Flight type robot, control program and control method

Abstract

To soothe a user's mind and to give the user the sense of fulfillment.SOLUTION: A flight type robot includes a drone flying by automatic operation, which operation causes the flight type robot to: stop driving (S1303) to free-fall; detect whether or not collision has occurred (S1304), as a result; and upon detecting the collision, output a sound or emit light (S1305), and restart driving (S1306). Then, when a predetermined time passes (S1309), the automatic operation causes again the flight type robot to stop driving (S1303). It is possible by repeating this movement processing predetermined times, to cause the flight type robot to: make movements imitating a bounce of a ball; and also make movements imitating jumping of animals such as rabbit and kangaroo. Such movements make it possible to entertain the user and to enhance a sense of attachment to the flight type robot as a pet.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] The present invention relates to a flying robot that moves in a manner that imitates a pet, a control program for the flying robot, and a control method for the flying robot. [Background technology]

[0002] Conventionally, there are pet robots that are shaped like animals such as dogs and cats and move around on their own, make sounds, and perform other animal movements. These pet robots are designed primarily to soothe and entertain users through their appearance and movements, rather than to provide practical functions that are convenient to use.

[0003] Specifically, in the past, there was a technology that identified a learning object, stored information about the identified learning object in an associative recall memory unit, and acted based on a newly detected object and the information about the learning object stored in the associative recall memory unit, thereby enabling sharing of the learning object (joint attention) and enabling appropriate identification of the learning object (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 solely in response to their owner's actions; sometimes they do not listen to their owner's instructions or move around freely even when the owner is not around. However, the conventional technologies mentioned above all act in response to communication with the user, and are therefore less autonomous.

[0006] In order to solve the problems associated with the conventional technology described above, the present invention aims to provide a flying robot, a control program for a flying robot, and a control method for a flying robot that can soothe the user's mind and give the user a sense of satisfaction. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the objective, the flying robot of the present invention comprises an unmanned aerial vehicle that flies by automatic control and a camera mounted on the unmanned aerial vehicle, and is characterized in that it recognizes a specific user 600 based on images captured by the camera and flies around the specific user 600.

[0008] In addition, the flying robot according to the present invention is characterized in that in the above invention, the specific user 600 is a person who has been photographed by the camera for a predetermined period of time or more or a predetermined number of times or more.

[0009] In addition, the flying robot according to the present invention is characterized in that in the above invention, the specific user 600 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, A feature of the present invention is that if at least a part of a particular user 600 approaches the unmanned aerial vehicle while flying around that particular user 600, the unmanned aerial vehicle will fly away from that particular user 600.

[0011] In addition, the flying robot of this invention is characterized in that, in the above invention, while flying around the specific user 600, if the specific user 600 does not visually observe the unmanned aerial vehicle, it flies so as to approach the specific user 600.

[0012] In addition, the flying robot according to the present invention, in the above invention, is characterized in that after flying around the specific user 600 a predetermined number of times, it flies away from the specific user 600.

[0013] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and when it acquires specified information via the wireless communication interface, it flies around the specific user 600.

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

[0015] In addition, the flying robot of the present invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0016] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, outputs sound from the speaker toward the specific user 600, and flies around the specific user 600.

[0017] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and when a specified sound is picked up by the microphone, it flies around the specific user 600.

[0018] In addition, in the flying robot of the present invention, in the above invention, the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is arriving on a telephone set.

[0019] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is the voice of the specific user 600.

[0020] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, and when a specified sound is picked up by the microphone, it outputs the sound from the speaker toward the specific user 600 and flies around the specific user 600.

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

[0022] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer installed in an unmanned aerial vehicle equipped with a camera and flying by automatic pilot to execute processing to recognize a specific user 600 based on an image captured by the camera, and to fly the robot around the recognized specific user 600.

[0023] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, when at least a part of the specific user 600 approaches the unmanned aerial vehicle while flying around the specific user 600, the control program executes a process to fly the unmanned aerial vehicle away from the specific user 600.

[0024] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, if the specific user 600 does not visually observe the unmanned aerial vehicle while flying around the specific user 600, the control program executes a process to fly the unmanned aerial vehicle so as to approach the specific user 600.

[0025] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the control program executes a process to fly the flying robot away from the specific user 600 after flying around the specific user 600 a predetermined number of times.

[0026] In addition, the flying robot control method of the present invention is characterized in that the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control, recognizes a specific user 600 based on an image captured by the camera, and flies around the recognized specific user 600.

[0027] In addition, the control method of the flying robot of the present invention is characterized in that, in the above invention, when at least a part of the specific user 600 approaches the unmanned aerial vehicle while flying around the specific user 600, the unmanned aerial vehicle is caused to fly away from the specific user 600.

[0028] In addition, the control method of the flying robot of the present invention is characterized in that, in the above invention, if the specific user 600 does not visually observe the unmanned aerial vehicle while flying around the specific user 600, the unmanned aerial vehicle is flown so as to approach the specific user 600.

[0029] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, after flying around the specific user 600 a predetermined number of times, the flying robot is caused to fly away from the specific user 600.

[0030] In addition, the flying robot of the present invention is characterized in that it comprises an unmanned aerial vehicle that flies by automatic pilot, a camera mounted on the unmanned aerial vehicle, and a microphone mounted on the unmanned aerial vehicle, and recognizes a specific user 600 based on an image captured by the camera, and when a specific sound is picked up by the microphone, flies between the vicinity of the recognized specific user 600 and the source of the specific sound in response to the specific sound.

[0031] In addition, the flying robot of the present invention is characterized in that when a specific sound is picked up by the microphone, it orbits the recognized specific user 600 in response to the specific sound, and then flies between the vicinity of the specific user 600 and the source of the specific sound.

[0032] In addition, in the flying robot of the present invention, in the above invention, the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is arriving on a telephone set.

[0033] In addition, in the flying robot according to the present invention, the predetermined sound is The ringtone is a call bell provided at the entrance to a building or site to enable visitors to the building or site to call the resident or manager of the building or site.

[0034] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is a sound having a sound pressure equal to or higher than a predetermined threshold value.

[0035] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is a sound generated within a predetermined range from the specific user 600.

[0036] In addition, the flying robot of this invention is characterized in that, in the above invention, in response to the specified voice, it flies around the recognized specific user 600 in a flight manner corresponding to the specified voice.

[0037] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a projector mounted on the unmanned aerial vehicle, and when a specified sound is picked up by the microphone, an image corresponding to the specified sound is projected from the projector in front of the recognized specific user 600.

[0038] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and acquires image data related to the image to be projected from the projector via the wireless communication interface.

[0039] In addition, the flying robot of the present invention is characterized in that, in the above invention, when a specified sound is picked up by the microphone, characters corresponding to the specified sound are projected from the projector in front of the recognized specific user 600.

[0040] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer included in the flying robot, which is equipped with an unmanned aerial vehicle equipped with a camera and a microphone and flies by automatic control, to execute processing to recognize a specific user 600 based on an image captured by the camera, and when a specific sound is picked up by the microphone, to fly between the vicinity of the recognized specific user 600 and the source of the specific sound in response to the specific sound.

[0041] In addition, the flying robot control method of the present invention is characterized in that a flying robot equipped with an unmanned aerial vehicle mounted with a camera and a microphone and flying by automatic control is made to recognize a specific user 600 based on an image captured by the camera, and when a specific sound is picked up by the microphone, the flying robot is made to fly between the vicinity of the recognized specific user 600 and a source of the specific sound in response to the specific sound.

[0042] Furthermore, the control program for the flying robot of the present invention is characterized in that it causes a computer included in the flying robot, which is equipped with an unmanned aerial vehicle equipped with a camera, a microphone, and a projector and flies by automatic control, to recognize a specific user 600 based on an image captured by the camera, and when a specific sound is picked up by the microphone, to fly between the vicinity of the recognized specific user 600 and the source of the specific sound in response to the specific sound, and to project an image corresponding to the specific sound from the projector in front of the recognized specific user 600.

[0043] In addition, the control method of the flying robot according to the present invention is to control a flying robot having an unmanned aerial vehicle mounted with a camera, a microphone, and a projector and flying by automatic control, A specific user 600 is recognized based on an image captured by a camera, and when a specific sound is picked up by the microphone, the drone flies between the vicinity of the recognized specific user 600 and the source of the specific sound in response to the specific sound, and an image corresponding to the specific sound is projected from the projector in front of the recognized specific user 600.

[0044] In addition, the flying robot of the present invention is equipped with an unmanned aerial vehicle that flies by automatic pilot, a camera mounted on the unmanned aerial vehicle, and a wireless communication interface mounted on the unmanned aerial vehicle, and is characterized in that it recognizes a specific user 600 based on an image taken by the camera, and when it obtains information via the wireless communication interface indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a specified time from the present time, it flies between the vicinity of the recognized specific user 600 and the source of the specified sound in response to the specified sound.

[0045] In addition, the control program for the flying robot of the present invention is characterized in that the flying robot has a computer equipped with an unmanned aerial vehicle equipped with a camera and a wireless communication interface and flying by automatic control, and the computer recognizes a specific user 600 based on an image taken by the camera, and when information is obtained via the wireless communication interface indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a specified time from the present time, the computer executes a process of flying the flying robot between the vicinity of the recognized specific user 600 and the source of the specified sound in response to the specified sound.

[0046] Furthermore, the control method for a flying robot according to the present invention is characterized in that the flying robot, which is equipped with a camera and a wireless communication interface and has an unmanned aerial vehicle that flies by automatic control, is made to recognize a specific user 600 based on an image taken by the camera, and when information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the present time is obtained via the wireless communication interface, the flying robot is caused to fly between the vicinity of the recognized specific user 600 and the source of the specified sound in response to the specified sound.

[0047] In addition, the flying robot of the present invention is equipped with an unmanned aerial vehicle that flies by automatic pilot, and is characterized in that while the unmanned aerial vehicle is flying, it detects that a drive used for flight has been stopped, and after detecting the stop of the drive, it detects that the unmanned aerial vehicle has collided, and when the collision is detected, it resumes the drive.

[0048] In addition, the flying robot of the present invention is characterized in that, in the above invention, the flying robot starts driving when a predetermined time has elapsed without the robot colliding after the detection of the drive stop.

[0049] In addition, the flying robot of the present invention is characterized in that it is equipped with an unmanned aerial vehicle that flies by automatic pilot, and while the unmanned aerial vehicle is flying, it detects that the unmanned aerial vehicle is falling, and after detecting the fall, it detects that the unmanned aerial vehicle has collided, and when it detects the collision, it drives the unmanned aerial vehicle to lift off.

[0050] In addition, the flying robot of this invention is characterized in that, in the above invention, after detecting the cessation of the fall, the flying robot starts driving when the falling speed reaches a predetermined speed without the robot colliding with something.

[0051] The flying robot according to the present invention includes an unmanned aerial vehicle that flies by automatic control, and receives an instruction to stop a drive for the flight during the flight of the unmanned aerial vehicle, and When the vehicle is stopped, the vehicle stops driving when a collision is detected, and after the driving is stopped, the vehicle detects that it has collided, and when the collision is detected, the vehicle starts driving.

[0052] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the driving is stopped when predetermined information is acquired via a wireless communication interface equipped in the flying robot.

[0053] In addition, in the flying robot according to the present invention, the predetermined information is notification information output from a specific terminal device.

[0054] In addition, the flying robot of this invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0055] In the flying robot according to the present invention, in the above invention, the driving is stopped again when a predetermined time has elapsed after the driving is started.

[0056] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the stopping and starting of the driving are repeated a predetermined number of times.

[0057] In addition, in the flying robot according to the present invention, the drive is controlled so that the collision position remains the same.

[0058] In the flying robot according to the present invention, the drive is controlled so that the collision position is different.

[0059] In addition, the flying robot of the present invention is characterized in that, in the above invention, it recognizes a specific user 600 based on an image captured by a camera equipped on the robot itself, and controls the drive so that the collision position is different so as to follow the specific user 600 as he moves.

[0060] In addition, the flying robot of the present invention is characterized in that, in the above invention, the flying robot starts driving when a predetermined time has elapsed without the robot colliding after the detection of the drive stop.

[0061] In addition, the flying robot of the present invention is characterized in that it is equipped with an unmanned aerial vehicle that flies by automatic pilot, and while flying the unmanned aerial vehicle, it receives an instruction to drive the vehicle to drop, and when the instruction is received, it performs the drive, detects that the vehicle has collided after the drive is performed, and when the collision is detected, it performs a drive to lift the vehicle off the ground.

[0062] In addition, the flying robot of the present invention is characterized in that, in the above invention, when predetermined information is acquired via a wireless communication interface equipped in the flying robot, the flying robot is driven to drop.

[0063] In addition, in the flying robot according to the present invention, the predetermined information is notification information output from a specific terminal device.

[0064] In the flying robot according to the present invention, in the above-mentioned invention, the predetermined information includes information on the occurrence of a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden change in weather within a predetermined time from the present time. The information is characterized in that it indicates that there is a possibility that a malfunction may occur.

[0065] In addition, the flying robot of the present invention is characterized in that, in the above invention, after driving the robot to lift up, when a predetermined time has elapsed, driving the robot to drop again.

[0066] In addition, the flying robot according to the present invention is characterized in that, in the above invention, a drive to drop the robot itself and a drive to lift the robot itself are repeated a predetermined number of times.

[0067] In addition, the flying robot of the present invention is characterized in that, in the above invention, at least one of a drive to drop the robot itself and a drive to lift the robot itself is controlled so that the collision position is the same position.

[0068] In addition, the flying robot of the present invention is characterized in that, in the above invention, at least one of a drive to drop the robot itself and a drive to lift the robot itself is controlled so that the collision position is different.

[0069] In addition, the flying robot of the present invention is characterized in that, in the above invention, it recognizes a specific user 600 based on an image captured by a camera equipped on the robot itself, and controls at least one of a drive to drop the robot itself and a drive to lift the robot itself so that the collision position is a different position so as to follow the specific user 600 who is moving.

[0070] In addition, the flying robot of the present invention is characterized in that, after a drive to drop the robot is performed in the above invention, if the speed of the drop reaches a predetermined speed without the robot colliding, a drive to lift the robot up is performed.

[0071] In addition, the flying robot of the present invention is characterized in that, in the above invention, it is provided with a spherical housing that covers the unmanned aerial vehicle.

[0072] In addition, the flying robot of the present invention is characterized in that, in the above invention, it is provided with a hemispherical housing that covers only the underside of the unmanned aerial vehicle.

[0073] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the housing is made of an elastic material.

[0074] In addition, in the flying robot according to the present invention, the housing has a plurality of holes.

[0075] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the housing has a mesh structure.

