from a specific terminal device, for example, The specific terminal device is acquired as specific information, for example, by storing an identification number in the storage unit 301 in advance. A terminal device that stores information, specifically, a smartphone owned by a specific user This can be achieved by, for example,

[0108] In this case, the acquisition unit 304 may acquire, for example, the information on the occurrence of a disaster or the like within a predetermined time from the current time. This indicates that an incident may occur that may affect certain users. The predetermined information may be, for example, information on where to go from the present time onward. There is a possibility that disasters, earthquakes, tsunamis, lightning, rain, strong winds, and sudden changes in weather may occur within a certain period of time. The acquisition unit 304 may receive, via the network N, for example, For example, such predetermined information is obtained by communicating constantly or at predetermined intervals.

[0109] The acquisition unit 304 also acquires, for example, music and news that match the preferences of a particular user. Various types of information such as sales information of goods may be acquired as the predetermined information. Specifically, the unit 304 is, for example, a camera 103 or a microphone 203 shown in FIG. This function can be realized by using the For example, sales information of a particular user may be transmitted to the vicinity of the particular user by a microphone 203. The voices collected by a particular user, the objects frequently used by a particular user, and the objects in a particular user's field of vision The judgment can be made based on the items that are frequently used, etc.

[0110] Items that are frequently in the view of a particular user include, for example, movies, news, and variety shows. TV programs such as Youtube, gardening supplies, tableware, and other hobby-related items, As with frequently used items, the judgment is based on images captured by the image capture unit 303. The storage unit 301 can store at least the information acquired by the acquisition unit 304. , information about the preferences of a particular user can be stored.

[0111] The acquisition unit 304 may also acquire, for example, the voice of a specific user. The voice of the user may be, for example, a voice collected by a microphone 203 or a voice transmitted by the microphone 203. Judgments are made based on collected voices and images taken by cameras at the same time. In this case, the acquisition unit 304 specifically acquires, for example, the image of the camera 1 shown in FIG. The function can be realized by the memory unit 30 and the microphone 203. 1 stores information on the voice of a specific user among the information acquired by the acquisition unit 304. It is possible.

[0112] In addition, the acquisition unit 304 may acquire information learned by another flying robot 100 from a predetermined This allows the information obtained by the learning of a single flying robot 100 to be The collected information can be shared by multiple other flying robots 100. 100 to behave in a way that is more in line with the preferences of a particular user.

[0113] The driving unit 305 controls the flight of the drone 101. Specifically, the driving unit 305 For example, the function can be realized by the drone 101 shown in FIG. More specifically, the unit 305 is, for example, the propeller 102 shown in FIG. 1 or the control unit 305 shown in FIG. The flight controller, ESC, BEC (UBEC), and motor in the control circuit 207 The function can be realized by the objective sensor 202, the objective sensor 206, etc.

[0114] The output unit 306 operates in conjunction with the flying motion of the flying robot 100. The output unit 306 operates according to the state of the flying robot 100. For example, The flying robot 100 may operate in conjunction with the flying motion of flying around a specific user. , the battery when the flying robot 100 is flying around a specific user It operates according to the remaining battery level.

[0115] Specifically, the output unit 306 may, for example, output information indicating that the flying robot 100 is in the vicinity of a specific user. When flying, the LED lamp 104 installed in the part corresponding to the eye is turned on or off. In this case, the output unit 306 specifically outputs, for example, This function can be realized by the LED lamp 104 or the like.

[0116] In addition, the output unit 306 outputs, for example, When performing the process, sound may be output from the speaker 204. For example, the voice may be an animal sound, and may be used to address a specific user. The output may be voice or music. In this case, the output unit 306 specifically outputs, for example, For example, the function can be realized by the speaker 204 shown in FIG.

[0117] The output unit 306 also outputs, for example, information on disasters, earthquakes, tsunamis, lightning, rainfall, strong winds, and sudden weather. There may be events that may affect certain users, such as changes in In response to the acquisition of information indicating that the flying robot 100 is in the vicinity of the specific user, When approaching a vehicle, a voice message will be output to inform the driver that the event may occur. The LED lamp 104 may be made to light up or blink in a specific pattern or color.

[0118] The control unit 307 controls the entire flying robot 100. Specifically, the control unit 307 The function can be realized, for example, by the control circuit 207 shown in FIG. More specifically, the control unit 307 controls, for example, the C The PU executes the programs stored in the memory, etc., to perform the functions. It can be achieved.

[0119] The control unit 307 controls the driving unit 305 to control the drone 101, for example. Specifically, the control unit 307 controls the drone to fly when the battery is fully charged. The control unit 307 also starts the flight of the drone 101. When the control unit 307 detects the presence of the object, the control unit 307 starts flying. When predetermined information is acquired based on the information acquired via the above, flight is initiated.

[0120] In addition, the control unit 307 may, for example, determine a specific When recognizing a specific user, the control unit 307 may, for example, The noise and distortion of the image captured by the shadow portion 303 are removed, and the image By emphasizing the contours of objects and adjusting the brightness and color of the image, This makes it easier to extract people.

[0121] In addition, when recognizing a specific user, the control unit 307 may, for example, The system calculates the size of the eyes, mouth, nose, etc. from the captured image in units of pixels, which are the smallest elements that make up the image. What features are extracted and based on various information such as color and brightness attached to the pixels, The person photographed in the image is recognized.

[0122] In addition, when recognizing a specific user, the control unit 307 may, for example, The information on the extracted person is stored in the storage unit 301. the cumulative time that the person was photographed, and / or the cumulative number of times that the person was photographed. The information about the extracted person may include, for example, the cumulative time that the person was photographed, , and the cumulative number of times the person has been photographed.

[0123] In addition, when recognizing a specific user, the control unit 307 may, for example, Based on the image captured by the camera and the information about the extracted person stored in the storage unit 301, In addition, the person recognized from the image captured by the image capture unit 303 is It is then determined whether the person has been photographed for a predetermined period of time or a predetermined number of times. A person extracted from an image captured by the shadow section 303 is not present for a predetermined period of time or a predetermined number of times. If the person in the image is a specific user, We recognize that.

[0124] The control unit 307 determines whether a person is photographed by the photographing unit 303 within a specific range. A specific user may be recognized by determining whether or not the specific user is a person. People who have a reasonable chance of being within a certain area, such as in a home, on school grounds, or in a store , it can be recognized as a specific user.

[0125] The control unit 307 further controls the image captured by the image capturing unit 303 within a specific range. A person recognized from the image is photographed by the photographing unit 303 for a predetermined period of time or a predetermined number of times. A particular user may be recognized by determining whether or not the person is a person who has been identified. Specifically, within a specific area, such as at home, on school grounds, or in a store, If a person recognized from an image captured by the image capture unit 303 is not seen for a predetermined period of time or a predetermined number of times, If a person has been photographed more than once, the person recognized from the image may be a specific user. It is recognized that.

[0126] In addition, the control unit 307 may, for example, when recognizing a specific user, control the driving unit 305 to By controlling the flying robot 100, the flying robot 100 is caused to fly around the specific user. Specifically, the control unit 307 controls the drone to fly even if a specific user extends their hand. The robot 100 is located close to the specific user, but not close enough to be touched by the user. The flying robot 100 is made to fly.

[0127] More specifically, the control unit 307 controls, for example, a flying robot to fly over the head of a specific user. The flying robot 100 can be rotated or held in front of a specific user. Or to play with a specific user, Fly the flying robot 100 so that the robot 100 approaches or moves away When the control unit 307 detects that a specific user has visually recognized the flying robot 100, In this case, the flying robot 100 is controlled to move away from the specific user and return to the charging spot. In this way, the flying robot 100 can patrol the periphery of the nest and check the situation. In other words, this is a form of territorial behavior in which the charging spot is treated as a nest. As a result, the flying robot 100 can be seen by people around the specific user as if it were its own It gives the impression that it is a living being with a will of its own.

[0128] The control unit 307 controls the driving unit 305 to control the flying robot 100. It is also possible to simply fly the robot around the user, or to link the drive unit 305 and the output unit 306. The flying robot 100 is then caused to fly around a specific user while emitting LED lights 10 4 may be made to emit light (blink) or sound may be output from speaker 204.

[0129] (An example of the appearance of a charging spot) Next, an example of the appearance of a charging spot will be described. FIG. 4A is an explanatory diagram showing an example of a charging spot. FIG. 4B shows a cross section taken along line AA in FIG. 4A. As shown in FIG. 1B, the charging spot 400 includes a charging pad 401 and an exterior part 402. is.

[0130] The charging pad 401 includes a power transmission coil 401a. The power transmission coil 401a is connected to the AB The cover 401b is made of S resin, silicone rubber, or the like. The charging pad 401 (power transmission coil 401a) is provided with a power plug at its tip. The power cable 401c is connected to the power outlet at the end of the power cable 401c. The power transmission coil 401a is turned on by connecting the power plug to a commercial power source and passing electricity through the power transmission coil 401a. A magnetic field can be generated in the coil 401a.

[0131] The charging pad 401 is a device that uses a female USB terminal instead of a power cable 401c. In this case, a male USB terminal may be provided. A power cable that can be used to connect the power transmission coil to a power source or a conversion adapter between commercial power and USB power is used. By passing electricity through the power transmission coil 401a, a magnetic field can be generated in the power transmission coil 401a. This allows the power cable to be of any length depending on the location of the charging spot 400. can be used.

[0132] The exterior part 402 has an appearance resembling, for example, a bird or animal's nest, and covers the charging pad 401. The exterior part 402 is installed so as to The exterior part 402 has an opening for allowing take-off and landing. For example, the exterior part 402 shown in FIG. 4A or FIG. 4B As shown in FIG. 1, the charging spot 400 may have an opening above the charging spot 400. It may be cave-like in shape, covering the top of the drone and having openings on the sides. When an opening is provided above the charging pad 401, the bot 100 1, approaches charging pad 401 from above and flies off to the upper side of charging pad 401. When the flying robot 100 has a cave-like exterior 402, it can be used to charge the charging pad. The robot approaches door 401 from the upper side and then flies off to the upper side of charging pad 401.

[0133] The charging spot 400 may include a wireless router, such as a Wi-Fi router. This allows the charging spot 400 to function as a communication spot, The bot 100 can communicate via a charging spot 400. Connect the charging spot 400 to the Internet line and fly the flying robot 1 00 communicates via the charging spot 400, 0, multiple flying robots 100 can be used.

[0134] (An example of a processing procedure for the flying robot 100) Next, an example of a processing procedure of the flying robot 100 will be described. 1 is a flowchart showing an example of a processing procedure of the flying robot 100 according to the first embodiment. In the flowchart of FIG. 5, first, it is determined whether or not to start flying (step In step S501, for example, based on the remaining battery power, When the battery is fully charged, it is determined that the flight is to be started. In the first embodiment, for example, a specific user is identified based on a voice collected through a microphone 203. If the call of the turtle is detected, it may be determined that the flight is to be started. In the step 01, for example, a predetermined If the information is acquired, it may be decided to commence flight.

[0135] In step S501, the system waits until it is determined that the flight is to begin (step S5 On the other hand, if it is determined in step S501 that flight is to be started (step S502: No), In step S502, the aircraft starts flying (step S502). For example, the drone 101 is driven to fly away from the charging spot 400 and to avoid obstacles. The drone flies within a specified range while avoiding obstacles. The specified range can be, for example, inside a home or on school grounds. The range may be any range, including a specific range such as within a building, within a store, etc.

[0136] Next, it detected specific users based on images captured by the camera during flight. In step S503, for example, In this way, the person extracted by performing a predetermined image processing is photographed by the photographing unit 303 at a predetermined time. By determining whether a person has been photographed for more than a certain period of time or a certain number of times, It can be determined whether or not a user has been detected. For example, as described above, the image captured by the image capturing unit 303 within a specific range is A person recognized from the image is photographed by the photographing unit 303 for a predetermined period of time or a predetermined number of times. Determine whether a specific user has been detected by determining whether the person is a person who has been identified You may do so.

[0137] In step S503, if a specific user is not detected (step S503 On the other hand, in step S503, if a specific user If it is determined that a user has been detected (step S503: Yes), the execution of a predetermined process is In step S504, for example, The process starts execution of a process selected arbitrarily from among multiple processes specified.

[0138] The process that starts to execute in step S504 may be, for example, a battery charge level, The current location of the flying robot, the specific user detected in step S503: Yes In step S504, for example, A process of returning to the charging spot 400 after circling a specific user an arbitrary number of times. The execution of the process may then begin.

[0139] Specifically, in step S504, for example, when a vehicle approaches the vicinity of a specific user, The LED lamps 104 installed in the parts that correspond to the eyes are turned on or blinked, and the It starts the execution of a process that outputs sounds that imitate the cries of animals. It is possible to realize movements that mimic the cuteness of living creatures such as rats.

[0140] In addition, if a specific user is moving, in step S504, The process of tracking the user may begin. The process that starts the process may be one or more. When starting a run, multiple processes may start running at the same time, with staggered start times. Good too.

[0141] In step S504, for example, music that matches the tastes of a particular user is selected. In step S504, the following may be output, or news may be announced. For example, based on a profile of a particular user's past behavior, preferences, etc. The flying robot 100 used by another user who has similar behavior and preferences to the user Information such as action patterns is acquired via network N, and based on the acquired information, The process to be performed may be determined based on the

[0142] Next, it is determined whether the remaining battery power falls below a first preset threshold value. The first threshold value is, for example, a threshold value that is set to a value that is smaller than the flying speed of the flying robot 100 when the flying robot 100 flies. The flying robot 1 is located at the farthest position from the charging spot 400 within a predetermined range. 00 can be set to the amount of battery required to return to the charging spot 400. .

[0143] In step S505, if the remaining battery power is not below the first threshold (S Step S505: No), proceed to step S503, and detect a specific user. On the other hand, in step S505, if the remaining battery power is equal to or exceeds a first threshold value, If the number of times ... It is determined whether the process is being executed (step S506). If the process is not running (step S506: No), the process proceeds to step S511. do.

[0144] On the other hand, in step S506, if the process is being executed (step S506: If the user does not agree with the above, a warning is output (step S507). For example, the LED lamp 104 provided in the area corresponding to the eyes may be lit in a specific color such as red. Alternatively, the LED may be made to flash or a warning sound may be output from the speaker 204. In S507, for example, "My battery is running low" or "I'm hungry" The voice output unit 103 outputs a voice to inform a specific user of the state of the flying robot 100 in words, as shown in FIG. Alternatively, in step S507, for example, The pilot may perform flight movements that mimic those of a flying robot.