[0076] In addition, the flying robot according to the present invention is characterized in that, in the above invention, when the collision is detected, a predetermined sound is output from a speaker provided in the flying robot.

[0077] In addition, in the flying robot of the present invention, in the above invention, the sound output from the speaker is a sound that imitates the sound made by a living thing when jumping.

[0078] In addition, in the flying robot of the present invention, in the above invention, the sound output from the speaker is a sound that imitates the sound made when an object bounces.

[0079] In addition, in the flying robot according to the present invention, at least one of the volume and type of the sound is changed based on the detected impact value of the collision.

[0080] In addition, the flying robot according to the present invention, in the above invention, is characterized in that it includes a light-emitting unit, and when the collision is detected, light is output from the light-emitting unit.

[0081] In addition, the flying robot of the present invention is characterized in that, in the above invention, at least one of the size, color, and emission pattern of the light is changed based on the detected impact value of the collision.

[0082] In addition, in the flying robot according to the present invention, the driving control after the collision is changed based on the detected impact value of the collision.

[0083] The flying robot according to the present invention is characterized in that it increases its own lift-off speed in accordance with the magnitude of the detected impact value of the collision.

[0084] In addition, in the flying robot according to the present invention, in the above invention, the flying robot increases its flying height in accordance with the magnitude of the detected impact value of the collision.

[0085] In addition, the control program for a flying robot of the present invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by automatic pilot, and is characterized in that it causes a computer equipped in the unmanned aerial vehicle to execute processing to detect that a drive used for flight has been stopped while the unmanned aerial vehicle is flying, detect that the unmanned aerial vehicle has collided after detecting the stoppage of the drive, and start the drive when the collision is detected.

[0086] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the stop of driving.

[0087] In addition, the control program for a flying robot of the present invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by automatic pilot, and is characterized in that it causes a computer equipped in the unmanned aerial vehicle to execute processing to detect that the unmanned aerial vehicle is falling while the unmanned aerial vehicle is flying, to detect that the unmanned aerial vehicle has collided after detecting the fall, and, if the collision is detected, to drive the vehicle to lift off.

[0088] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, after detecting the cessation of the fall, the driving is started when the speed of the fall reaches a predetermined speed without the robot colliding.

[0089] In addition, the control program for a flying robot of the present invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by automatic pilot, and is characterized in that it causes a computer equipped in the unmanned aerial vehicle to execute processing to receive an instruction to stop a drive used for flight while the unmanned aerial vehicle is flying, to stop the drive when the instruction is received, to detect that the aircraft has collided with the aircraft after the drive has been stopped, and to start the drive when the collision is detected.

[0090] In the control program for the flying robot according to the present invention, when predetermined information is acquired through a wireless communication interface provided in the flying robot, the control program for the flying robot according to the present invention controls the driving. It is characterized by stopping.

[0091] In addition, in the control program for an flying robot according to the present invention, in the above invention, the specified information is notification information output from a specific terminal device.

[0092] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0093] In addition, in the above invention, the control program for the flying robot according to the present invention is characterized in that, when a predetermined time has elapsed after the driving has started, the driving is stopped again.

[0094] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the stopping and starting of the driving are repeated a predetermined number of times.

[0095] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the drive is controlled so that the collision position is the same position.

[0096] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the drive is controlled so that the collision position is a different position.

[0097] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the control program recognizes a specific user 600 based on an image captured by a camera equipped on the flying robot, and controls the drive so that the collision position is different so as to follow the specific user 600 as he moves.

[0098] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the stop of driving.

[0099] In addition, the control program for a flying robot of the present invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, and is characterized in that it causes a computer equipped in the unmanned aerial vehicle to execute processing to receive an instruction to drive the unmanned aerial vehicle to drop while the unmanned aerial vehicle is flying, to perform the drive when the instruction is received, to detect a collision of the unmanned aerial vehicle after the drive has been performed, and to perform the drive to lift the vehicle off the ground when the collision is detected.

[0100] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, when specified information is acquired via a wireless communication interface equipped in the flying robot, the control program drives the flying robot to drop.

[0101] In addition, in the control program for an flying robot according to the present invention, in the above invention, the specified information is notification information output from a specific terminal device.

[0102] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0103] In addition, the control program for the flying robot according to the present invention is a program for controlling the flying robot according to the above-mentioned invention. This system is characterized in that after the vehicle is driven to lift up, if a predetermined time has elapsed, the vehicle is driven again to drop.

[0104] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, a drive to drop the robot and a drive to lift the robot are repeated a predetermined number of times.

[0105] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, it controls at least one of a drive to drop the robot and a drive to lift the robot so that the collision position is the same position.

[0106] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, it controls at least one of a drive to drop the robot and a drive to lift the robot so that the collision position is different.

[0107] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the control program recognizes a specific user 600 based on an image captured by a camera equipped on the flying robot, and controls at least one of a drive to drop the flying robot and a drive to lift the flying robot so that the collision position is different in order to follow the specific user 600 as he moves.

[0108] In addition, the control program for the flying robot of the present invention is characterized in that, after a drive has been performed to drop the robot, if the speed of the drop reaches a predetermined speed without the robot colliding, a drive is performed to lift the robot up.

[0109] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, drive control after the collision is changed based on the detected impact value of the collision.

[0110] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot's lift-off speed is increased depending on the magnitude of the detected impact value of the collision.

[0111] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot's flying altitude is increased depending on the magnitude of the detected impact value of the collision.

[0112] In addition, the control method for a flying robot of the present invention is a control method for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, characterized in that a computer equipped in the unmanned aerial vehicle executes processing to detect that a drive used for flight has been stopped while the unmanned aerial vehicle is flying, detect that the unmanned aerial vehicle has collided after detecting the stop of the drive, and start the drive when the collision is detected.

[0113] In addition, the control method for a flying robot of the present invention is characterized in that, in the above invention, the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the stop of driving.

[0114] In addition, a control method for an airborne robot according to the present invention is a control method for an airborne robot including an unmanned aerial vehicle that flies by automatic control, the control method comprising: a computer included in the unmanned aerial vehicle detecting that the unmanned aerial vehicle is falling during flight of the unmanned aerial vehicle; and after detecting the fall, The present invention is characterized in that a collision of the own aircraft is detected, and when the collision is detected, a process is executed to drive the own aircraft to lift up.

[0115] In addition, the control method for a flying robot of the present invention is characterized in that, in the above invention, after detecting the cessation of the fall, the actuation is started when the speed of the fall reaches a predetermined speed without the robot colliding with another object.

[0116] In addition, the control method for a flying robot of the present invention is a control method for a flying robot equipped with an unmanned aerial vehicle that flies by automatic pilot, characterized in that a computer equipped in the unmanned aerial vehicle receives an instruction to stop a drive used for flight while the unmanned aerial vehicle is flying, stops the drive when the instruction is received, detects that the aircraft has collided with the unmanned aerial vehicle after the drive has been stopped, and starts the drive when the collision is detected.

[0117] In addition, the control method for a flying robot according to the present invention is characterized in that, in the above invention, the driving is stopped when specified information is acquired via a wireless communication interface equipped in the flying robot.

[0118] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the specified information is notification information output from a specific terminal device.

[0119] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0120] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, when a predetermined time has elapsed after the driving has started, the driving is stopped again.

[0121] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the stopping and starting of the driving are repeated a predetermined number of times.

[0122] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the drive is controlled so that the collision position is the same position.

[0123] In addition, the method for controlling a flying robot according to the present invention is characterized in that, in the above invention, the drive is controlled so that the collision position is a different position.

[0124] In addition, the control method of the flying robot of the present invention is characterized in that, in the above invention, a specific user 600 is recognized based on an image captured by a camera equipped on the flying robot, and the driving is controlled so that the collision position is set to a different position so as to follow the specific user 600 moving.

[0125] In addition, the control method for a flying robot of the present invention is characterized in that, in the above invention, the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the stop of driving.

[0126] The control method for an airborne robot according to the present invention is a control method for an airborne robot including an unmanned aerial vehicle that flies by automatic control, the control method including a computer included in the unmanned aerial vehicle receiving an instruction to drive the unmanned aerial vehicle to drop the unmanned aerial vehicle while the unmanned aerial vehicle is flying, performing the driving when the instruction is received, and detecting a collision of the unmanned aerial vehicle after the driving is performed. The present invention is characterized in that it detects a collision, and when the collision is detected, executes a process of driving the aircraft to lift up.

[0127] In addition, the control method for a flying robot of the present invention is characterized in that, in the above invention, when specified information is acquired via a wireless communication interface equipped in the flying robot, the flying robot is driven to drop.

[0128] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the specified information is notification information output from a specific terminal device.

[0129] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

[0130] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, after driving the robot to lift up, when a predetermined time has elapsed, driving the robot to drop again is performed.

[0131] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, a drive to drop the robot and a drive to lift the robot are repeated a predetermined number of times.

[0132] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is the same position.

[0133] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, at least one of a drive to drop the own robot and a drive to lift the own robot is controlled so that the collision position is at a different position.

[0134] In addition, the control method of the flying robot of the present invention is characterized in that, in the above invention, a specific user 600 is recognized based on an image captured by a camera equipped on the flying robot, and at least one of a drive to drop the flying robot and a drive to lift the flying robot is controlled so that the collision position is different so as to follow the specific user 600 moving.

[0135] In addition, the flying robot control method of the present invention is characterized in that, after a drive to drop the aircraft is performed in the above invention, if the aircraft does not collide and the speed of the fall reaches a predetermined speed, a drive to lift the aircraft is performed.

[0136] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, drive control after the collision is changed based on the detected impact value of the collision. method.

[0137] In addition, the control method for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot's lift-off speed is increased depending on the magnitude of the detected impact value of the collision.

[0138] In addition, the control method for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot's flying height is increased depending on the magnitude of the detected impact value of the collision. Effect of the Invention

[0139] The flying robot, the flying robot control program, and the flying robot control method according to the present invention have the effect of soothing the user's mind and giving the user a sense of satisfaction. [Brief description of the drawings]

[0140] [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. [Figure 10] FIG. 11 is an explanatory diagram showing an example of an outline of flight of a flying robot according to a third embodiment of the present invention. [Figure 11A] FIG. 11 is an explanatory diagram showing an example of the appearance of a flying robot according to a third embodiment of the present invention. [Figure 11B] FIG. 11 is an explanatory diagram showing another example of the appearance of the flying robot according to the third embodiment of the present invention. [Figure 12] 13 is a flowchart showing an example of a processing procedure of the flying robot according to the third embodiment of the present invention. [Figure 13] 13 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. [Figure 14] 13 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. [Figure 15] 13 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0141] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an flying robot, a control program for a flying robot, and a control method for a flying robot according to the present invention will be described in detail below with reference to the accompanying drawings.

[0142] <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. Figures 1A and 1B are explanatory diagrams showing an example of the appearance of the flying robot according to the first embodiment of the present invention. As shown in Figures 1A and 1B, the flying robot 100 includes a drone (unmanned aerial vehicle) 101.

[0143] Specifically, the drone 101 may be, for example, a quadcopter equipped with four propellers 102. The drone 101 is not limited to a quadcopter, and may be any of a variety of multicopters, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0144] The flying robot 100 also includes a camera 103. As shown in Figures 1A and 1B, in the flying robot 100 having an animal-like shape, the camera 103 can be provided in a portion corresponding to an eye. Alternatively, the camera 103 may be provided on the underside of the housing of the drone 101.

[0145] The camera 103 captures an image of the surroundings of the flying robot 100. For example, the flying robot 100 recognizes a specific user 600 based on the image captured by the camera 103. The camera 103 can be realized by, for example, a general-purpose digital camera.

[0146] The specific user 600 may be, for example, a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times, i.e., a person who has a reasonable opportunity to come into contact with the flying robot 100. The specific user 600 may also be, for example, a person who has been photographed within a certain range, i.e., a person who has a reasonable opportunity to be within a certain range such as at home, on a school ground, or in a store, and is therefore likely to be photographed by the camera 103. The specific range may be within a predetermined range from a charging spot (see FIGS. 4A and 4B).

[0147] Alternatively, the specific user 600 may be, for example, a person who has been photographed by the camera 103 within a specific range for a predetermined period of time or a predetermined number of times. Such a person can be considered to be a person who has a reasonable opportunity to be within a specific range, such as at home, on a school ground, or in a store, and who has a reasonable opportunity to come into contact with an airborne robot. Therefore, a person who has a long and frequent opportunity to come into contact with an airborne robot within a specific range can be considered to be a specific user 600.

[0148] The specific user 600 may be one person or multiple people. The number of people who are specific users 600 may be limited to a predetermined number or may be unlimited. By limiting the number of people who are specific users 600 to a predetermined number, the capacity of the memory (see FIG. 2) can be reduced.

[0149] The specific user 600 may be a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times within a specific range from the current time point to a predetermined time point going back. In this way, in an operation in which the number of people who are the specific users 600 is limited to a predetermined number, even if the flying robot 100 is transferred from a person who was previously the specific user 600 to another person, or the people who enter the specific range change due to promotion or graduation from school or nursery school, the person who has had a suitable opportunity to come into contact with the flying robot 100 recently can be the specific user 600, and operation suited to the current situation can be realized.

[0150] The camera 103 is a general-purpose digital camera that can amplify the sensitivity to light. This may be realized by a night vision camera that captures images in dark places using a night vision camera, an infrared camera that is sensitive to infrared rays, an infrared color night vision camera that captures color images by analyzing the black and white shading in an image captured by an infrared camera, etc. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., it is possible to accurately recognize a specific user 600 even at night or in a room with low illumination.

[0151] The flying robot 100 may be equipped with one or more cameras 103. In the flying robot 100 equipped with multiple cameras 103, the number of cameras 103 is not limited to one type, and the flying robot 100 may be equipped with multiple different types of cameras 103.

[0152] The camera 103 may be connected to the drone 101 in a state in which its attitude can be adjusted. Specifically, the camera 103 can be connected to the bottom of the drone 101 via a universal joint such as a ball joint, for example. By connecting the camera 103 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

[0153] Furthermore, the flying robot 100 may be provided with a drive mechanism that changes the attitude of the camera 103 relative to the drone 101. This allows the attitude of the camera 103 relative to the drone 101 to be adjusted without human intervention. The drive mechanism may be configured with, for example, a motor, a gear train, and the like. By making it possible to adjust the attitude of the camera 103 relative to the drone 101 without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the flying robot 100, regardless of the attitude of the drone 101. The camera 103 may be provided with a zoom function.

[0154] The flying robot 100 is equipped with a receiving coil for wireless power transfer (contactless power transmission) inside the housing of the drone 101. Wireless power supply is a technology for receiving power from a battery (see FIG. 2) without going through a charging contact, and is also called non-contact power supply or wireless power supply.

[0155] The power receiving coil is provided inside the exterior surface of the housing of the drone 101. This makes it possible to prevent deterioration or failure of the flying robot 100 caused by water droplets from drinks, rain, dew, etc. The flying robot 100 may be provided with a charging contact for charging the battery instead of or in addition to the power receiving coil.

[0156] 1A and 1B, an animal-shaped flying robot 100 may have LED lamps 104 in areas corresponding to eyes. The LED lamps 104 may be provided in areas corresponding to eyes, or may be provided to frame the lenses of a camera 103 if the areas corresponding to eyes have such lenses. Such flying robots 100 may have members 105 corresponding to characteristic parts of animals and birds, such as tails, ears, wings, feet (legs, limbs), horns, fangs, whiskers, etc.

[0157] The members 105 corresponding to characteristic parts of birds and beasts are not limited to parts corresponding to parts of modern birds and beasts, but may be parts corresponding to parts of extinct animals such as dinosaurs, or parts of mythical beasts such as dragons and unicorns. These members may be movable and equipped with a driving mechanism such as a motor for operating them. This allows the flying robot 100 to imitate actions such as wagging its tail or moving its ears.

[0158] The flying robot 100 further includes a solar cell ( The drone 101 may be provided with a solar cell 106. The solar cell 106 is provided, for example, on the upper surface of the housing of the drone 101. This allows external light to be reliably taken in during flight to generate power efficiently. Furthermore, by providing the solar cell 106, charging can be performed during flight, so that a longer flight time can be secured per flight.

[0159] (Hardware configuration of flying robot 100) Next, the hardware configuration of the flying robot 100 will be described. Fig. 2 is an explanatory diagram showing the hardware configuration of the flying robot 100 of the first embodiment according to the present invention. As shown in Fig. 2, the hardware of the flying robot 100 is composed of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, a communication I / F 208, an LED lamp 104, a solar cell 106, etc. The respective units 103, 104, 106, 201 to 208 of the flying robot 100 are connected by a bus 200.

[0160] The battery 201 supplies power required for the operation of each unit of the flying robot 100. The battery 201 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by a secondary battery may be detachable from the drone 101.

[0161] The motor 202 is controlled by the control circuit 207, and rotates to rotate the propeller 102. Specifically, for example, a brushless motor in which the rotor is a permanent magnet and the stator is composed of a coil can be used as the motor 202. By providing the same number of motors 202 as the number of the propellers 102, each propeller 102 can be rotated independently, and the flying robot 100 can be made to move forward, backward, and turn left and right.

[0162] In this way, the motor 202 can serve as a driving source for flight by rotating. That is, by supplying power to the motor 202, driving for flight can be performed, and by stopping the supply of power to the motor 202, driving for flight can be stopped.

[0163] As long as the flying robot 100 can be made to levitate and fly, it is not necessary to use the propeller 102. Therefore, the driving source for flight is not limited to the motor 202. Specifically, for example, it may be a jet engine or the like.

[0164] If the flying robot 100 is equipped with a driving mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motor constituting the driving mechanism. This allows the flying robot 100 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture any range or a wide range.

[0165] The camera 103 includes an image sensor and captures an image by having the image sensor receive light that passes through a photographing lens. The camera 103 also outputs the captured image, i.e., image information (photographed data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0166] The camera 103 may be one that takes still images or one that takes moving images. Moving images include still images taken at a predetermined time interval that are continuously played back. Image information is compressed according to a predetermined standard for compressing moving image and audio data (for example, MPEG (Moving Picture Experts Group)). It's fine.

[0167] The microphone 203 collects sounds around the flying robot 100. The microphone 203 converts sounds input as analog data into electrical signals. Specifically, the microphone 203 performs analog / digital conversion on the analog sound signal input as analog data to generate digital sound data.

[0168] The speaker 204 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. The speaker 204 may be an output terminal that outputs an audio signal, and an external speaker 204 may be connected to the output terminal to generate sound.

[0169] The GPS sensor 205 identifies the current position of the flying robot 100. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 100 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may further include a filter that removes unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) ​​or a PA (Power Amplifier).

[0170] The current position of the flying robot 100 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit performs positioning by calculating the distances to each of the four GPS satellites and calculating the position where the distances intersect. Instead of GPS, which determines the geometric position of the GPS satellite and the flying robot 100 based on radio waves received from the GPS satellite, the current position of the flying robot 100 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

[0171] The object sensor 206 detects the presence or absence of an obstacle within a predetermined range from the flying robot 100. An obstacle is an object that impedes the flight of the flying robot 100, and specifically, for example, a wall, a ceiling, furniture, a person, etc. When the flying robot 100 is flown outdoors, for example, any object that impedes the flight of the flying robot 100, such as a vehicle, another flying robot 100 other than the flying robot itself, trees, buildings, etc., is an obstacle.

[0172] Specifically, the object sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor 206 can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The flying robot 100 may be equipped with multiple types of non-contact sensors as the object sensor 206. In addition, the flying robot 100 may detect the presence or absence of an obstacle present within a predetermined range from the flying robot 100 based on an image captured by the camera 103.

[0173] Solar cell 106 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. When light energy from external light such as sunlight is applied to the PN junction surface of solar cell 106, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 106, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0174] The control circuit 207 drives and controls each unit of the flying robot 100. The control circuit 207 can be realized by a microcomputer including a CPU, a memory, etc. Specifically, the control circuit 207 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0175] The CPU executes the programs stored in the memory to control the entire flying robot 100. The memory stores various information such as the programs executed by the CPU, information on various conditions related to the operation of the flying robot 100, and information on images captured by the camera 103.

[0176] Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). The memory may also be a memory card that is detachable from the flying robot 100 via a card slot provided in the flying robot 100. The memory card can be realized by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may also be realized by, for example, an external USB memory.

[0177] The control circuit 207 includes a charging circuit that charges the battery 201 with power generated by the solar cell 106. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 106.

[0178] The control circuit 207 also includes circuits such as an Inertial Measurement Unit (IMU), an Electronic Speed ​​Controller (ESC), a Battery Elimination Circuit (BEC), or a Universal BEC (UBEC).

[0179] The IMU is a type of sensor necessary for the drone 101 to acquire external information, and is composed of, for example, a gyro sensor, an acceleration sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The above-mentioned GPS sensor 205 is also included in the IMU.

[0180] The gyro sensor detects the amount of change in the angle of the drone 101. The gyro sensor detects the amount of change in the angle of the drone 101, for example, by measuring angular velocity using Coriolis force. The gyro sensor enables the drone 101 to fly stably.

[0181] The acceleration sensor detects the amount of change in the speed of the drone 101. The gyro sensor and acceleration sensor can calculate the amount of change in both the tilt of the drone 101 and the speed of the drone 101, so the drone 101 can continue flying even if it remains tilted.

[0182] The air pressure sensor detects the altitude of the drone 101. The air pressure sensor detects the altitude of the drone 101, for example, by detecting changes in air pressure. By measuring the altitude of the drone 101 with the air pressure sensor, the altitude of the drone 101 can be maintained.

[0183] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone 101. The ultrasonic sensor is provided, for example, on the underside of the drone 101, and detects the distance from an object (floor, obstacle, etc.) located below the drone 101 by using the reflection of ultrasonic waves emitted below the drone 101. The object sensor 206 detects the distance from the object. This allows the drone 101 to stably track the ground (floor, ground, etc.) and land. When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves may be emitted in all directions of the drone 101, and the ultrasonic sensor may function both as the object sensor 206 and as part of the IMU.

[0184] The magnetic orientation sensor detects whether the drone 101 is facing north, south, east or west. Since the flying robot 100 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flying location.

[0185] The IMU and the above-mentioned microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 202, and outputs a control signal to the ESC to control the rotation direction and rotation speed of the propeller (propeller motor 202). The ESC controls the rotation of the motor 202 based on the control signal output from the flight controller. During the flight of the flying robot 100, the flight controller detects the inclination of the flying robot 100, etc., performs calculations repeatedly, and recursively outputs a control signal to the motor 202.

[0186] Specifically, the flight controller prevents the flying robot 100 from rotating by outputting a control signal that controls adjacent propellers to rotate in opposite directions. Also, the flying robot 100 moves forward by controlling the propeller at the front in the direction of travel to rotate slower than the propeller at the rear in the direction of travel. Also, the flying robot 100 turns right by controlling the propeller at the right in the direction of travel to rotate slower than the propeller at the left in the direction of travel.

[0187] The control circuit 207 also includes a remaining capacity measurement circuit that measures the remaining capacity of the battery 201. The remaining capacity measurement circuit measures the remaining capacity of the battery 201 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0188] The communication I / F 208 is a wireless communication interface that connects the flying robot 100 and the network N through a communication line, and is responsible for interfacing between the network N and the inside of the flying robot 100, and controls input of data from and output of data to external devices connected via the network N. The network N is realized, for example, by the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

[0189] The communication I / F 208 is, for example, a wireless interface based on Wi-Fi (registered trademark). The communication I / F 208 is also, for example, a mobile phone line (for example, LTE (Long Term It may also be an interface for wireless communication such as Wireless Communication System (Fast Wireless Evolution) and Personal Handy-phone System (PHS).

[0190] The communication via the communication I / F 208 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line. The memory may store information acquired by the communication via the communication I / F 208. The memory may also store information input in advance by the user of the flying robot 100, etc.

[0191] The LED lamps 104 provided in the areas corresponding to the eyes are controlled by a control circuit 207. The LED lamp 104 lights up, goes out, or blinks in conjunction with the flying motion of the flying robot 100. The LED lamp 104 may also provide information on the state of the flying robot 100. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamp 104 blinks in a predetermined pattern. The color of the light emitted by the LED lamp 104 is not limited to one color, and may be multiple colors.

[0192] Although not shown, the flying robot 100 may also include input / output devices such as keys or buttons for inputting instructions to the flying robot 100, a power switch for turning the power of the flying robot 100 on / off, and LED lamps provided at positions other than the parts corresponding to the eyes. The input / output devices may be realized by connection terminals to which other information processing devices can be connected.

[0193] (Functional configuration of flying robot 100) Next, a 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 of the first embodiment according to the present invention. As shown in Fig. 3, the functions of the flying robot 100 are realized by a memory unit 301, a detection unit 302, an image capture unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307.

[0194] The storage unit 301 stores various information including various programs related to the control by the control unit 307 and thresholds used for executing the programs. The storage unit 301 also stores image information captured by the imaging unit 303 and information acquired by the acquisition unit 304. The storage unit 301 may store information related to battery charging spots. Specifically, the function of the storage unit 301 can be realized by, for example, a memory in the control circuit 207 shown in FIG. 2.

[0195] The detection unit 302 detects the presence or absence of an obstacle present within a predetermined range from the flying robot 100. Specifically, the detection unit 302 can realize its function by, for example, the object sensor 206 shown in Fig. 2. Specifically, the detection unit 302 may realize its function by, for example, the camera 103 shown in Fig. 2 instead of the object sensor 206 or in addition to the object sensor 206.

[0196] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a moving stereo method that calculates the distance to the obstacle based on the parallax (difference between each image) between images taken at different positions obtained by moving the flying robot 100. By using the moving stereo method, the presence or absence of an obstacle existing within a predetermined range from the flying robot 100 can be detected using a monocular camera.

[0197] The photographing unit 303 photographs an image of the surroundings of the flying robot 100. Specifically, the photographing unit 303 can realize its function by, for example, the camera 103 shown in Fig. 2. The storage unit 301 stores image information related to the image photographed by the photographing unit 303.

[0198] In addition to the image information, the storage unit 301 may store information about the location where the image related to the image information was taken in association with the image information. The information about the location where the image was taken can be identified using the GPS sensor 205, for example.

[0199] The acquisition unit 304 acquires information outside the flying robot 100. Specifically, the acquisition unit 304 acquires, for example, an image of the surroundings of the flying robot 100. In this case, the acquisition unit 304 specifically acquires, for example, an image of the surroundings of the flying robot 100 using the camera 103 shown in FIG. The storage unit 301 described above stores, among the information acquired by the acquisition unit 304, at least information relating to a person included in a captured image or information relating to the characteristics of the person.

[0200] Specifically, the acquisition unit 304 may acquire predetermined information from an external device via the network N. In this case, the acquisition unit 304 can realize its function by, specifically, the communication I / F 208 illustrated in FIG.

[0201] In this case, the acquiring unit 304 acquires, for example, notification information output from a specific terminal device as the predetermined information. The specific terminal device is, for example, a terminal device having identification information stored in advance in the storage unit 301, and specifically, can be realized by a smartphone owned by a specific user 600.

[0202] In this case, the acquisition unit 304 may acquire, as the predetermined information, information indicating that an event that may affect a specific user 600, such as a disaster, may occur within a predetermined time from the present time. The predetermined information may be, for example, information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the present time. The acquisition unit 304 acquires such predetermined information by communicating, for example, constantly or at predetermined intervals, via the network N.

[0203] The acquisition unit 304 may acquire various information such as music, news, and sales information of goods that match the taste of the specific user 600 as the predetermined information. In this case, the acquisition unit 304 can specifically realize its function by, for example, the camera 103 and the microphone 203 shown in FIG. 2. The music, news, sales information, etc. that match the taste of the specific user 600 can be determined based on, for example, the voice collected by the microphone 203 around the specific user 600, the goods that are frequently used by the specific user 600, the goods that are frequently in the field of view of the specific user 600, etc.

[0204] The items that are frequently in the field of view of the specific user 600 include, for example, television programs such as movies, news, and variety shows, and items that are highly hobby-related such as gardening supplies and tableware, and can be determined based on images captured by the image capturing unit 303, similar to the items that are frequently used by the specific user 600. The storage unit 301 can store at least information related to the preferences of the specific user 600 from among the information acquired by the acquisition unit 304.

[0205] Furthermore, the acquisition unit 304 may acquire, for example, the voice of a specific user 600. The voice of the specific user 600 can be determined, for example, based on a voice collected by the microphone 203, or on the voice collected by the microphone 203 and an image captured by a camera at the same time. In this case, specifically, the acquisition unit 304 can realize its function by, for example, the camera 103 or the microphone 203 shown in FIG. 2. The above-mentioned storage unit 301 can store information related to the voice of the specific user 600 from among the information acquired by the acquisition unit 304.

[0206] The acquisition unit 304 may also acquire, as the predetermined information, information learned by another flying robot 100. This allows the information acquired by the learning of a single flying robot 100 to be shared by a plurality of other flying robots 100, and allows the flying robot 100 to behave in a manner more in line with the preferences of a particular user 600.