[0145] Next, in step S506: Yes, it is determined whether the process determined to be in progress has been completed. If the process is completed (step S508: If the process is completed in step S508, the process proceeds to step S511. If not (step S508: No), the remaining battery capacity is set to a preset It is determined whether the second threshold value is smaller than the first threshold value (step S509). The flying robot 100 is set to a value smaller than the value, and the flying robot 100 flies to the charging spot 400. The second threshold can be set to the battery capacity required for the flight. The setting can be based on the current location of the mobile phone 100 or the location of the charging spot 400. .

[0146] In step S509, if the remaining battery charge is not below the second threshold (S Step S509: No), proceed to step S508, and step S506: Yes On the other hand, in step S509, it is determined whether the process determined to be in progress has been completed. If the remaining battery level falls below the second threshold (step S509: Yes), Then, the process being executed is forcibly terminated (step S510) and the vehicle returns to the charging spot 400. The process is executed (step S511), and the series of processes ends.

[0147] In step S510, if multiple processes are being executed, all of the processes being executed are The process is forcibly terminated. In step S511, the fail-safe of the drone 101 is By activating the RTH (Return To Home) function, During the RTH operation, the camera 10 can perform a return process to the electric spot 400. 3 and the detection results of the object sensor 206 to avoid obstacles. .

[0148] In the above-described first embodiment, when the remaining battery power falls below the first threshold A warning is output and the feedback process is performed when the second threshold, which is lower than the first threshold, is exceeded. However, this is not limited to the above. Instead of a decision based on the remaining battery power, or In addition to this judgment, the system outputs warnings and executes operations based on the elapsed time since the flight started. Alternatively, the ongoing process may be forcibly terminated to perform a return process.

[0149] In step S502, the time from the start of flight to the time when the first threshold or the second threshold is reached The time depends on the remaining battery power at the time the flight is started in step S502. Therefore, the step speed varies depending on the battery level at the time of starting the flight. In S504, the type and number of processes to be executed may be determined.

[0150] (An example of how the flying robot 100 is used) Next, an example of a usage mode of the flying robot 100 according to the first embodiment will be described. 6A, 6B, and 6C are explanatory diagrams showing an example of a usage mode of the flying robot 100. do.

[0151] The flying robot 100 may, for example, start flying at any time and communicate with a specific user. When the robot recognizes a specific user 600, it approaches the specific user 600 and moves around the specific user 600. For example, the drone may fly around a specific user 600 in an arbitrary direction (see FIG. 6A). or after a particular user 600 has taken their eyes off the flying robot 100. When this happens, the vehicle returns to charging spot 400.

[0152] In this way, the flying robot 100 operates independently of the intentions of a specific user 600. This makes it seem as if the flying robot 100 has its own will and has suddenly left the nest. The 600 specific users will feel as if they have returned to their nest before they know it. In addition, the flying robot 100 can operate independently of the user's will. It is as if a bored flying robot 100 came along without any purpose and It gives certain users the feeling of flying around aimlessly. Cut.

[0153] The flying robot 100 can predict what will happen regardless of the intention of a specific user 600. By performing actions that are not controlled by the human, the flying robot 100 can move according to its own will and It felt like I was trying to find and communicate with 600 specific users. , and can be held by a specific user 600. This allows you to know the situation of having a pet. By playing with the flying robot 100, a specific user can feel a sense of excitement. It can reduce the loneliness and feelings of isolation of users 600 and lower stress. In addition, it is said that it can provide mental satisfaction and calm to certain users. It is possible.

[0154] In addition, the flying robot 100's predictability, which is unrelated to the intention of a specific user 600, For a specific user 600, the intention of the flying robot 100's movement is considered. This allows a specific user 600 to use the flying robot 100. Rather than an inorganic, inorganic robot, it gives the user the feeling of interacting with a living, mindful creature. This can help ease the loneliness and solitude of certain users. It can help relieve stress, improve mental well-being, and calm the mind. It is possible.

[0155] When a specific user 600 performs a specific action, the flying robot 100 Depending on the operation, a different process may be executed. The user 600 of the flying robot 100 approaches the flying robot 100 with his / her hand, When a user takes some action against the specific user 600, the user is directed to fly away from the specific user 600. In this way, the flying robot 100 may be intentionally By performing actions against the will of the user 600, it is as if the flying robot 10 0 is acting like a fickle cat, not fawning on a specific user 600. This can give specific users 600 the feeling that they are in a similar position to the original.

[0156] Or, specifically, for example, even if the robot moves around a specific user 600, the robot may not recognize the specific user 600. A certain user 600 does not respond (the action of "not turning his / her face towards the flying robot 100" etc.) 6C ), the drone may fly closer to a specific user 600. By performing such an action, the flying robot 100 appears as if it were flying. A walking robot 100 is approaching a specific user 600 in order to get attention. This can give specific users 600 a feeling of being "in the moment."

[0157] In this way, the flying robot 100 monitors a specific user 600. Based on the results of the monitoring, a predetermined action is taken for a specific user 600. , and performs the next action based on the behavior of a specific user 600 in response to the action. Therefore, for 600 specific users, it is not an inorganic or inorganic robot, but a living, heartfelt robot. It gives the user the sensation of interacting with a living creature such as a pet.

[0158] The flying robot 100 always performs the same action in response to the same action of a specific user 600. For example, the last time a specific user 600 was a flying robot, In response to the user bringing his / her hand closer to the mobile phone 100, the user 600 moves closer to the mobile phone 100. Even if you do this, the next time a specific user 600 does the same action, The drone may fly away from the specific user 600. The intention of the flying robot 100 may not be clearly understood by the user 600. This allows us to mimic the mysteriousness that often occurs when living things interact with each other. can be done.

[0159] When a specific user 600 does not clearly understand the intention of the flying robot 100's operation Even if there is a problem, the user can enjoy the motion of the flying robot 100 itself and can enjoy the interaction with other living creatures. In this way, you can enjoy the sense of mystery that often arises in the process of finding a pet. By reproducing the relationship with organisms such as The very act of thinking about the intention behind the movement of the flying robot 100 (whether there is a correct answer or not is unclear) You can have fun.

[0160] In addition, if the flying robot 100 is equipped with a night vision camera or an infrared camera, it can capture images at night. Even if there is a light source for auxiliary imaging, the image of the surroundings of the flying robot 100 can be captured clearly. This allows the camera to take clear pictures of people (such as thieves) in the dark. In this case, it may output a loud sound or contact an external party such as a security company via the communication I / F 208. You can do that.

[0161] In the above-mentioned first embodiment, the purpose of providing healing to a user (a specific user 600) is to The flying robot 100 has been described, but the method of using the flying robot 100 has not been described. However, the flying robot 100 is not limited to the above. For example, the flying robot 100 may be used in martial arts such as boxing and karate. A fighting simulator that supports simulation of actual fights and matches in It can be used as.

[0162] The flying robot 100 used as a fighting simulator is specifically For example, in martial arts such as boxing and karate, a suitable place for striking In this case, the user aims at the flying robot 100 and hits it. By carrying out this training, we can practice in a way that mimics a real-life situation or a match (known as sparring). This can be done.

[0163] During sparring, you can turn on or off the LED light, adjust the color of the light, or use voice commands. The timing of the strike may be indicated by the output of the For example, the area where the hand (fist) will strike can be illuminated with a red LED light. The LED lights will light up green to show you where to strike (kick) with your foot. In addition, for sparring, famous athletes will be invited to participate via Network N. Based on this information, the drone will perform flight movements that mimic the movements of famous athletes. may be performed.