[0207] 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. 1. More specifically, the driving unit 305 can realize the function by, for example, the propeller 102 shown in Fig. 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Fig. 2, and the like.

[0208] The output unit 306 operates in conjunction with the flight operation of the flying robot 100. The output unit 306 also operates according to the state of the flying robot 100. For example, the output unit 306 operates in conjunction with the flight operation of the flying robot 100 flying around a specific user 600, or operates according to the remaining battery level when the flying robot 100 is flying around a specific user 600.

[0209] Specifically, the output unit 306 lights up or blinks the LED lamps 104 provided in the parts corresponding to the eyes when the flying robot 100 flies around a specific user 600. In this case, the output unit 306 can specifically realize its function by, for example, the LED lamps 104 shown in Figs. 1 and 2.

[0210] Furthermore, the output unit 306 may output sound from the speaker 204, for example, when the flying robot 100 flies around the specific user 600. The sound output by the output unit 306 may be, for example, a sound that imitates an animal's cry, a voice that speaks to the specific user 600, or music. In this case, the output unit 306 can specifically realize its function by, for example, the speaker 204 shown in FIG. 2.

[0211] In addition, when information is acquired indicating that an event that may affect a specific user 600, such as a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or a sudden change in weather, may occur, the output unit 306 may output a voice informing the user that the event may occur when the flying robot 100 approaches the vicinity of the specific user 600, or may cause the LED lamp 104 to light up or flash in a specific pattern or color.

[0212] The control unit 307 controls the entire flying robot 100. Specifically, the control unit 307 can realize its functions by, for example, the control circuit 207 shown in Fig. 2. More specifically, the control unit 307 can realize its functions by, for example, executing a program stored in a memory or the like by the CPU in the control circuit 207 shown in Fig. 2.

[0213] The control unit 307, for example, controls the driving unit 305 to fly the drone 101. Specifically, the control unit 307 starts flying the drone 101 when the battery is fully charged. In addition, the control unit 307 starts flying when, for example, the control unit 307 detects a call from a specific user 600. In addition, the control unit 307 starts flying when, for example, the control unit 307 acquires predetermined information based on information acquired via the communication I / F 208.

[0214] Furthermore, the control unit 307 recognizes a specific user 600 based on, for example, an image captured by the image capturing unit 303. When recognizing a specific user 600, the control unit 307 makes it easier to extract a person by, for example, removing noise and distortion from the image captured by the image capturing unit 303, emphasizing the contours of objects included in the image, and adjusting the brightness and color of the image.

[0215] In addition, when recognizing a specific user 600, the control unit 307, for example, The system extracts features such as the eyes, mouth, and nose from images captured by the camera at pixel level, which are the smallest elements that make up an image, and recognizes the people in the image based on various information such as color and brightness assigned to the pixels.

[0216] Furthermore, when recognizing a particular user 600, the control unit 307 stores, for example, information about the extracted person in the storage unit 301. The information about the extracted person includes, for example, at least one of the cumulative time during which the person has been photographed and the cumulative number of times the person has been photographed. The information about the extracted person may include, for example, both the cumulative time during which the person has been photographed and the cumulative number of times the person has been photographed.

[0217] Furthermore, when recognizing a specific user 600, the control unit 307 determines whether or not the person recognized from the image captured by the imaging unit 303 is a person who has been photographed by the imaging unit 303 for a predetermined period of time or a predetermined number of times, based on the image captured by the imaging unit 303 and information related to the extracted person stored in the storage unit 301. Then, if the person extracted from the image captured by the imaging unit 303 is a person who has been photographed for a predetermined period of time or a predetermined number of times, the control unit 307 recognizes that the person recognized from the image is a specific user 600.

[0218] The control unit 307 may recognize the specific user 600 by determining whether or not the person is a person photographed by the photographing unit 303 within a specific range. Specifically, for example, a person who has a reasonable chance of being within a specific range such as within a home, a school site, or a store can be recognized as the specific user 600.

[0219] The control unit 307 may further recognize a specific user 600 by determining whether or not a person recognized from an image captured by the imaging unit 303 within a specific range is a person who has been photographed by the imaging unit 303 for a predetermined time or more or a predetermined number of times. Specifically, for example, when a person recognized from an image captured by the imaging unit 303 within a specific range such as within a home, a school site, or a store is a person who has been photographed for a predetermined time or more or a predetermined number of times, the control unit 307 recognizes that the person recognized from the image is a specific user 600.

[0220] Furthermore, for example, when the control unit 307 recognizes a specific user 600, the control unit 307 controls the driving unit 305 to fly the flying robot 100 around the specific user 600. Specifically, for example, the control unit 307 flies the flying robot 100 at a position close to the specific user 600 so that the specific user 600 cannot touch the flying robot 100 even if he or she extends his or her hand.

[0221] More specifically, the control unit 307 causes the flying robot 100 to fly, for example, by rotating the flying robot 100 above the head of a specific user 600, by hovering the flying robot 100 in front of the specific user 600, or by moving the flying robot 100 closer to or farther away from the specific user 600 as if playing with the specific user 600.

[0222] When the control unit 307 detects that a specific user 600 has visually recognized the flying robot 100, the control unit 307 may fly the flying robot 100 so that it leaves the specific user 600 and returns to the charging spot. In this way, the flying robot 100 imitates a "territorial behavior" in which the charging spot is likened to a nest, patrolling the periphery of the nest to check the situation and then returning to the nest, so to speak, and gives the impression to people around, including the specific user 600, that the flying robot 100 is a living being with its own will.

[0223] The control unit 307 may simply control the driving unit 305 to cause the flying robot 100 to fly around a specific user 600, or may link the driving unit 305 and the output unit 306 to cause the LED lamp 104 to light up (blink) or output sound from the speaker 204 while causing the flying robot 100 to fly around a specific user 600.

[0224] (An example of the appearance of a charging spot) Next, an example of the appearance of a charging spot will be described. Fig. 4A and Fig. 4B are explanatory diagrams showing an example of a charging spot. Fig. 4A shows an example of the appearance of a charging spot. Fig. 4B shows a cross section taken along line AA in Fig. 4A. As shown in Fig. 4A and Fig. 4B, charging spot 400 includes charging pad 401 and exterior part 402.

[0225] Charging pad 401 includes power transmitting coil 401a. Power transmitting coil 401a is enclosed in cover 401b made of ABS resin, silicone rubber, or the like. A power cable 401c having an outlet plug at its tip is connected to charging pad 401 (power transmitting coil 401a). When the outlet plug at the tip of power cable 401c is connected to a commercial power source and electricity is passed through power transmitting coil 401a, a magnetic field can be generated in power transmitting coil 401a.

[0226] Instead of the power cable 401c, the charging pad 401 may have a terminal to which a charging cable can be connected, such as a female USB terminal. In this case, a power cable with a male USB terminal or an adapter for converting between a commercial power source and a USB power source is used to pass electricity through the power transmitting coil 401a, thereby making it possible to generate a magnetic field in the power transmitting coil 401a. This allows the use of a power cable of any length according to the installation location of the charging spot 400, etc.

[0227] The exterior part 402 has an appearance resembling, for example, a bird or animal's nest, and is installed so as to cover the charging pad 401. The exterior part 402 has an opening that allows the flying robot 100 to take off and land on the charging pad 401. The exterior part 402 may have a shape with an opening above the charging spot 400 as shown in Fig. 4A or 4B, or may have a cave-like shape with an opening that covers directly above the charging spot 400 and opens to the sides.

[0228] When an opening is provided above the charging pad 401, the walking robot 100 approaches the charging pad 401 from above and flies off to the upper side of the charging pad 401. When the flying robot 100 has an exterior part 402 shaped like a cave, the flying robot 100 approaches the charging pad 401 from the upper lateral side and flies off to the upper lateral side of the charging pad 401.

[0229] The charging spot 400 may be equipped with a wireless router such as a Wi-Fi router. This allows the charging spot 400 to function as a communication spot, and the flying robot 100 can communicate via the charging spot 400. By connecting the charging spot 400 to an Internet line drawn into a home or the like and having the flying robot 100 communicate via the charging spot 400, it is possible to install one charging spot 400 and use multiple flying robots 100.

[0230] (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. FIG. 5 is a flowchart showing an example of a processing procedure of the flying robot 100 according to the first embodiment of the present invention. In the flowchart of FIG. 5, first, it is determined whether or not to start flying (step S501). In step S501, for example, based on the remaining amount of the battery, When the battery is fully charged, it is determined that flight is to be started. Also, in step S501, for example, when the call of a specific user 600 is detected based on the voice collected via the microphone 203, it may be determined that flight is to be started. Also, in step S501, for example, when predetermined information is acquired based on information acquired via the communication I / F 208, it may be determined that flight is to be started.

[0231] In step S501, the process waits until it is determined that flight should be started (step S501: No). On the other hand, if it is determined that flight should be started in step S501 (step S501: Yes), flight is started (step S502). In step S502, for example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles. The predetermined range can be any range including a specific range such as within a home, a school site, or a store.

[0232] Next, it is determined whether or not a specific user 600 has been detected based on an image captured by the camera during flight (step S503). In step S503, for example, as described above, it is possible to determine whether or not a specific user 600 has been detected by determining whether or not a person extracted by performing a predetermined image processing is a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times. Also, in step S503, for example, as described above, it is possible to determine whether or not a specific user 600 has been detected by determining whether or not a person recognized from an image captured by the photographing unit 303 within a specific range is a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times.

[0233] In step S503, if a specific user 600 is not detected (step S503: No), the process proceeds to step S505. On the other hand, in step S503, if it is determined that a specific user 600 is detected (step S503: Yes), execution of a predetermined process is started (step S504). In step S504, for example, execution of a process arbitrarily selected from a plurality of previously set processes is started.

[0234] The process to be started in step S504 can be selected based on, for example, the remaining battery level, the current position of the flying robot, the specific user 600 detected in step S503: Yes, etc. Also, in step S504, for example, the process of returning to the charging spot 400 may be started after circling around the specific user 600 an arbitrary number of times.

[0235] Specifically, in step S504, the robot starts executing a process of, for example, approaching a specific user 600, turning on or blinking the LED lamps 104 provided in the areas corresponding to the eyes, and outputting sounds that mimic animal cries. This makes it possible to realize actions that mimic the charm of living things such as pets.

[0236] Furthermore, if a specific user 600 is moving, in step S504, execution of a process for tracking the specific user 600 may be started. The number of processes that start execution in step S504 may be one or more. When starting execution of multiple processes, the processes may start simultaneously or at different times.

[0237] In step S504, for example, music that matches the taste of the specific user 600 may be output or news may be announced. In step S504, for example, based on a profile of the specific user 600, such as past actions and tastes, In addition, information such as the action patterns of the flying robot 100 used by another user who has similar behavior and preferences to the specific user 600 may be obtained via the network N, and the process to be executed may be determined based on the obtained information.

[0238] Next, it is determined whether the remaining battery power falls below a preset first threshold value (step S505). The first threshold value can be set to, for example, the battery power required for the flying robot 100 to return to the charging spot 400 from a position farthest from the charging spot 400 within a predetermined range in which the flying robot 100 can fly.

[0239] In step S505, if the remaining battery charge is not below the first threshold (step S505: No), the process proceeds to step S503, and the process is executed while detecting the specific user 600. On the other hand, in step S505, if the remaining battery charge is below the first threshold (step S505: Yes), it is determined whether the process started in step S504 is being executed (step S506). In step S506, if the process is not being executed (step S506: No), the process proceeds to step S511.

[0240] On the other hand, if the process is being executed in step S506 (step S506: Yes), a warning is output (step S507). In step S507, for example, the LED lamps 104 provided in the parts corresponding to the eyes are lit or blinked in a specific color such as red, or a warning sound is output from the speaker 204. Alternatively, in step S507, a voice may be output to inform a specific user 600 of the state of the flying robot 100 in words, such as "The battery is running low" or "I'm hungry."

[0241] Alternatively, step S507 may involve flight movements that mimic, for example, a wobbly or swaying motion.

[0242] Next, it is determined whether the process determined to be in progress in step S506: Yes has been completed (step S508), and if the process has been completed (step S508: Yes), the process proceeds to step S511. If the process has not been completed in step S508 (step S508: No), it is determined whether the remaining battery power has fallen below a preset second threshold (step S509).

[0243] The second threshold is set to an amount less than the first threshold, and can be set to the battery amount required for the flying robot 100 to fly to the charging spot 400. The second threshold can be set based on, for example, the current position of the flying robot 100, the position of the charging spot 400, etc.

[0244] In step S509, if the remaining battery charge is not below the second threshold (step S509: No), the process proceeds to step S508, and it is determined whether the process determined to be running in step S506: Yes has been completed. On the other hand, in step S509, if the remaining battery charge is below the second threshold (step S509: Yes), the process being run is forcibly terminated (step S510), a return process to the charging spot 400 is executed (step S511), and the series of processes is terminated.

[0245] In step S510, if multiple processes are being executed, all of the processes being executed are forcibly terminated. In step S511, the RTH (Return To Home) function of the drone 101 is activated to charge the drone 101. It is possible to execute a return process to the electric spot 400. During the RTH, obstacles are avoided based on the image captured by the camera 103 and the detection result of the object sensor 206.

[0246] In the above-mentioned first embodiment, a warning is output when the remaining battery power falls below a first threshold, and a return process is performed when the remaining battery power falls below a second threshold lower than the first threshold, but this is not limited to the above. Instead of or in addition to the judgment based on the remaining battery power, a warning may be output or a process being executed may be forcibly terminated and a return process performed based on the elapsed time since the start of flight.

[0247] The time from the start of flight in step S502 until the first threshold or the second threshold is reached varies depending on the remaining battery charge at the time the flight is started in step S502. Therefore, the type and number of processes to be started in step S504 may be determined depending on the remaining battery charge at the time the flight is started.

[0248] (An example of how the flying robot 100 is used) Next, a description will be given of an example of a usage mode of the flying robot 100 according to the first embodiment. Figures 6A, 6B, and 6C are explanatory diagrams showing an example of a usage mode of the flying robot 100.

[0249] The flying robot 100 starts flying at any timing, and when it recognizes a specific user 600, it approaches the specific user 600 and flies around the specific user 600 (see FIG. 6A). Then, for example, after circling the specific user 600 a certain number of times, or when the specific user 600 takes his / her eyes off the flying robot 100, the flying robot 100 returns to the charging spot 400.

[0250] In this way, the flying robot 100 operates regardless of the will of the specific user 600, so that the specific user 600 feels as if the flying robot 100 has suddenly come from its nest of its own volition and returned to its nest before he knows it. Also, the flying robot 100 operates regardless of the user's will, so that the specific user 600 feels as if the bored flying robot 100 has come and is flying around without any purpose.