[0164] In addition, the flying robot 100 can be used for playing the instruments in an orchestra or a brass band, for example. It can be used as a flying conductor to conduct the orchestra. Specifically, the flying robot 100 used as a conductor may be, for example, The performers perform flying movements that mimic the movements of the tip of a flying baton. When switching parts, the robot may fly near the corresponding part (instrument). This makes it possible to reliably support the performance of each part.

[0165] In addition, the flying robot 100 can also be used to control the progression of a song in karaoke, for example. Flying Puff joins in and flies along dancing to the music. It can be used as a flying performer. The robot 100 further outputs the karaoke music from the speaker 204. This allows users to use the device even in places where it is difficult to secure a power source, such as outdoors. Karaoke can be enjoyed anywhere.

[0166] As described above, the flying robot 100 according to the embodiment of the present invention is an automatic flying robot. A vertically flying drone (unmanned aerial vehicle) 101 and a camera mounted on the drone 101 103, and a specific user 60 based on an image captured by the camera 103. The drone recognizes the specific user 600 and flies around the specific user 600. do.

[0167] According to the flying robot 100 of the first embodiment of the present invention, The robot flies around a specific user 600 by automatic control based on the images captured by the robot. By doing so, the specific user 600 is recognized as the owner and can communicate with the owner. This allows the user to behave like a pet animal, requesting an action. It can heal the hearts of 600 specific users and give 600 specific users a sense of fulfillment. do.

[0168] In addition, the flying robot 100 can be kept clean, making it suitable for keeping living creatures. Compared to raising them in the field, this eliminates hygiene issues. According to To100, there is no problem with animal allergies, so it is suitable for specific users. Regardless of your age, you can experience communicating with your pet.

[0169] In addition, the flying robot 100 does not cause problems in terms of hygiene or animal allergies. In addition, as it flies through the air, bacteria, viruses, dirt, etc. from the floor and other surfaces can adhere to it. This means that it can be used in places such as hospitals and nursing homes. This is expected to have a therapeutic effect on users in hospitals and nursing facilities.

[0170] In addition, the flying robot 100 according to the first embodiment of the present invention uses the camera 103. A person who is photographed for a predetermined period of time or a predetermined number of times is recognized as a specific user 600. It is characterized by:

[0171] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 10 It flies around 600 specific users who have had a reasonable chance of contact with 0 by autopilot. This allows the robot to mimic the behavior of a pet, becoming accustomed to the user when treated appropriately. This allows specific users 600 to have a long-term relationship with flying robots. It is to attract the attention of specific users 600, to soothe the hearts of specific users 600, and to provide a sense of fulfillment to specific users 600. Can be given.

[0172] In addition, the flying robot 100 according to the first embodiment of the present invention is The person photographed by the camera 103 is recognized as a specific user 600. It is characterized by:

[0173] According to the flying robot 100 of the first embodiment of the present invention, for example, There is a reasonable chance that you will be within a certain range, such as on school grounds, in a store, etc. The drone will fly around 600 specific users who are likely to be photographed by the drone. By doing so, the user can become familiar with specific users 600 that the user has interacted with appropriately within a specific range. It can imitate the behavior of a pet. This allows it to be used by a specific user 600 for a long time. The aim is to generate interest, familiarity and affection for the flying robot 100 over a period of time, and to attract a certain number of users. It can soothe the hearts of 00 and give a sense of fulfillment to specific users 600.

[0174] The flying robot 100 that operates in this way is, for example, a flying robot in a home. Specific users 600 who have had a reasonable opportunity to come into contact with the 100 and the flying type outside their homes The behavior of the robot 100 differs between the friends of a particular user 600 who have had a fair chance of interacting with the robot. In order to create the robot, a specific user 600 will have a sense of affinity and affection for the flying robot. This will more reliably soothe the hearts of specific users 600 and provide specific users 600 with a sense of satisfaction. can be given.

[0175] In addition, the flying robot 100 according to the first embodiment of the present invention When at least a portion of the specific user approaches the unmanned aerial vehicle while flying around the When a drone is detected as being in a certain location, it will fly away from that particular user.

[0176] According to the flying robot 100 of the first embodiment of the present invention, An indoor dog that approaches the user (user 600) but does not want to be touched. The flying robot 1 is designed to perform the behavior of cats, which is often seen in humans and cats, such as "coming to check on the owner's behavior." 00, it is as if the flying robot 100 has its own will. It can give the impression of being a living thing.

[0177] In addition, the flying robot 100 according to the first embodiment of the present invention If the particular user does not have visual contact with the unmanned aerial vehicle while flying around the particular Its unique feature is that it flies close to the user.

[0178] According to the flying robot 100 of the first embodiment of the present invention, "My pet wants to be pampered because the other user doesn't pay attention to me." The flying robot 100 can be made to perform affectionate movements commonly seen in humans, However, the flying robot 100 can give the impression of being a living thing with its own will. .

[0179] In addition, the flying robot 100 according to the first embodiment of the present invention The drone flies around a specific user a predetermined number of times and then flies away from the specific user. It states that:

[0180] According to the flying robot 100 of the first embodiment of the present invention, the indoor dog or cat can The flying robot 100 is designed to perform the common behavior of "checking on the owner's behavior." It is as if the flying robot 100 were a living thing with its own will. It can give such an impression.

[0181] In addition, the flying robot 100 according to the first embodiment of the present invention is mounted on a drone 101. When the device acquires predetermined information via the communication I / F 208, In this case, the drone flies around a specific user 600.

[0182] According to the flying robot 100 of the first embodiment of the present invention, the communication I / F 208 When the specified information is acquired through the By executing the above, even if a specific user 600 is not aware of it, the specific user 6 It can convey useful information to 00.

[0183] In addition, according to the flying robot 100 of the first embodiment of the present invention, the communication I / F 2 By communicating with another flying robot 100 via the Since the information obtained by the learning of the flying robot 100 can be shared, 00 can be made to act in a way that is more in line with the preferences of a particular user 600.

[0184] In addition, the flying robot 100 according to the first embodiment of the present invention includes a communication I / F 208. When notification information output from a specific terminal device is acquired via the It is characterized by flying around the

[0185] According to the flying robot 100 of the first embodiment of the present invention, for example, The smartphone owned by the user 600 is regarded as a specific terminal device, and the smartphone on which the call was received is identified as a specific terminal device. When notification information output from the smartphone to the flying robot 100 is received, By flying around 600 users by autopilot, the drone can be used without the need to carry a smartphone with you at all times. Even if you do not have a smartphone or your smartphone is set to silent mode, You can quickly find out when a notification has been sent to your smartphone.

[0186] In addition, the flying robot 100 according to the first embodiment of the present invention can be used, for example, Disasters, earthquakes, tsunamis, lightning, rain, strong winds, and sudden weather changes may occur within the specified time. If the company obtains information indicating that the drone may be in danger of being stolen, it may fly around a specific user 600. It is characterized by:

[0187] According to the flying robot 100 of the first embodiment of the present invention, Even if 0 does not consciously collect information, within a specified time from the present time, there will be no information on disasters, earthquakes, tsunamis, or lightning strikes. , you can quickly know when rain, strong winds, and sudden weather changes are likely to occur. This allows you to live your life with peace of mind.

[0188] In addition, the flying robot 100 according to the first embodiment of the present invention is mounted on a drone 101. 204 mounted on the speaker 204, and The drone outputs sound and flies around the specific user 600. There are.