[0251] Furthermore, by the flying robot 100 performing unpredictable actions regardless of the intentions of the specific user 600, the specific user 600 can have the sensation that the flying robot 100 is acting of its own volition and is seeking out the specific user 600 of its own volition and is trying to communicate with him or her.

[0252] This makes it possible to create an environment similar to that of having a pet, and by loving the flying robot 100, the specific user 600 can ease his / her loneliness and sense of isolation and reduce his / her stress. In addition, the specific user 600 can be mentally fulfilled and calmed.

[0253] In addition, the specific user 600 can be made to consider the intention behind the flying robot 100's unpredictable actions, which are unrelated to the specific user 600's intention. This allows the specific user 600 to feel as if the flying robot 100 is not an inorganic or inorganic robot, but is interacting with a living being with a mind and a soul. This can ease the specific user 600's feelings of loneliness and isolation, reduce stress, increase mental fulfillment, and calm the mind. It is possible.

[0254] When a specific user 600 performs a specific action, the flying robot 100 may execute another process in response to the specific action. Specifically, for example, when the specific user 600 performs some action on the flying robot 100, such as bringing his / her hand close to the flying robot 100, the flying robot 100 may fly away from the specific user 600 (see FIG. 6B).

[0255] In this way, the flying robot 100 deliberately performs actions that go against the will of the specific user 600, making the specific user 600 feel as if the flying robot 100 is not pandering to the specific user 600 and is behaving like a capricious cat.

[0256] Or, specifically, for example, when the flying robot 100 circles around a specific user 600 and the specific user 600 does not react (such as by not turning its face toward the flying robot 100), the flying robot 100 may fly closer to the specific user 600 (see FIG. 6C). By performing such a behavior, the flying robot 100 can give the specific user 600 a feeling as if the flying robot 100 is approaching (attaching to) the specific user 600 in order to get attention from the specific user 600.

[0257] In this way, the flying robot 100 monitors the specific user 600, performs a predetermined action for the specific user 600 based on the results of the monitoring, and performs the next action based on the behavior of the specific user 600 in response to the monitoring action. This allows the specific user 600 to feel as if he or she is interacting with a living being such as a pet that has a life and a heart, rather than with an inorganic or inorganic robot.

[0258] The flying robot 100 may not always perform the same action in response to the same action of a specific user 600. For example, if the flying robot 100 performs an action to approach the specific user 600 in response to the specific user 600 bringing their hand closer to the flying robot 100 last time, the flying robot 100 may fly away from the specific user 600 when the specific user 600 performs the same action next time. In this way, the flying robot 100 may not clearly understand the intention of the action of the specific user 600. This makes it possible to imitate the incomprehensibility that often occurs in interactions between living things.

[0259] Even if a particular user 600 does not clearly understand the intention behind the flying robot 100's movements, he or she can enjoy the movements of the flying robot 100 itself and can enjoy the sense of incomprehensibility that often occurs in interactions between living things. In this way, by reproducing the relationship with a living thing such as a pet, the particular user 600 can enjoy the act of thinking about the intention behind the flying robot 100's movements, the correct answer of which is unknown (it is unclear whether there is a correct answer or not).

[0260] In addition, if the flying robot 100 is equipped with a night vision camera or an infrared camera, it can take clear images of the surroundings of the flying robot 100 even at night without using a light source for auxiliary imaging. As a result, if a person (such as a thief) is detected in the dark, a loud sound can be output or contact can be made with an outside party such as a security company via the communication I / F 208.

[0261] In the above-mentioned embodiment 1, the flying robot 100 that provides healing to the user (specific user 600) has been described. The flying robot 100 can be used, for example, as a fighting simulator that assists in simulating actual combat or matches in martial arts such as boxing and karate.

[0262] Specifically, the flying robot 100 used as a fighting simulator flies to guide a user to a place suitable for striking in martial arts such as boxing, karate, etc. In this case, the user can practice (so-called sparring) imitating a real combat or match format by striking the flying robot 100.

[0263] During sparring, the timing of striking may be guided by turning on or blinking LED lights, adjusting the color of the light, or outputting a sound. Specifically, during sparring, for example, the location to strike with the hand (fist) is guided by making the LED light emit red light, and the location to strike (kick) with the foot is guided by making the LED light emit green light. Also, during sparring, information regarding the movements of famous athletes may be obtained via the network N, and flying movements that imitate the movements of famous athletes may be performed based on the information.

[0264] The flying robot 100 can also be used as a flying conductor that directs the performance of an orchestra, a brass band, or the like. Specifically, the flying robot 100 used as a flying conductor performs flying movements that imitate the movement of the tip of a conductor's baton. Also, when parts are switched during a performance, the flying robot 100 may fly close to the corresponding part (musical instrument). This can reliably support the performance of each part.

[0265] The flying robot 100 can also be used as a flying performer in karaoke, for example, by joining in with the progression of music or by flying as if dancing along with the music. The flying robot 100 used as a flying performer may further output the music played in karaoke from the speaker 204. This allows users to enjoy karaoke in any location, even in places where it is difficult to secure a power source, such as outdoors.

[0266] As described above, the flying robot 100 of an embodiment of the present invention is characterized by comprising a drone (unmanned aerial vehicle) 101 that flies by automatic control and a camera 103 mounted on the drone 101, and recognizing a specific user 600 based on an image captured by the camera 103, and flying around the specific user 600.

[0267] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 100 flies around the specific user 600 recognized based on the image captured by the camera 103 by automatic control, and recognizes the specific user 600 as its owner and requests communication with the owner, which is similar to the behavior of a pet animal. This can soothe the mind of the specific user 600 and give the specific user 600 a sense of fulfillment.

[0268] In addition, the flying robot 100 can be kept clean, which eliminates hygiene problems compared to keeping animals. In addition, the flying robot 100 does not cause problems with animal allergies, so the user 600 can experience communication with a pet regardless of his or her physical constitution.

[0269] Furthermore, the flying robot 100 does not cause problems in terms of hygiene or animal allergies, and since it flies in the air, bacteria, viruses, dirt, etc. do not adhere to it from floors, etc., so it can be used in places such as hospitals and nursing homes, which is expected to have a therapeutic effect on the users of the hospitals and nursing homes.

[0270] The flying robot 100 according to the first embodiment of the present invention is characterized in that a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times is recognized as a specific user 600.

[0271] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 100 can fly around the specific user 600 who has had the opportunity to interact with the flying robot 100 by automatic control, and can perform actions similar to those of a pet, which becomes accustomed to the user through proper interaction. This can make the specific user 600 interested in the flying robot for a long period of time, soothe the mind of the specific user 600, and give the specific user 600 a sense of satisfaction.

[0272] Moreover, the flying robot 100 according to the first embodiment of the present invention is characterized in that it recognizes a person photographed by the camera 103 within a specific range as a specific user 600.

[0273] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 100 can fly around the specific user 600 by automatic control, who is likely to be photographed by a camera because he / she is likely to be in a specific range such as a home, a school site, or a store, and can imitate a pet to get used to the specific user 600 who has been in contact with the specific user 600 in the specific range. This can make the specific user 600 interested in, feel close to, and attached to the flying robot 100 for a long time, soothe the mind of the specific user 600, and give the specific user 600 a sense of satisfaction.

[0274] The flying robot 100 that behaves in this manner behaves differently for a specific user 600 who has had the opportunity to interact with the flying robot 100 in person at home and for a friend of the specific user 600 who has had the opportunity to interact with the flying robot 100 outside the home, making it easier for the specific user 600 to feel a sense of closeness and attachment to the flying robot, more reliably soothing the heart of the specific user 600 and providing a sense of fulfillment to the specific user 600.

[0275] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that while flying around a specific user 600, if at least a part of the specific user 600 approaches the unmanned aerial vehicle, the flying robot 100 flies away from the specific user 600.

[0276] According to the flying robot 100 of the first embodiment of the present invention, it is possible to make the flying robot 100 perform a behavior similar to that of indoor dogs and cats, which is to say, "come close to the owner (specific user 600) but want to avoid being touched," thereby "checking out the owner's behavior," and it is possible to give the impression that the flying robot 100 is a living thing with its own will.

[0277] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that while flying around the specific user 600, if the specific user 600 does not visually observe the unmanned aerial vehicle, it flies so as to approach the specific user 600.

[0278] According to the flying robot 100 of the first embodiment of the present invention, it is possible to make the flying robot 100 perform an affectionate behavior often seen in pets that like to be pampered, such as "the owner (specific user 600) won't pay attention to me, so I start messing with him", and it is possible to give the impression that the flying robot 100 is a living being with its own will.

[0279] The flying robot 100 according to the first embodiment of the present invention is characterized in that it flies around the specific user 600 a predetermined number of times and then flies away from the specific user 600.

[0280] According to the flying robot 100 of the first embodiment of the present invention, it is possible to make the flying robot 100 perform a behavior similar to that of indoor dogs and cats, which is to "come to check on the owner's behavior," and it is possible to give the impression that the flying robot 100 is a living being with its own will.

[0281] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that it is equipped with a communication I / F 208 mounted on the drone 101, and when predetermined information is acquired via the communication I / F 208, it flies around a specific user 600.

[0282] According to the flying robot 100 of the first embodiment of the present invention, when predetermined information is acquired via the communication I / F 208, the flying robot 100 can fly around a specific user 600 by automatic control, thereby transmitting useful information to the specific user 600 even if the specific user 600 is not aware of it.

[0283] Furthermore, according to the flying robot 100 of the first embodiment of the present invention, by communicating with another flying robot 100 via the communication I / F 208, information obtained by learning of the other flying robot 100 can be shared, so that the flying robot 100 can be made to behave in a manner that is more in line with the preferences of a particular user 600.

[0284] In addition, the flying robot 100 of the first embodiment of the present invention is characterized in that when notification information output from a specific terminal device is acquired via the communication I / F 208, the flying robot 100 flies around a specific user 600.

[0285] According to the flying robot 100 of the first embodiment of the present invention, for example, a smartphone owned by a specific user 600 is treated as a specific terminal device, and when notification information output to the flying robot 100 is obtained from the smartphone that has received an incoming call, the flying robot 100 flies around the specific user 600 by automatic control, thereby enabling the user to quickly know that a notification has been received on the smartphone even if the user does not carry the smartphone with him / her at all times or even if the smartphone is set to silent mode.

[0286] In addition, the flying robot 100 of the first embodiment of the present invention is characterized in that, for example, when it acquires information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or a sudden change in weather occurring within a predetermined time from the present time, it flies around a specific user 600.

[0287] According to the flying robot 100 of the first embodiment of the present invention, a specific user 600 can quickly know that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden change in weather occurring within a predetermined time from the present time, without consciously collecting information. This allows the user to live with peace of mind.

[0288] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that it is equipped with a speaker 204 mounted on the drone 101, outputs sound from the speaker 204 toward a specific user 600, and flies around the specific user 600.

[0289] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 100 can output a sound from the speaker 204 while flying around the specific user 600 by automatic control, and can imitate a pet behavior of making a cry and requesting communication with the specific user 600 as its owner. This can more reliably attract the attention of the specific user 600, soothe the specific user 600, and give the specific user 600 a sense of fulfillment.

[0290] In addition, the flying robot 100 of the first embodiment of the present invention is characterized in that it is equipped with a microphone 203 mounted on the drone 101, and flies around a specific user 600 when a specific sound is picked up by the microphone 203.

[0291] According to the flying robot 100 of the first embodiment of the present invention, when a specific sound such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or a ringtone on a smartphone is picked up, the flying robot 100 can fly around the specific user 600 by automatic control, and can respond to communication with the specific user 600 or inform the specific user 600 of a visit from a third party or an incoming call on the smartphone in response to the specific sound.

[0292] Furthermore, when the voice of a specific user 600 is picked up, the flying robot 100 of the first embodiment of the present invention flies around the specific user 600 by automatic control, making the specific user 600 feel that "the robot came when I called it," making the specific user 600 happy and allowing the user to experience communication with a pet.

[0293] This not only provides comfort to the specific user 600, but also allows necessary information to be transmitted to the specific user 600 in a necessary situation. In particular, by transmitting necessary information to a hearing-impaired user in a necessary situation, it is possible to support the user's life more easily and inexpensively than by receiving assistance from a hearing dog, which is difficult to obtain and burdensome to care for.

[0294] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that it is equipped with a speaker 204 mounted on the drone 101, and when a specific sound is collected by the microphone 203, the sound is output from the speaker 204 toward a specific user 600 and the flying robot 100 flies around the specific user 600.

[0295] According to the flying robot 100 of the first embodiment of the present invention, when a specific sound such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or a ringtone on a smartphone is picked up, the flying robot 100 can fly around the specific user 600 by automatic control and output the sound from the speaker 204, thereby imitating the behavior of a pet, requesting communication with the specific user 600 by making a sound like a meow, as if the specific user 600 were its owner, or can inform the specific user 600 of a visit by a third party or an incoming call on their smartphone, even if the specific user 600 is unaware of the sound of the doorbell or an incoming call on their smartphone.

[0296] This makes it possible to more reliably attract the attention of a particular user 600, to soothe the heart of the particular user 600, to give the particular user 600 a sense of fulfillment, and to provide the particular user 600 with the necessary information in a necessary situation. It is possible to transmit information to a specific user 600. This can enrich the psychological state and life of the specific user 600.

[0297] Moreover, the flying robot 100 according to the first embodiment of the present invention is characterized in that the sound output from the speaker 204 imitates the cry of an animal.

[0298] According to the flying robot 100 of the first embodiment of the present invention, by outputting sounds that imitate animal cries, it is possible to more reliably attract the attention of the specific user 600. This allows the specific user 600 to have a strong sense of communicating with a pet, soothes the mind of the specific user 600, and gives the specific user 600 a sense of fulfillment.

[0299] Moreover, the flying robot 100 according to the first embodiment of the present invention is characterized in that the predetermined voice is the voice of the specific user 600 .

[0300] According to the flying robot 100 of the first embodiment of the present invention, when the voice of the specific user 600 is collected by the microphone 203, the flying robot 100 flies around the specific user 600 by automatic control. This allows the flying robot 100 to imitate the behavior of responding to the call of the specific user 600, soothing the heart of the specific user 600 and giving the specific user 600 a sense of satisfaction. In addition, since the flying robot 100 does not respond to the calls of people other than the specific user 600, the flying robot 100 can be made to have a sense of closeness and attachment to the specific user 600, giving the specific user 600 a sense of satisfaction.

[0301] In this way, the flying robot 100 of the first embodiment of the present invention moves autonomously like a pet, and is mainly intended to be loved by people, and can communicate with a specific user 600 by performing natural movements imitating those of a pet, thereby reducing the stress of the specific user 600 and providing healing. This can, for example, ease the loneliness and solitude of people living alone or elderly people, and can help them live a mentally fulfilling and peaceful life.

[0302] <Embodiment 2> Next, an example of a flying robot according to a second embodiment of the present invention will be described. The flying robot according to the second embodiment operates to achieve a specific purpose. Specifically, the flying robot according to the second embodiment operates to achieve a purpose similar to that of a so-called hearing dog, which is to recognize a person with a hearing impairment as a specific user 600, inform the specific user 600 of sounds necessary in the life of the specific user 600, and guide the specific user 600 to the source of the sounds.

[0303] Hearing dogs have a shorter history than guide dogs, and the current situation is that there are far fewer hearing dogs compared to the number of people with hearing impairments. In addition, the training period for a hearing dog before it can be loaned to a hearing-impaired person is at least one year and eight months, and the training costs for a hearing dog are said to be around one million yen. Due to these circumstances, the current situation is that hearing dogs are not widely available to people with hearing impairments.

[0304] Taking into consideration the current situation, the flying robot of embodiment 2 aims to increase the motivation for independence and sense of security in daily life of people with hearing impairments who are unable to borrow hearing dogs.

[0305] (An example of the appearance of a flying robot) FIG. 7 is an explanatory diagram showing an example of the 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 explanation will be given in the same manner. 7, the flying robot 700 includes a camera 103 and a projector 701 mounted on a drone 101.

[0306] The projector 701 includes a projector light source, an optical system, a projection lens, etc. (all of which are not shown in the figure). The projector 701 guides light emitted from the projector light source to a predetermined path using the optical system, and irradiates the light to the outside of the projector 701 via the projection lens 701a, thereby projecting an image at the location where the light is irradiated.

[0307] The optical system is composed of an integrator lens that increases the uniformity of the illuminance of the light emitted from the projector light source, a polarization conversion element that converts (polarizes) the light emitted from the non-polarized light source into a predetermined polarization direction, a dichroic mirror that separates the light from the projector 701 into the three primary colors of R, G, and B, a liquid crystal panel that displays an image corresponding to each color of R, G, and B light, and a dichroic prism that combines the images of each color displayed by each liquid crystal panel (all of which are omitted from the illustration).

[0308] As the projector 701, for example, a laser projector that uses a laser as the projector light source can be used. By using a laser projector, it is possible to reduce the size of the projector 701. Specifically, since a laser projector can suppress heat generation to a lower level than a mercury lamp projector that uses a mercury lamp as the projector light source, it is possible to reduce the size and weight by eliminating mechanisms such as a cooling fan.

[0309] In addition, by using a laser projector, it is possible to start up and start projecting an image quickly, and by using a laser projector, it is possible to achieve high brightness of the projected image while reducing power consumption compared to a mercury lamp projector.

[0310] Mercury lamp projectors are recommended to be used with the projection (optical axis) direction horizontal, limiting the freedom of projection direction, whereas laser projectors can be used with the optical axis tilted from the horizontal. This allows laser projectors to have a high degree of freedom in the projection direction, and they can project images not only onto walls but also onto the ground and floor.

[0311] The projector 701 is fixed to the drone 101, and moves with the movement (flight) of the drone 101. The projector 701 may be connected to the drone 101 in a state in which its attitude can be adjusted. Specifically, for example, the projector 701 can be connected to the bottom of the drone 101 via a universal joint such as a ball joint. By connecting the projector 701 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the projector 701 can be ensured.

[0312] In this case, the flying robot 700 may be provided with a drive mechanism that changes the attitude of the projector 701 relative to the drone 101 in order to adjust the attitude of the projector 701 relative to the drone 101 without human intervention. The drive mechanism can be configured, for example, with a motor, a gear train, or the like. By making the attitude of the projector 701 relative to the drone 101 adjustable, it is possible to project an image at an optimal angle depending on the location where the image is to be projected.

[0313] (Hardware configuration of flying robot 700) Next, the hardware configuration of the flying robot 700 will be described. 8 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 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, a communication I / F 208, an LED lamp 104, a solar cell 106, a projector 701, and the like.

[0314] As described above, the projector 701 guides the light emitted from the projector light source to a predetermined path by the optical system and irradiates the light to the outside of the projector 701 via the projection lens 701a, thereby projecting an image at the location where the light is irradiated. The projector 701 may adjust the image quality of the projected image by adjusting the intensity of the light emitted from the projector light source according to the distance from the position where the image is projected. The distance between the projector 701 and the position where the image is projected can be specified by using, for example, a distance sensor. The distance sensor can be, for example, various known sensors such as a laser distance sensor, an ultrasonic sensor, or an infrared sensor.

[0315] (Functional configuration of the flying robot 700) Next, a functional configuration of the flying robot 700 will be described. The functions of the flying robot 700 of the second embodiment are realized by a memory unit 301, a detection unit 302, an image capturing unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307, similar to the flying robot 100 described above.

[0316] For example, when a specific sound is picked up by the microphone 203, the control unit 307 in the flying robot 700 controls the drive unit 305 to fly the drone 101, and the drone 101 flies around the specific user 600 that has been recognized in response to the specific sound.

[0317] The predetermined sound may be, for example, a ringtone that notifies a telephone (landline, smartphone, etc.) that at least one of a call and an e-mail is arriving. The predetermined sound may also be, for example, a ringtone of a doorbell provided at the entrance of a building or site for a visitor to the building or site to call a resident or manager of the building or site.

[0318] The predetermined sound may be, for example, a sound with a sound pressure equal to or higher than a predetermined threshold. Specifically, the predetermined sound may be, for example, a sound that is output at a high volume for the purpose of informing an unspecified number of people, such as an alarm sound or siren. More specifically, the predetermined sound may be, for example, a sound with a sound pressure level of 70 dB or higher.

[0319] The predetermined sound may be, for example, a sound generated within a predetermined range from the specific user 600. Specifically, the predetermined sound may be a sound generated by an alarm clock, a kitchen timer, a smartphone, or another device whose positional relationship with the specific user 600 may change frequently. Furthermore, the predetermined sound may be the sound of a boiling kettle, a gas leak detection buzzer, an alarm that notifies the user that the door has been left open after refrigeration or that the door is half-open, or the like.

[0320] The predetermined voice may be a voice previously stored in the memory of the control circuit 207, or may be a voice learned based on information acquired via the communication I / F 208. The predetermined voice may be the voice of a particular user 600. The predetermined voice may be a voice associated with a change in the natural environment, such as rainfall or lightning.

[0321] When a predetermined sound is collected by the microphone 203, the control unit 307 flies the drone 101 so as to guide a specific user 600 to the source of the sound. When a predetermined sound is collected by the microphone 203, the control unit 307, for example, The drone 101 is caused to fly between the vicinity of the specific user 600 and the source of the specific sound. More specifically, for example, the drone 101 repeatedly flies around the specific user 600 to attract the attention of the specific user 600 and then flies to the source of the sound.

[0322] The control unit 307 may fly the drone 101 in a flight mode corresponding to a predetermined sound in response to the predetermined sound. Specifically, for example, when there is an incoming call, the control unit 307 may fly the drone 101 in a zigzag pattern in front of a specific user 600. Also, specifically, for example, when the doorbell rings, the control unit 307 may fly the drone 101 around the specific user 600 and then to the source of the sound (the front door).

[0323] The output unit 306 in the flying robot 700 operates in conjunction with the flying action of the flying robot 700 according to the state of the flying robot 700. For example, when a predetermined sound is collected by the microphone 203, the output unit 306 projects an image from the projector 701 in conjunction with the action of flying around a specific user 600 in response to the predetermined sound. It is preferable that the image is projected in front of the specific user 600.

[0324] Specifically, for example, when there is an incoming call, an image of a telephone is projected. Also, specifically, for example, when the doorbell rings, an image of the entrance or gate, or an image representing a visitor is projected. When a child is crying, an image of the crying child may be projected. Image data of the image to be projected can be obtained, for example, from the network N via the communication I / F 208.

[0325] The projected image may be an image captured by the camera 103. In this case, the flying robot 700 captures an image of the source of the predetermined sound every time it detects that a predetermined sound is being generated, and projects the captured image. In this way, by projecting an image of an actual object, the specific user 600 can be made to understand the source of the sound reliably. This also makes it possible to project an appropriate image without storing multiple image data.

[0326] Alternatively, the output unit 306 may project text from the projector 701 in conjunction with, for example, the operation of flying around the specific user 600 in response to a predetermined voice. Specifically, text (messages) such as "You have received an e-mail" or "The doorbell is ringing" are projected in front of the specific user 600. The forward position of the specific user 600 can be determined based on an image captured by the camera 103. In this case, the output unit 306 can specifically realize its function by, for example, the projector 701 shown in FIG. 7 or FIG. 8.

[0327] Also, the output unit 306 may turn on or blink the LED lamp 104 in conjunction with the operation of flying around a specific user 600 in response to a predetermined sound. In this case, the output unit 306 can specifically realize its function by, for example, the LED lamp 104 shown in FIG. 8.

[0328] When the LED lamp 104 is turned on (blinked) in response to a predetermined sound, it may be a color with a long wavelength, such as red or orange, that is easily noticeable to a specific user 600. Also, the illuminance may be adjusted to turn on (blink) at a higher illuminance than normal. Moreover, the LED lamp 104 may be turned on (blinked) so that the illuminance during the day outdoors is higher than the illuminance at night, whether indoors or outdoors. Furthermore, instead of the LED lamp 104, light may be emitted from the projector 701.

[0329] (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. Fig. 9 is a flowchart showing an example of a processing procedure of the flying robot 700 of the second embodiment according to the present invention. In the flowchart of Fig. 9, first, a sound is acquired via the microphone 203 (step S901), and the acquired sound is analyzed (step S902). In step S902, data indicating the feature amount of the sound, such as the strength (volume) of the acquired sound, the frequency, and the interval between sounds, is generated.

[0330] Next, based on the analysis result in step S902, it is determined whether the acquired voice is a predetermined voice (step S903). In step S903, if the acquired voice is not a predetermined voice (step S903: No), the process proceeds to step S901 to acquire the voice.

[0331] On the other hand, if the acquired voice is the predetermined voice in step S903 (step S903: Yes), flight is started (step S904). In step S904, for example, the drone 101 is driven to take off from the charging spot 400 and fly within a predetermined range while avoiding obstacles.

[0332] Next, based on the images captured by the camera 103 during flight, it is determined whether or not a specific user 600 has been detected (step S905). The specific user 600 detected in step S905 may be, for example, a person who has been photographed by the photographing unit 303 for a predetermined period of time or a predetermined number of times as described above, or a person whose features (image, voice, etc.) have been stored in memory beforehand. By setting a person whose features have been stored in memory beforehand as the specific user 600, the corresponding person can be recognized as the specific user 600 immediately after starting to use the flying robot 700.

[0333] In step S905, flight is performed until a specific user 600 is detected (step S905: No) according to the remaining charge of the battery 201. If the remaining charge of the battery 201 drops to a threshold value that allows the drone to return to the charging spot 400 without detecting a specific user 600, a return process is performed.

[0334] In step S905, when a specific user 600 is detected (step S905: Yes), execution of a predetermined process is started (step S906). In step S906, for example, the robot repeatedly flies around the specific user 600 to attract the attention of the specific user 600 and moves back and forth between the specific user 600 and the source of the sound. Also, in step S906, for example, the projector 701 may project text indicating that a sound is being generated, the source of the sound, or the content (event) related to the generated sound.

[0335] The process in step S906 is continued until the specific user 600 notices the source (cause) of the sound (step S907: No). Alternatively, the process in step S906 may be performed to the extent that the flying robot 700 can return to the charging spot 400 according to the remaining amount of the battery 201. Specifically, for example, when the remaining amount of the battery 201 decreases to a threshold value that allows the flying robot 700 to return to the charging spot 400 without the specific user 600 noticing the sound source, the return process is performed.

[0336] In step S907, if the specific user 600 notices the sound source (step S907: Yes), a return process is performed (step S908), and the series of processes is terminated. It is possible to determine whether or not a particular user 600 has noticed the source of the sound by, for example, determining whether or not the particular user 600 has taken an action to approach the source of the sound.

[0337] As described above, the flying robot 700 of the second embodiment of the present invention comprises a drone 101 that flies by automatic control, a camera 103 mounted on the drone 101, and a microphone 203 mounted on the drone 101, and is characterized in that it recognizes a specific user 600 based on an image captured by the camera 103, and when a specific sound is collected by the microphone 203, it flies around the recognized specific user 600 in response to the specific sound.

[0338] According to the flying robot 700 of the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the flying robot 700 can visually inform the specific user 600 that the predetermined sound is being generated by flying around the specific user 600 recognized based on the image captured by the camera 103. This makes it possible to reliably inform the specific user 600 that the predetermined sound is being generated even if the specific user 600 has a hearing impairment.

[0339] This eliminates the situation where it is difficult to understand the situation around oneself due to hearing impairment, and reduces fatigue and stress caused by constantly being alert to understand the situation around oneself. Furthermore, because it becomes easier to understand the situation around oneself without being particularly conscious, it reduces the fear of life due to not being able to hear sounds, and increases the desire to become independent and the sense of security in life.

[0340] Furthermore, the flying robot 700 of the second embodiment of the present invention is characterized in that, in response to a specified sound, it flies around a specific recognized user 600 in a flight pattern corresponding to the specified sound.

[0341] According to the flying robot 700 of the second embodiment of the present invention, the type and content of the sound can be visually notified depending on the flight mode. As a result, even if the specific user 600 has a hearing impairment, the specific user 600 can be notified that a specific sound is being generated and the type and content of the sound can be quickly and in detail. As a result, the convenience of the life of the specific user 600 who has a visual impairment can be improved.

[0342] In addition, the flying robot 700 of the second embodiment of the present invention is characterized in that it is equipped with a projector 701 mounted on the drone 101, and when a specific sound is collected by the microphone 203, an image corresponding to the specific sound is projected from the projector 701 in front of the specific user 600 that has been recognized.

[0343] According to the flying robot 700 of the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the flying robot 700 flies around the specific user 600 recognized based on the image captured by the camera 103, and projects an image corresponding to the predetermined sound from the projector 701 in front of the specific user 600, thereby visually informing the specific user 600 that the predetermined sound is being generated by the operation of the flying robot 700 and the image. This makes it possible to reliably and clearly convey that the specific user 600 is receiving the predetermined sound, even if the specific user 600 has a hearing impairment.