[0189] According to the flying robot 100 of the first embodiment of the present invention, By flying around the drone by autopilot while outputting sound from the speaker 204, The robot communicates with a specific user 600 as the owner by making sounds such as barking noises. This allows the robot to imitate the behavior of a pet by requesting a certain action. It is possible to attract the attention of the user 600 more reliably, soothe the hearts of the specific users 600, and This will give users 600 a sense of satisfaction.

[0190] In addition, the flying robot 100 according to the first embodiment of the present invention is mounted on a drone 101. When a predetermined sound is picked up by the microphone 203, a specific Its unique feature is that it can fly around 600 users.

[0191] According to the flying robot 100 of the first embodiment of the present invention, The voice of a person, the sound of a doorbell at the entrance or gate of a house, the ringtone of a smartphone, and other predetermined sounds When the voice of a specific user 600 is collected, the drone will fly around the specific user 600 by autopilot. In this way, a predetermined voice is used as a trigger to respond to communication with a specific user 600. Or, a visit of a third party or a call to a smartphone may be transmitted to a specific user 600. It is possible.

[0192] In addition, the flying robot 100 according to the first embodiment of the present invention can receive a message from a specific user 60. When the voice of 0 is collected, the drone will fly around a specific user 600 by autopilot. This will make 600 specific users feel like "they came when I called them." It allows children to feel happy and experience communicating with pets.

[0193] This not only heals the hearts of 600 specific users, but also provides the necessary In particular, the information can be transmitted to a specific user 600. By providing users with the information they need when they need it, Compared to receiving assistance from a hearing dog, which is a burden to care for, this makes the user's life easier. It is easy and inexpensive to provide support.

[0194] In addition, the flying robot 100 according to the first embodiment of the present invention is mounted on a drone 101. When a predetermined sound is collected by the microphone 203, A voice is output from the speaker 204 to a specific user 600, and the specific Its unique feature is that it can fly around 600 users.

[0195] According to the flying robot 100 of the first embodiment of the present invention, The voice of a person, the sound of a doorbell at the entrance or gate of a house, the ringtone of a smartphone, and other predetermined sounds When the voice of a specific user 600 is collected, the drone will fly around the specific user 600 by autopilot. By outputting a voice from the speaker 204, a specific user 600 is identified as the owner. The robot is designed to imitate a pet, making sounds to request communication. 60 specific users who do not operate the phone or are unaware of doorbells or incoming calls on their smartphones 0, a third party's visit or a call to a smartphone was notified to 600 specific users. It can be done.

[0196] This makes it possible to more reliably attract the interest of specific users 600 and It heals the hearts of 0, gives satisfaction to specific users 600, and provides what is needed in a necessary situation. This allows the information to be transmitted to a specific user 600. It can improve the psychological state and life of a certain number of users 600.

[0197] In addition, the flying robot 100 according to the first embodiment of the present invention The sound it outputs is characterized by imitating the sounds of animals.

[0198] According to the flying robot 100 of the first embodiment of the present invention, the sounds of animals can be imitated. By outputting a voice with a certain quality, the attention of a specific user 600 can be more reliably attracted. This allows 600 specific users to communicate with their pets. It gives a strong sense of satisfaction to the users, heals the hearts of the specific users 600, and It can give 00 a sense of satisfaction.

[0199] In addition, in the flying robot 100 according to the first embodiment of the present invention, the predetermined sound is It is characterized by being the voices of 600 specific users.

[0200] According to the flying robot 100 of the first embodiment of the present invention, the microphone 203 When the voice of a specific user 600 is collected, the surroundings of the specific user 600 are automatically controlled. It flies vertically. This makes it seem as if it responds to the call of a specific user. By imitating the actions of the user, the heart of the specific user 600 is healed, and the heart of the specific user 600 is healed. It can give a sense of satisfaction to users. Also, it does not respond to calls from people other than the specific user 600. Since the flying robot 100 does not respond to user requests, it is possible to create a sense of familiarity and attachment to the flying robot 100 and to attract specific users. -600 can give a sense of satisfaction.

[0201] In this way, the flying robot 100 according to the first embodiment of the present invention can be used as a pet. The robot moves autonomously around the house and is designed to be loved by people, and to move in a natural way like a pet. By communicating with a specific user, This can reduce stress and provide healing. It can help ease the loneliness and isolation felt by the elderly and the elderly, helping them to live a fulfilling and peaceful life. It can help you live a better life.

[0202] <Embodiment 2> Next, an example of a flying robot according to a second embodiment of the present invention will be described. The flying robot of the second embodiment operates to achieve a specific purpose. The flying robot in the second form recognizes a person with a hearing impairment as a specific user and Inform specific users of the sounds they need in their daily lives and guide them to the source of the sounds They serve the same purpose as hearing dogs, which are used to detect hearing loss.

[0203] Hearing dogs have a shorter history than guide dogs, and the number of hearing dogs is smaller than the number of people with hearing impairments. In addition, the time it takes to lend a book to a person with hearing impairments is extremely short. The training period for a hearing dog takes at least one year and eight months, and the training cost is about 1 million yen. Given this background, hearing dogs are not being used effectively by people with hearing impairments. The current situation is that it has not been passed on.

[0204] In consideration of this situation, the flying robot of the second embodiment is designed to be able to receive hearing dogs. To increase the motivation for independence and sense of security in daily life of people with hearing impairments who are unable to communicate with others. The purpose is to:

[0205] (An example of the appearance of a flying robot) FIG. 7 is an explanatory diagram showing an example of an external appearance of an flying robot according to a second embodiment of the present invention. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description will be repeated. As shown in FIG. 7, the flying robot 700 is mounted on a drone 101. The image forming apparatus includes a camera 103 and a projector 701.

[0206] The projector 701 includes a projector light source, an optical system, a projection lens, etc. (Both are not shown in the figure). The projector 701 emits light from a projector light source. The light is guided along a predetermined path by an optical system and projected onto a projector 701 via a projection lens 701a. By shining light onto the outside of the device, an image is projected onto the surface where the light is being shone. Integrator lens that improves the uniformity of the illuminance of the light emitted from the projector light source, non-polarized light A polarization conversion element that converts (polarizes) light emitted from a source into a predetermined polarization direction, projector 7 01 Dichroic mirror that separates the light from the source into the three primary colors R, G, and B. LCD panels that display images according to the light of each color, and the images of each color displayed by each LCD panel are synthesized. The optical system is composed of a dichroic prism and other components (both not shown in the figure).

[0207] The projector 701 may be, for example, a projector that uses a laser as a light source. A laser projector can be used. By using the laser beam splitter, the projector 701 can be made smaller. The laser type projector uses a mercury lamp as the projector light source. It can generate less heat than conventional projectors, so it can be equipped with a cooling fan and other mechanisms. By omitting it, it is possible to reduce the size and weight.

[0208] In addition, by using a laser projector, it can start up quickly and project images. In addition, by using a laser projector, Compared to silver lamp projectors, this projector consumes less power and projects brighter images. It is possible to achieve this.

[0209] Mercury lamp projectors should be used with the projection (optical axis) direction horizontal. The recommended projection direction is limited because the projection is not possible with laser-based projection. The projector can be used with the optical axis tilted relative to the horizontal. Laser projectors offer a high degree of freedom in the direction of projection, making it possible to project images onto walls. It can also project images onto the ground and floor.

[0210] The projector 701 is fixed to the drone 101 and is projected along with the movement of the drone 101 ( The projector 701 moves with the drone 101. The projector 70 may be connected in an adjustable state. 1 is connected to the bottom of the drone 101 via a universal joint such as a ball joint. The projector 701 can be mounted on a drone via a universal joint such as a ball joint. By connecting to 101, the projector 701 can be adjusted with high degree of freedom. It can be secured.