[0344] Furthermore, the flying robot 700 of the second embodiment of the present invention is characterized in that, when a predetermined sound is collected by the microphone 203, characters corresponding to the predetermined sound are projected from the projector 701 in front of the recognized specific user 600.

[0345] According to the flying robot 700 of the second embodiment of the present invention, when a specific sound is picked up by the microphone 203, the flying robot 700 flies around a specific user 600 recognized based on an image captured by the camera 103, and projects text corresponding to the specific sound from the projector 701 in front of the specific user 600, thereby visually guiding the user that a specific sound is being heard through the operation of the flying robot 700 and the text.

[0346] This makes it possible to reliably and clearly communicate to a specific user 600 that a specific sound is being produced, even if that user has a hearing impairment.

[0347] The control method for the flying robot described in the first and second embodiments can be realized by executing a prepared program on a computer such as a personal computer or a workstation. The program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc., and is executed by being read from the recording medium by the computer. The program may also be a transmission medium that can be distributed via a network such as the Internet.

[0348] The following provides additional notes regarding the first and second embodiments.

[0349] (Appendix 1) An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with A flying robot that recognizes a specific user based on an image captured by the camera and flies around the specific user.

[0350] (Appendix 2) The flying robot described in Appendix 1, wherein the specific user is a person who has been photographed by the camera for a predetermined period of time or a predetermined number of times.

[0351] (Appendix 3) The flying robot according to claim 1 or 2, wherein the specific user is a person photographed by the camera within a specific range.

[0352] (Appendix 4) An flying robot described in any one of Appendices 1 to 3, characterized in that if at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the flying robot flies away from the specific user.

[0353] (Appendix 5) An flying robot described in any one of Appendices 1 to 3, characterized in that while flying around the specific user, if the specific user does not visually observe the unmanned aerial vehicle, the flying robot flies so as to approach the specific user.

[0354] (Appendix 6) 4. The flying robot according to claim 1, wherein the flying robot flies around the specific user a predetermined number of times and then flies away from the specific user.

[0355] (Appendix 7) A wireless communication interface is provided on the unmanned aerial vehicle. 7. The flying robot according to any one of claims 1 to 6, characterized in that, when predetermined information is acquired via the wireless communication interface, the flying robot flies around the specific user.

[0356] (Appendix 8) The flying robot according to claim 7, wherein the specified information is notification information output from a specific terminal device.

[0357] (Appendix 9) The flying robot according to claim 7, wherein the specified information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a specified time from the present time.

[0358] (Appendix 10) A speaker mounted on the unmanned aerial vehicle; 10. The flying robot according to any one of claims 1 to 9, wherein the flying robot outputs a voice from the speaker toward the specific user and flies around the specific user.

[0359] (Appendix 11) A microphone mounted on the unmanned aerial vehicle, The flying robot according to any one of claims 1 to 10, wherein when a predetermined sound is picked up by the microphone, the flying robot flies around the specific user.

[0360] (Appendix 12) The flying robot according to claim 11, wherein the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is received on a telephone.

[0361] (Appendix 13) The flying robot described in Appendix 11, characterized in that the predetermined voice is the voice of the specific user.

[0362] (Appendix 14) A speaker mounted on the unmanned aerial vehicle; The flying robot described in any one of Appendices 11 to 13, characterized in that when a predetermined sound is collected by the microphone, the flying robot outputs the sound from the speaker toward the specific user and flies around the specific user.

[0363] (Appendix 15) The flying robot according to claim 10 or 14, wherein the sound output from the speaker is a sound that imitates an animal's cry.

[0364] (Appendix 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.

[0365] (Appendix 17) When at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is caused to fly away from the specific user. 17. A control program for a flying robot according to claim 16, which causes a process to be executed.

[0366] (Appendix 18) When the specific user does not visually observe the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is flown so as to approach the specific user. 17. A control program for a flying robot according to claim 16, which causes a process to be executed.

[0367] (Appendix 19) After flying around the specific user a predetermined number of times, the drone is caused to fly away from the specific user. 17. A control program for a flying robot according to claim 16, which causes a process to be executed.

[0368] (Appendix 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 control program for a flying robot.

[0369] (Appendix 21) When at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is caused to fly away from the specific user. 21. A control program for a flying robot according to claim 20.

[0370] (Appendix 22) When the specific user does not visually observe the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is flown so as to approach the specific user. 21. A control program for a flying robot according to claim 20.

[0371] (Appendix 23) After flying around the specific user a predetermined number of times, the drone is caused to fly away from the specific user. 21. A control program for a flying robot according to claim 20.

[0372] (Appendix 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; A flying robot characterized in that when a specified sound is picked up by the microphone, the flying robot flies between the vicinity of the recognized specific user and the source of the specified sound in response to the specified sound.

[0373] (Appendix 25) 25. The flying robot according to claim 24, wherein when a predetermined sound is picked up by the microphone, the flying robot orbits the specific user in response to the predetermined sound, and then flies between the vicinity of the specific user and a source of the predetermined sound.

[0374] (Appendix 26) 26. The flying robot according to claim 24 or 25, wherein the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is arriving on the telephone.

[0375] (Appendix 27) The flying robot according to claim 24 or 25, wherein the predetermined sound is a ringtone of a doorbell installed at an entrance of a building or site so that a visitor to the building or site can call a resident or manager of the building or site.

[0376] (Appendix 28) 26. The flying robot according to claim 24 or 25, wherein the predetermined sound is a sound having a sound pressure equal to or higher than a predetermined threshold.

[0377] (Appendix 29) 26. The flying robot according to claim 24 or 25, wherein the predetermined sound is a sound generated within a predetermined range from the specific user.

[0378] (Appendix 30) The flying robot described in any one of appendices 24 to 29, characterized in that, in response to the specified voice, it flies around the recognized specific user in a flight mode corresponding to the specified voice.

[0379] (Appendix 31) A projector mounted on the unmanned aerial vehicle, The flying robot described in any one of Appendices 24 to 30, characterized in that when a predetermined sound is collected by the microphone, an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user.

[0380] (Appendix 32) A wireless communication interface is provided on the unmanned aerial vehicle. 32. The flying robot described in claim 31, characterized in that image data related to an image to be projected from the projector is obtained via the wireless communication interface.

[0381] (Appendix 33) The flying robot according to any one of appendices 24 to 32, characterized in that when a predetermined sound is picked up by the microphone, characters corresponding to the predetermined sound are projected from the projector in front of the recognized specific user.

[0382] (Appendix 34) A computer equipped with a flying robot having an unmanned aerial vehicle equipped with a camera and a microphone and flying by automatic control, Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the drone is caused to fly between a vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound. A control program for a flying robot, which causes the robot to execute a process.

[0383] (Appendix 35) A flying robot equipped with a camera and microphone and an unmanned aerial vehicle that flies automatically. Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the drone is caused to fly between a vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound. A method for controlling a flying robot.

[0384] (Appendix 36) A computer included in a flying robot that includes an unmanned aerial vehicle equipped with a camera, a microphone, and a projector and flies by automatic control, Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the robot flies between the vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound, and projects an image corresponding to the predetermined sound from the projector in front of the specific user that has been recognized. A control program for a flying robot, which causes the robot to execute a process.

[0385] (Appendix 37) A flying robot equipped with a camera, microphone, and projector, and an unmanned aerial vehicle that flies automatically. Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the robot flies between the vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound, and projects an image corresponding to the predetermined sound from the projector in front of the specific user that has been recognized. A method for controlling a flying robot.

[0386] (Appendix 38) An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; a wireless communication interface mounted on the unmanned aerial vehicle; Equipped with Recognizing a specific user based on an image captured by the camera; When information is received via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a specified time from the present time, the flying robot flies between the vicinity of the recognized specific user and the source of the specified sound in response to the specified sound.

[0387] (Appendix 39) A computer included in a flying robot having an unmanned aerial vehicle equipped with a camera and a wireless communication interface and flying by automatic control, Recognizing a specific user based on an image captured by the camera; when information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather is likely to occur within a predetermined time from the present time is acquired via the wireless communication interface, flying the drone between the vicinity of the recognized specific user and a source of the predetermined sound in response to the predetermined sound; A control program for a flying robot, which causes the robot to execute a process.

[0388] (Appendix 40) A flying robot equipped with a camera and a wireless communication interface and an unmanned aerial vehicle that flies by automatic control. Recognizing a specific user based on an image captured by the camera; when information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather is likely to occur within a predetermined time from the present time is acquired via the wireless communication interface, flying the drone between the vicinity of the recognized specific user and a source of the predetermined sound in response to the predetermined sound; A method for controlling a flying robot.

[0389] <Embodiment 3> In the third embodiment, a new flying action ("bound flight") of the flying robot that is different from that in the first and second embodiments will be described.

[0390] (Overview of flying robot flight) FIG. 10 is an explanatory diagram illustrating an example of an outline of flight of the flying robot according to the third embodiment of the present invention.

[0391] In Fig. 10, the flying robot 1000, which is equipped with an unmanned aerial vehicle (drone) that flies by automatic control, performs the following control to perform bounding flight. First, the flying robot 1000 stops the driving force used for flight during flight. Then, the flying robot 1000 loses buoyancy and falls naturally. STEP 1 shows this state.

[0392] After the flying robot 1000 starts to fall naturally, it will collide with the ground or the like after a certain time has passed. This state is shown in STEP 2. When the robot 1000 collides, the impact can be detected by the acceleration sensor provided in the control circuit 207.

[0393] As described later, the flying robot 1000 is configured to absorb the impact and bounce when it collides with the ground or the like (details will be described later with reference to Figs. 11A and 11B). Therefore, the flying robot 1000 collides with the ground, rebounds from the impact, and bounces. STEP 3 shows this state.

[0394] When a collision is detected, the flying robot 1000 starts to move, and the flying robot 1000 obtains buoyancy through the movement and rises up. STEP 4 shows this state.

[0395] In this way, the flying robot 1000 can not only fly in the air like a normal drone, but can also land on the ground and immediately rise up, a process known as a "bounce" (touchdown), through automatic control.

[0396] Specifically, this extends the functionality of the electronic pet by imitating, for example, the bouncing movement of a ball or the jumping movements of animals such as rabbits and kangaroos or living creatures such as insects.

[0397] 10, the flying robot 1000 is assumed to collide with the ground or the like after a predetermined time has elapsed after starting the free fall, but it may be configured to start driving if the flying robot does not collide after the detection of the drive stop and a predetermined time has elapsed. The predetermined time is, for example, about 0.1 to 0.3 seconds.

[0398] This prevents the ball from falling too far (i.e., from falling too high) In such a case, if the robot starts to fall naturally from a low position, the impact of hitting the ground etc. may be too strong. In order to prevent damage or malfunction of the robot in such a case, the robot can start to move again if a predetermined time has passed without the robot hitting a collision after the detection of the drive stop.

[0399] Furthermore, even if you do not want your ship to come into contact with the ground (for example, if you want to reduce the sound of it colliding with the ground or if the ground is dirty), you can simulate a bouncing motion.

[0400] Also, as can be seen from FIG. 10, in order to simulate a bouncing motion, the flying robot 1000 is caused to descend by natural falling, but the present invention is not limited to this.

[0401] Specifically, for example, the vehicle may be caused to descend by controlling the drive without stopping the drive, or the vehicle may be caused to fly toward the ground or the like, or the drive may be suppressed to reduce buoyancy, causing the vehicle to descend.

[0402] In the above cases, when the aircraft is lowered without relying on natural falling, the aircraft may be detected as falling during flight, and then the aircraft may be detected as having collided after the fall is detected. If a collision is detected, the drive control may be changed to drive the aircraft to lift off.

[0403] In this way, when the flying robot 1000 is bounded, it can be made to descend toward the ground or the like without relying on natural falling. This makes it possible to control the speed and direction of descent (the position of the ground or the like that it will collide with).

[0404] Even in this case, if the speed of the drop reaches a predetermined speed without the player's own ship colliding after the drop has been detected, the player's own ship can be driven to float up. This makes it possible to prevent damage or breakdown of the player's own ship, as in the case of a natural drop, and to simulate the appearance of the player's own ship bouncing.

[0405] Next, a trigger for the flying robot 1000 to start bouncing will be described. The flying robot 1000 can receive an instruction to stop the driving force used for flying during flight, and can stop the driving force when a predetermined instruction is received. This instruction may be an instruction by voice or gesture from the user.

[0406] This instruction may be an instruction via a network. More specifically, for example, when predetermined information is acquired via a wireless communication interface provided in the device, the acquisition of the information may be used as an instruction to stop driving. Here, the predetermined information may be notification information output from a specific terminal device. The predetermined information may also be information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

[0407] Next, the continuous bouncing (dribbling) motion of the flying robot 1000 will be described. The flying robot 1000 may be configured to stop driving again when a predetermined time has elapsed after starting driving. This allows STEP 1 to STEP 4 shown in FIG. 10 to be repeated. This stopping and starting of driving can be repeated a predetermined number of times. This allows the flying robot 10000 to bounce continuously, and to express a motion similar to that of dribbling a basketball.

[0408] When the flying robot 1000 performs a dribbling motion, the driving may be controlled so that the position where the flying robot 1000 collides is the same. Specifically, the position where the flying robot 1000 collides is stored in advance, and the driving is controlled so that the flying robot 1000 levitates just above that position, and then the flying robot collides by naturally falling from there. The position where the flying robot 1000 collides can be determined by various sensors.

[0409] In addition, when the flying robot 1000 performs a dribbling motion, the driving may be controlled so that the collision positions are different. Specifically, the flying robot may collide with a plurality of positions in sequence. By doing so, the bouncing motion can be made to look larger. In addition, the flying robot can imitate the movements of animals that jump around, such as rabbits and kangaroos, and become more lovable as an electronic pet.

[0410] Also, the robot may recognize a specific user 600 based on an image captured by a camera included in the robot, and control the drive so that the collision position is different so as to follow the specific user 600 as he moves. By repeating continuous bouncing motions in this way, the robot can follow the user and become attached to him, acting like a cute pet.

[0411] Furthermore, when the flying robot 1000 performs continuous bounding motion, it may start driving if a predetermined time has elapsed without the flying robot colliding after detecting the drive stop. The predetermined time is, for example, about 0.1 to 0.3 seconds as described above. In this way, it is possible to express a mysterious motion as if the ground is in the air, even though the flying robot does not collide (contact) with the actual ground.

[0412] Next, a trigger for starting bouncing when the flying robot 1000 performs a bouncing motion without stopping the drive will be described. The flying robot 1000 can receive a drive instruction to drop the robot itself during flight, and can perform the drive to drop the robot itself when a predetermined instruction is received. This instruction may be a voice or gesture instruction from the user, or may be an instruction via a network.