[0211] In this case, the flying robot 700 controls the projector 701 with respect to the drone 101. In order to adjust the attitude without human intervention, the position of the projector 701 relative to the drone 101 is The robot may be provided with a drive mechanism for changing the posture. The drive mechanism may be, for example, a motor or a gear. The drone 101 may be configured with a row of projectors 701. By making the position adjustable, images can be projected at the optimal angle depending on the location where the image is to be projected. It is possible.

[0212] (Hardware configuration of flying robot 700) Next, the hardware configuration of the flying robot 700 will be described. FIG. 7 is an explanatory diagram showing a hardware configuration of an flying robot 700 according to a second embodiment of the present invention. As shown in FIG. 8, the hardware of the flying robot 700 includes a battery 201, a motor, and a 202, the camera 103, the microphone 203, the speaker 204, the GPS sensor 205, Object sensor 206, control circuit 207, communication I / F 208, LED lamp 104, solar The image display device 100 is constituted by a light cell 106, a projector 701, and the like.

[0213] As described above, the projector 701 projects light emitted from the projector light source through an optical system. and projecting the light to the outside of the projector 701 via the projection lens 701a. By doing so, the projector 701 projects an image at the location where the light is irradiated. The intensity of the light emitted from the projector light source is adjusted according to the distance from the position where the image is projected. The image quality of the projected image may be adjusted by adjusting the projector 70. The distance between the image projector 1 and the position where the image is projected can be determined, for example, by using a distance sensor. The distance sensor may be, for example, a laser distance sensor, an ultrasonic sensor, or an infrared sensor. Various known sensors such as a pressure sensor can be used.

[0214] (Functional configuration of the flying robot 700) Next, the functional configuration of the flying robot 700 will be described. The functions of the robot 700 are the same as those of the flying robot 100 described above, that is, the memory unit 301 and the detection unit 302. An output unit 302, an image capturing unit 303, an acquisition unit 304, a driving unit 305, an output unit 306, and a control unit This is realized by the control unit 307.

[0215] The control unit 307 in the flying robot 700 receives a predetermined When the voice is collected, the driving unit 305 is controlled to fly the drone 101. The drone then flies around the specific user 600 that it recognizes in response to the specified voice.

[0216] The predetermined voice may be, for example, a telephone call or electronic message to a telephone (landline, smartphone, etc.). The ringtone can be used to notify the user that at least one of the emails has arrived. The predetermined voice may be, for example, a voice generated by a visitor to a building or site at an entrance of the building or site. The ring tone of a doorbell provided for calling the occupant or manager of the building or premises It can be said that:

[0217] The predetermined sound may be, for example, a sound having a sound pressure equal to or higher than a predetermined threshold. Specifically, the predetermined sound is, for example, an alarm sound or siren that is intended to be notified to an unspecified number of people. For the purpose of making the user aware of the situation, the sound may be output at a high volume. For example, the sound may be a sound with a sound pressure level of 70 dB or more.

[0218] In addition, the predetermined voice may be, for example, a voice generated within a predetermined range from a specific user 600. Specifically, the alarm clock, kitchen timer, smartphone The voice is generated by a person whose positional relationship with a specific user 600 may change frequently. In addition, the specified sounds can be the sound of a boiling kettle, a gas leak detection buzzer, a cooling It may also be an alarm that warns if the back door of the storehouse is left half-closed or closed.

[0219] The predetermined sound may be a sound previously stored in the memory of the control circuit 207. Alternatively, the voice may be a voice learned based on information acquired via the communication I / F 208. The voice may be the voice of a specific user 600. The predetermined voice may be the voice of a rainfall, a thunderstorm, etc. The sound may be associated with a change in the natural environment.

[0220] When a predetermined voice is collected by the microphone 203, the control unit 307 The drone 101 is flown so as to guide the user 600 to the source of the sound. When a predetermined sound is collected by the microphone 203, the unit 307 outputs, for example, A drone is configured to fly between the vicinity of a specific user 600 and the source of a specific sound. More specifically, for example, flying around a specific user 600 Then, the robot flies to the source of the sound after attracting the attention of the particular user 600. Do this repeatedly.

[0221] The control unit 307 flies the drone in a flight mode corresponding to the predetermined sound in response to the predetermined sound. In particular, the control unit 307 may control the drone 101 to fly in the following manner. When a phone call is received, the drone 101 is moved in front of the specific user 600. Specifically, the control unit 307 controls the drone to fly in a zigzag manner when the doorbell rings. Then, the drone flew around a specific user 600 and flew to the source of the sound (the entrance) 1 You may fly 01.

[0222] The output unit 306 in the flying robot 700 outputs a signal according to the state of the flying robot 700. The output unit 306 operates in conjunction with the flying motion of the flying robot 700. When a predetermined sound is collected by the microphone 203, a specific user is notified in response to the predetermined sound. In conjunction with the flying action of the robot 600, an image is projected from the projector 701. The image is preferably projected in front of a particular user 600 .

[0223] Specifically, for example, when there is an incoming call, an image of the phone is projected. For example, when the doorbell rings, an image of the entrance or gate, or an image of a visitor, If the child is crying, you can project an image of the crying child. Image data of the image is obtained, for example, from the network N via the communication I / F 208. It is possible.

[0224] The projected image may be an image captured by the camera 103. In this case, For example, each time the robot 700 detects that a predetermined sound is being generated, the robot The source of a certain sound is photographed and the photographed image is projected. In this way, the image of the actual object is projected. By projecting, the source of the sound can be reliably understood by a specific user 600. This also makes it possible to select the appropriate image without storing multiple image data. Images can be projected.

[0225] Alternatively, the output unit 306 may output, for example, the surroundings of a particular user 600 in response to a predetermined voice. In conjunction with the flying motion of the robot, text may be projected from the projector 701. For example, "You have received an email" or "The doorbell is ringing." Such a message is projected in front of a specific user 600. The forward position of 600 can be determined based on the image captured by the camera 103. In this case, the output unit 306 specifically outputs, for example, the project shown in FIG. The function can be realized by the controller 701 or the like.

[0226] In addition, the output unit 306 may output a signal corresponding to a predetermined sound, for example, around a specific user 600. The LED lamp 104 may be turned on or off in conjunction with the flying action. In this case, the output unit 306 is specifically, for example, an LED lamp 104 shown in FIG. The function can be realized by the above.

[0227] When the LED lamp 104 is turned on (blinked) in response to a specific voice, it can be turned on in red, orange, etc. The color of the light may be long and easily noticeable to a particular user 600. The light may be adjusted to light up (blink) at a higher illuminance than normal. The LED lamps are installed so that the illumination is higher during the daytime outdoors than at night. 04 may be turned on (blinked). Furthermore, instead of the LED lamp 104, Light may be emitted from the light source 701.

[0228] (An example of a processing procedure for the flying robot 700) Next, an example of a processing procedure of the flying robot 700 will be described. 11 is a flowchart showing an example of a processing procedure of the flying robot 700 according to the second embodiment. In the flowchart of FIG. 9, first, a voice is acquired via the microphone 203 (step The acquired voice is analyzed (step S902). For example, the strength (volume), frequency, and intervals between sounds of the captured sound are Data indicating the feature amount is generated.

[0229] Next, based on the analysis result in step S902, it is determined whether the acquired voice is a predetermined voice. In step S903, it is determined whether the acquired voice is a predetermined If the voice is not the voice (step S903: No), the process proceeds to step S901. Get it.

[0230] On the other hand, in step S903, if the acquired voice is the predetermined voice (step S 903: Yes), and then the flight starts (step S904). For example, drive drone 101, take off from charging spot 400, and avoid obstacles. While flying within a specified range.

[0231] Next, a specific user 60 is identified based on the images captured by the camera 103 during flight. It is determined whether or not 0 is detected (step S905). For example, as described above, a specific user 600 may be photographed by the photographing unit 303 for a predetermined period of time. The person may be a person who has been photographed a certain number of times or more, and the characteristics (image, voice, etc.) The person whose feature amount is stored in advance in the memory may be used. By using the specific user 600, the flying robot 700 can be used immediately after starting to use the flying robot 700. The relevant person can be recognized as a specific user 600.

[0232] In step S905, the specific user 60 The flight continues until 0 is detected (step S503: No). The battery 201 is charged until it reaches a threshold at which it can return to the charging spot 400 without detecting When the remaining charge decreases, a return process is performed.

[0233] In step S905, if a specific user 600 is detected (step S905 :Yes), the execution of the predetermined process is started (step S906). In the example, the drone flies around a specific user 600 and captures the specific user 60 0 attention-grabbing actions and shuttles between a specific user 600 and the source of the sound In step S906, for example, when a voice is generated, It provides information about the occurrence of a sound, the source of the sound, or the content (event) of the sound that has occurred. The characters may be projected from the projector 701.

[0234] The process in step S906 is to determine whether a particular user 600 is the source of the sound (cause of the sound). This is continued until the user notices the problem (step S907: No). In the process in 06, the flying robot 700 is charged according to the remaining charge of the battery 201. It may be possible to return to the pot up to 400. The threshold at which the user 600 can return to the charging spot 400 without noticing the sound source is reached. When the remaining charge of the battery 201 becomes low, a return process is performed.

[0235] In step S907, if a specific user 600 notices the sound source (step S 907: Yes), and then a return process is performed (step S908), and the series of processes is terminated. In step S907, for example, based on an image captured by the camera 103, and determine whether a specific user 600 has taken an action to approach the source of the sound. By doing so, it is possible to determine whether a particular user 600 has noticed the source of the sound. do.

[0236] As described above, the flying robot 700 according to the second embodiment of the present invention is A drone 101 that is operated and flies, a camera 103 mounted on the drone 101, and A microphone 203 is mounted on the drone 101, and an image captured by the camera 103 is A specific user 600 is recognized based on the image, and a predetermined voice is collected by a microphone 203. When the user 600 is detected, the drone flies around the recognized specific user 600 in response to the predetermined voice. It is characterized by the following.

[0237] According to the flying robot 700 of the second embodiment of the present invention, the microphone 203 When a predetermined sound is collected, the camera 103 recognizes the sound based on the image captured by the camera 103. By flying around a specific user 600, it is possible to confirm that a specific sound is being played. The flying robot 700 can provide visual guidance by its movements. Even if 600 users have hearing impairments, the system can reliably convey that a specific sound is being heard. can be achieved.

[0238] This will help to prevent situations where people with hearing impairments have difficulty understanding their surroundings. However, the constant need to be aware of your surroundings can cause fatigue and stress. It also helps you to understand the situation around you without being particularly conscious of it. This will help reduce the fear of not being able to hear, and will increase the motivation to become independent and improve the quality of life. This can increase a sense of security in daily life.

[0239] In addition, the flying robot 700 according to the second embodiment of the present invention responds to a predetermined voice. The drone flies around the recognized specific user 600 in a flight mode corresponding to the predetermined voice. It is characterized by the fact that

[0240] According to the flying robot 700 of the second embodiment of the present invention, sound is generated depending on the flying mode. The type and content of the voice can be visually guided. This allows a specific user 600 to Even if a person has a hearing impairment, it is possible to hear a specific sound being played to a specific user 600. The type and content of the voice can be quickly and in detail. This can improve the convenience of the life of a specific user 600 who is visually impaired.

[0241] In addition, the flying robot 700 according to the second embodiment of the present invention is mounted on a drone 101. When a predetermined sound is collected by a microphone 203, In this case, an image corresponding to the predetermined voice is displayed in front of the recognized specific user 600. It is characterized by projection from Projector 701.

[0242] According to the flying robot 700 of the second embodiment of the present invention, the microphone 203 When a predetermined sound is collected, the camera 103 recognizes the sound based on the image captured by the camera 103. The drone flies around the specific user 600 and recognizes the specific user 600. By projecting an image corresponding to the predetermined sound from the projector 701 in front of the A predetermined sound is generated according to the movement and image of the flying robot 700. This allows the specific user 600 to visually guide the Even in such a case, it is possible to reliably and clearly communicate that a predetermined sound is being generated.

[0243] In addition, the flying robot 700 according to the second embodiment of the present invention uses the microphone 203. When a predetermined voice is collected by the user 600, the predetermined voice is displayed in front of the recognized user 600. It is characterized by projecting characters from a projector 701 in response to voice.

[0244] According to the flying robot 700 of the second embodiment of the present invention, the microphone 203 When a predetermined sound is collected, the camera 103 recognizes the sound based on the image captured by the camera 103. The drone flies around the specific user 600 and recognizes the specific user 600. By projecting characters corresponding to the predetermined voice from the projector 701 forward, The flying robot 700's movements and the text visually indicate that a specific sound is being played. This allows the user 600 to be guided intuitively. Even in such a case, it is possible to reliably and clearly communicate that a predetermined sound is being emitted.

[0245] The control method for the flying robot described in this embodiment is carried out using a previously prepared A program that runs on a computer such as a personal computer or a workstation. This program can be installed on a hard disk, CD-ROM, , MO, DVD, USB memory, SSD, and other computer-readable recording media The program is recorded in the recording medium and executed by a computer by reading it from the recording medium. This program can be distributed via a network such as the Internet. It may be a transmission medium. [Industrial Applicability]

[0246] As described above, the flying robot, the control program for the flying robot, and The control method for the flying robot is useful for users who want a pet robot, especially It is also suitable for users who want easy breeding. [Explanation of symbols]

[0247] 100, 700 Flying Robot 101 Drone 103 Camera 104 LED lamps 106 Solar Cell 201 Battery 202 Motor 203 Mike 204 Speaker 205 GPS sensor 206 Object Sensor 207 Control Circuit 208 Communication I / F 301 Storage section 302 Detection unit 303 Photography Department 304 Acquisition Department 305 Drive unit 306 Output section 307 Control Unit 400 charging spots 401a Transmission coil 401b cover 401c power cable 402 Exterior part 600 Specific Users 701 Projector 701a Projection Lens

Claims

1. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with Recognizing a specific user based on an image captured by the camera, A flying robot that is characterized by flying around the user.

2. The specific user is photographed by the camera for a predetermined period of time or a predetermined number of times.

2. The flying robot according to claim 1, wherein the flying robot is a person.

3. The specific user is a person photographed by the camera within a specific range.

3. The flying robot according to claim 1, wherein the flying robot is a robot having a plurality of arms.

4. While flying around the specific user, at least a part of the specific user When approaching a human aircraft, the drone will fly away from that specific user. The flying robot according to any one of claims 1 to 3.

5. When the unmanned aerial vehicle is flying around the specific user, the specific user visually observes the unmanned aerial vehicle. If not, the drone flies so as to approach the specific user.

2. The flying robot according to claim 1 ,

6. After flying around the specific user a certain number of times, the robot moves away from the specific user.

4. The flying robot according to claim 1, which flies in a direction perpendicular to the axis of the arrow.

7. A wireless communication interface is provided on the unmanned aerial vehicle. When predetermined information is acquired via the wireless communication interface, The flying robot according to any one of claims 1 to 6, characterized in that it flies around the to.

8. The predetermined information is notification information output from a specific terminal device. The flying robot according to claim 7.

9. The predetermined information includes information on disasters, earthquakes, tsunamis, lightning, rain, strong winds, etc., occurring within a predetermined time period from the present time. The information indicates that there is a possibility of a sudden change in weather.

8. The flying robot according to claim 7.

10. A speaker mounted on the unmanned aerial vehicle; A voice is output from the speaker to the specific user, and the specific The flying type according to any one of claims 1 to 9, characterized in that it flies around the user. robot.

11. A microphone mounted on the unmanned aerial vehicle, When a predetermined sound is picked up by the microphone, the drone flies around the specific user. The flying robot according to any one of claims 1 to 10,

12. The predetermined voice is a voice that indicates that at least one of a call and an e-mail is received on the telephone.

12. The flying robot according to claim 11, wherein the ringtone notifies the user of the arrival of the flying robot.

13. 12. The method according to claim 11, wherein the predetermined voice is the voice of the specific user. A flying robot.

14. A speaker mounted on the unmanned aerial vehicle; When a predetermined sound is collected by the microphone, the screen is displayed to the specific user. The drone outputs audio from its speaker and flies around the specific user. The flying robot according to any one of claims 11 to 13.

15. The sound output from the speaker is a sound that imitates the cry of an animal. The flying robot according to claim 10 or 14.

16. The computer in the unmanned aerial vehicle, which is equipped with a camera and flies automatically, Recognizing a specific user based on an image captured by the camera; Flying around the specific user who has been recognized; A control program for a flying robot, which causes the robot to execute a process.

17. While flying around the specific user, at least a part of the specific user When approaching a human aircraft, the aircraft will be directed away from that particular user.

17. The flying robot control program according to claim 16, which executes a process. Hmm.

18. When the unmanned aerial vehicle is flying around the specific user, the specific user visually observes the unmanned aerial vehicle. If not, fly the drone closer to that specific user.

17. The flying robot control program according to claim 16, which executes a process. Hmm.

19. After flying around the specific user a certain number of times, the robot moves away from the specific user. to fly to 17. The flying robot control program according to claim 16, which executes a process. Hmm.

20. A flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically. Recognizing a specific user based on an image captured by the camera; Flying around the specific user who has been recognized; A method for controlling a flying robot.

21. While flying around the specific user, at least a part of the specific user When approaching a human aircraft, the aircraft will be directed away from that particular user. The flying robot control method according to claim 20.

22. When the unmanned aerial vehicle is flying around the specific user, the specific user visually observes the unmanned aerial vehicle. If not, fly the drone closer to that specific user. The flying robot control method according to claim 20.

23. After flying around the specific user a certain number of times, the robot moves away from the specific user. to fly to The flying robot control method according to claim 20.

24. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; A microphone mounted on the unmanned aerial vehicle; Equipped with Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. A flying drone that flies between the vicinity of the specific user and a source of a specific sound. Row robot.

25. When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. After circling the specific user, the specific user and the vicinity of the specific user are detected. The flying robot according to claim 24, characterized in that it flies between the source of the generated energy and the source of the generated energy.

26. The predetermined voice is a voice that indicates that at least one of a call and an e-mail is received on the telephone. The flying robot according to claim 24 or 25, wherein the ringtone is a notification sound. to.

27. The predetermined voice may be displayed at the entrance of a building or site to inform visitors to the building or site of the predetermined voice. The ringtone of a bell provided to summon the occupant or manager of a building or premises.

26. The flying robot according to claim 24 or 25.

28. 25. The predetermined sound is a sound having a sound pressure equal to or higher than a predetermined threshold.

26. The flying robot according to claim 25.

29. The predetermined voice is a voice generated within a predetermined range from the specific user. The flying robot according to claim 24 or 25,

30. In response to the predetermined voice, the recognized specific The flying device according to any one of claims 24 to 29, which flies around a user. Row robot.

31. A projector mounted on the unmanned aerial vehicle, When a predetermined voice is collected by the microphone, a voice message is sent to the specific user. and projecting an image corresponding to the predetermined sound from the projector. The flying robot according to any one of claims 24 to 30.

32. A wireless communication interface is provided on the unmanned aerial vehicle. The wireless communication interface is used to transmit a signal to the projector.

32. The flying robot according to claim 31, characterized in that image data is acquired.

33. When a predetermined voice is collected by the microphone, a voice message is sent to the specific user. and projecting characters corresponding to the predetermined voice from the projector. The flying robot according to any one of claims 24 to 32.

34. An airborne robot equipped with a camera and microphone and flying under automatic control The bot has a computer Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. and flying the drone between the vicinity of the specific user and a source of a predetermined sound. A control program for a flying robot, which causes the robot to execute a process.

35. An airborne robot equipped with a camera and microphone and flying under automatic control To the bot, Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. and flying the drone between the vicinity of the specific user and a source of a predetermined sound. A method for controlling a flying robot.

36. An unmanned aerial vehicle equipped with a camera, microphone, and projector and flies autonomously A computer provided in a flying robot having the Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. The drone is then flown between the vicinity of the specific user and a source of a specific voice, and the drone recognizes the location of the specific voice. An image corresponding to the predetermined sound is projected from the projector in front of the specific user. To project, A control program for a flying robot, which causes the robot to execute a process.

37. An unmanned aerial vehicle equipped with a camera, microphone and projector and flown by automatic control A flying robot equipped with Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the device recognizes the predetermined sound. The drone is then flown between the vicinity of the specific user and a source of a specific voice, and the drone recognizes the location of the specific voice. An image corresponding to the predetermined sound is projected from the projector in front of the specific user. To project, A method for controlling a flying robot.

38. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; A wireless communication interface is provided on the unmanned aerial vehicle. Equipped with Recognizing a specific user based on an image captured by the camera; Through the wireless communication interface, a disaster, earthquake, tsunami, Information was obtained indicating that lightning, rain, strong winds, and sudden weather changes may occur. In this case, in response to the predetermined voice, the vicinity of the recognized specific user and the utterance of the predetermined voice are identified. A flying robot that is characterized by flying between the source of life.

39. An unmanned aerial vehicle equipped with a camera and wireless communication interface and flies by automatic control A computer provided in a flying robot having the Recognizing a specific user based on an image captured by the camera; Through the wireless communication interface, a disaster, earthquake, tsunami, Information was obtained indicating that lightning, rain, strong winds, and sudden weather changes may occur. In this case, in response to the predetermined voice, the vicinity of the recognized specific user and the utterance of the predetermined voice are identified. Flying between the source of life, A control program for a flying robot, which causes the robot to execute a process.

40. An unmanned aerial vehicle equipped with a camera and wireless communication interface and flies by automatic control A flying robot equipped with Recognizing a specific user based on an image captured by the camera; Through the wireless communication interface, a disaster, earthquake, tsunami, Information was obtained indicating that lightning, rain, strong winds, and sudden weather changes may occur. In this case, in response to the predetermined voice, the vicinity of the recognized specific user and the utterance of the predetermined voice are identified. Flying between the source of life, A method for controlling a flying robot.

Images