[0413] More specifically, the instruction via the network may be, for example, when predetermined information is acquired via a wireless communication interface provided in the own aircraft, as in the case of naturally dropping the own aircraft and crashing it into the ground, and the like, the acquisition of the information is used as an instruction to stop driving. Here, the predetermined information may be notification information output from a specific terminal device, as in the case of naturally dropping the own aircraft and crashing it into the ground, etc. Furthermore, the predetermined information may be information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

[0414] Next, the flying robot 1000 will be described in terms of continuous bounding (dribbling) motion without stopping the drive. After the flying robot 1000 has been driven to lift its own robot, it may be driven to drop its own robot again after a predetermined time has elapsed. This allows the own robot to repeatedly descend (fall) and rise (float). This drop control drive and lift control drive can be repeated a predetermined number of times.

[0415] This also enables the flying robot 1000 to bounce continuously, and to express an action like a basketball "dribble." Also, unlike the continuous bounding action caused by natural falling, the flying robot can be made to fall at an angle to the natural fall (horizontal fall), so that it is possible to express an action different from the continuous bounding action caused by natural falling.

[0416] By using such drive control, when the flying robot 1000 performs a dribbling motion, the drive may be controlled so that the position where the flying robot 1000 collides is the same position. Specifically, the position where the flying robot 1000 collides is stored in advance, and at least one of the lift-up control drive and the drop control drive is controlled so that the flying robot collides at that position. The position where the flying robot 1000 collides can be determined by various sensors.

[0417] In addition, when the flying robot 1000 performs a dribbling motion, the driving may be controlled so that the collision positions are different. Specifically, the flying robot may collide with a plurality of positions in sequence. In this way, the flying robot can imitate the movements of hopping animals such as rabbits and kangaroos, and become more lovable as an electronic pet.

[0418] Also, the robot may recognize a specific user 600 based on an image captured by a camera included in the robot itself, and control the drive so that the collision position is different so as to follow the specific user 600 as he moves. By repeating continuous bouncing motions in this way, the robot can follow the user and become attached to him, acting like a cute pet.

[0419] Furthermore, when the flying robot 1000 performs continuous bounding motions, if a predetermined time has passed without the flying robot colliding after a driving operation to drop the flying robot has been performed, the flying robot may be driven to float up. As described above, the predetermined time is, for example, about 0.1 to 0.3 seconds. In this way, it is possible to express a mysterious motion as if the ground is in the air, even though the flying robot has not collided (comes into contact) with the actual ground.

[0420] Furthermore, the flying robot 1000 may change the drive control after the collision based on the impact value of the detected collision with the ground or the like. Specifically, for example, the drive control may be performed to increase the flying speed of the flying robot according to the magnitude of the detected impact value of the collision. Also, the flying robot may increase the flying height according to the detected impact value of the collision. In this way, the flying robot can perform a more natural motion similar to the motion of a bouncing ball or the motion of an animal jumping.

[0421] In addition, the flying robot 1000 may change the drive control after a collision based on the detected altitude at which the natural fall began, the speed of the natural fall, the start altitude when the drive control to cause the fall was performed, the fall speed when the drive control to cause the fall was performed, the fall angle when the drive control to cause the fall was performed, etc., in addition to or instead of the impact value of the detected collision with the ground or the like.

[0422] In this way, by varying the drive control after a collision, it is possible to make the motion more similar to that of a ball, an animal, etc. It is also possible to express strange motions that are far removed from those of a ball or an animal, etc.

[0423] Moreover, by changing the direction of the bounce, i.e., the direction of rising and the speed of rising, it is possible to make the bounce unpredictable like that of a bouncing rugby ball (oval ball). By performing such bouncing flight, a person can practice catching a bouncing rugby ball by himself. Also, a rugby ball catching game can be enjoyed by one person or by multiple people. Therefore, the flying robot 1000 may have a shape imitating a rugby ball.

[0424] (An example of the appearance of a flying robot) Next, an example of the appearance of the flying robot according to the third embodiment of the present invention will be described. Figures 11A and 11B are explanatory diagrams showing an example of the appearance of the flying robot according to the third embodiment of the present invention. In the third embodiment, the same parts as those in the first and second embodiments are indicated by the same reference numerals, and the description thereof will be omitted.

[0425] Fig. 11A is a view seen from the direction of arrow A in Fig. 11B. As shown in Figs. 11A and 11B, the flying robot 1000 has a spherical housing 1100 that covers an unmanned aerial vehicle (drone) 1000a. In Fig. 11A, a part of the spherical housing 1100 is omitted so that the drone 1000a located inside the housing can be seen. Therefore, the appearance of the flying robot 1000 is spherical, i.e., ball-shaped, as also shown in Fig. 10.

[0426] Also, although not shown in the figures, the drone 1000a may be provided with a hemispherical housing that covers only the lower side thereof, and may not have a hemispherical sphere on the upper side.

[0427] The housing 1100 may be made of an elastic material. Specifically, it may be made of, for example, rubber, sponge, or urethane. This can cushion the impact when the player's device collides with the ground or the like, and prevent the device from being damaged or broken. In addition, when the player's device collides with the ground or the like, the repulsive force can cause the device to bounce.

[0428] Although not shown in the drawings, the housing 1100 may have a plurality of holes. Alternatively, the housing 1100 may be configured with a mesh structure. This allows an air flow to be created within the housing, enabling the aircraft to fly using the propeller.

[0429] Furthermore, the flying robot 1000 (casing 1100) is not limited to a spherical shape. For example, it may be shaped to resemble a living thing such as an animal or an insect. It may also be shaped to resemble an airplane, a fighter jet, a spaceship, a pet robot like "Doraemon," or a combat robot like "Mobile Suit Gundam." It may also be shaped to resemble a character that appears in an anime or movie. In this case, it is advisable to provide a member for shock absorption and bouncing on the side that will collide (for example, the bottom surface). Also, a face or a pattern may be drawn on the surface of the casing 1100.

[0430] Also, a display such as an organic electroluminescence display may be provided on the surface of the housing 1100 to display a face or the like. The facial expression may be changed according to the flying state. More specifically, the facial expression may be a surprised expression while falling, a painful expression immediately after a collision, and a relieved (happy) expression when bouncing and surfacing. This makes it possible to create a sense of intimacy as if the flying robot 1000 were a pet, rather than simply making the flying robot 1000 bounce.

[0431] The display may display images, videos, text, etc., to show a message to the user. The images and videos may be advertisements, etc.

[0432] 11B, the drone 1000a may be, for example, a quadcopter equipped with four propellers 1101a to 1101d on its periphery. The drone 1000a is not limited to a quadcopter, and may be any of a variety of multicopters, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0433] The drone 1000a maintains its attitude by independently controlling the rotation direction and rotation speed of the multiple propellers (propellers 1101a to 1101d), and also ascends, descends, moves horizontally, etc. can be done.

[0434] Furthermore, the unmanned aerial vehicle is not limited to the drone 1000a equipped with propellers, and may be one that flies by means of a drive other than a propeller.

[0435] The drone 1000a also includes a camera 1102. The camera 1102 can be realized, for example, by a general-purpose digital camera. As shown in FIG. 11B, the camera 1102 may be attached to the upper side of the housing of the drone 1000a. Although not shown, in the drone 1000a shaped to resemble an animal or an insect, the lens of the camera 1102 may be provided in a portion that corresponds to an eye. Alternatively, the camera 1102 may be provided on the lower side (ventral side) of the housing of the drone 1000a.

[0436] The drone 1000a captures an image of the surroundings of the drone 1000a by the camera 1102. The drone 1000a may recognize other drones and pilots based on the image captured by the camera 1102.

[0437] Instead of a general-purpose digital camera, the camera 1102 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared rays, an infrared color night vision camera that captures color images by analyzing the black and white shading in an image captured by an infrared camera, etc. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be recognized with high accuracy even at night or in a room with low illumination.

[0438] The drone 1000a may be equipped with one or more cameras 1102. The drone 1000a equipped with multiple cameras 1102 is not limited to being equipped with one type of camera 1102, and may be equipped with multiple different types of cameras 1102.

[0439] The camera 1102 may be connected to the drone 1000a in a state in which the attitude can be adjusted. Specifically, the camera 1102 may be provided on the upper surface side of the drone 1000a, for example, as shown in FIG. 11B. Although not shown, the camera 1102 may be connected to the bottom part of the drone 1000a via a universal joint such as a ball joint. By connecting the camera 1102 to the drone 1000a via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 1102 can be ensured.

[0440] Furthermore, the drone 1000a may be provided with a drive mechanism that changes the attitude of the camera 1102 relative to the drone. This allows the attitude of the camera 1102 relative to the drone 1000a to be adjusted without human intervention. The drive mechanism may be configured with, for example, a motor, a gear train, or the like. By making it possible to adjust the attitude of the camera 1102 relative to the drone 1000a without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the drone 1000a regardless of the attitude of the drone 1000a. The camera 1102 may be provided with a zoom function.

[0441] The drone 1000a may include a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology for receiving power from a battery without going through a charging contact, and is also called non-contact power supply or wireless power supply.

[0442] The drone 1000a also includes a speaker 1103. Although not shown, in a drone shaped like an animal, for example, the speaker 1103 may be provided in a part that corresponds to the mouth.

[0443] When a collision is detected, a predetermined sound may be output from speaker 1103. The sound output from speaker 1103 may be a sound that imitates the sound made by a living thing when jumping (for example, "hop, hop" or "byoon, byoon").

[0444] The sound output from speaker 1103 may be a sound that imitates the sound made when an object such as a ball bounces (for example, "pon, pong," "knock, knock," or "thud, thud").

[0445] Also, at least one of the volume and type of the sound may be changed based on the impact value of the detected collision. Specifically, if the impact value is large (strong collision), the sound may be made louder. This allows the state of the impact (bound) to be expressed by sound. Specifically, the type of sound may be changed, for example, to "boing, boing" when the impact value is small and "boing, boing" when the impact value is large.

[0446] The drone 1000a also includes an LED lamp 1104, which is an example of a light-emitting unit. Although not shown, in a drone shaped like an animal, the LED lamp 1104 may be provided in a portion that corresponds to the eye. If the portion that corresponds to the eyeball is the lens of the camera 1102, the LED lamp 1104 may be provided so as to frame the lens.

[0447] When a collision is detected, light may be output from the LED lamp 1104. More specifically, at least one of the size, color, and light emission pattern of the light may be changed based on the impact value of the collision. This allows the collision (bound) situation to be expressed by the light.

[0448] The drone 1000a may further include a solar cell (solar cell, see FIG. 2) that generates electricity using external light such as sunlight. The solar cell may be provided, for example, on the upper surface of the housing of the drone 1000a. This allows the drone 1000a to reliably take in external light during flight and generate electricity efficiently. Furthermore, the inclusion of the solar cell allows the drone to be charged during flight, ensuring a long flight time per flight.

[0449] Although not shown in the drawings, the drone 1000a may include a projector. The configuration of the projector is similar to that of the projector 701 described above, and therefore the detailed description thereof will be omitted.

[0450] As the projector, for example, a laser projector that uses a laser as the projector light source or a mercury lamp projector can be used. By using a laser projector, the projector 701 can be made smaller. In addition, by using a laser projector, it is possible to quickly start up and start projecting an image. In addition, a laser projector can ensure a high degree of freedom in the projection direction, and can project images not only on a wall surface but also on the ground and floor.

[0451] The projector guides the light emitted from the projector light source along a predetermined path by the optical system and projects the light outside the projector through a projection lens, thereby projecting an image at the location where the light is irradiated. The projector adjusts the projection angle depending on the distance from the position where the image is to be projected. The image quality of the projected image may be adjusted by adjusting the intensity of the light emitted from the projector light source. The distance between the projector and the position where the image is projected can be determined by using, for example, a distance sensor. The distance sensor can be any of various known sensors, such as a laser distance sensor, an ultrasonic sensor, or an infrared sensor.

[0452] The projector is fixed to the drone 1000a and moves with the movement (flight) of the drone 1000a. The projector may be connected to the drone 1000a in a state in which its attitude can be adjusted.

[0453] In this case, the flying robot 1000 may be provided with a drive mechanism (e.g., a motor, a gear train, etc.) that changes the attitude of the projector relative to the drone 1000a in order to adjust the attitude of the projector relative to the drone 1000a without human intervention. The drive mechanism can be configured, for example, with a motor, a gear train, etc. By making the attitude of the projector relative to the drone 1000a adjustable, it is possible to project an image at an optimal angle according to the location where the image is to be projected.

[0454] In this way, since the flying robot 1000 is equipped with a projector, it can project images and videos while bouncing, allowing for the projection of images and videos in a completely new way that has never been seen before.

[0455] The hardware configuration of the flying robot 1000 is similar to that of the flying robot of the first embodiment (FIG. 2) or that of the flying robot of the second embodiment (FIG. 8), so a detailed description thereof will be omitted. The functional configuration of the flying robot 1000 is similar to that of the flying robot of the first embodiment (FIG. 3), so a detailed description thereof will be omitted.

[0456] More specifically, the control unit, which is the functional configuration of the flying robot 1000, causes the flying robot 1000 to fly, for example, by rotating above the head of a specific user 600, by hovering in front of the specific user 600, or by moving the flying robot 1000 closer to or farther away from the specific user 600 as if playing with the specific user 600.

[0457] When the control unit of the flying robot 1000 detects that a specific user 600 has visually recognized the flying robot 1000, the control unit may fly the flying robot 1000 so as to move away from the specific user 600 and return to the charging spot. In this way, the flying robot 1000 imitates "territorial behavior" in which the charging spot is likened to a nest, patrolling the periphery of the nest to check the situation and then returning to the nest, thereby giving the impression to people around, including the specific user 600, that the flying robot 1000 is a living being with its own will.

[0458] Furthermore, as described above, the control unit of the flying robot 1000 can make the robot bounce, and further give the impression that it is a living being with its own will.

[0459] (An example of a processing procedure for the flying robot 1000) Next, an example of a processing procedure of the flying robot 1000 will be described.

[0460] Fig. 12 is a flowchart showing an example of a processing procedure of the flying robot according to the third embodiment of the present invention. Specifically, Fig. 12 shows a procedure for performing a bounding flight process by natural falling.

[0461] In the flowchart of Fig. 12, first, it is determined whether the drive used for flying the flying robot 1000 is stopped (step S1201). Specifically, for example, it is determined whether the drive is stopped depending on whether the power supplied to the motor 202 is stopped (or the power supplied is equal to or less than a predetermined value). Here, if the drive is in progress, that is, if the drive is not stopped (step S1201: No), nothing is done and the process ends.

[0462] On the other hand, if the driving force for the flying robot 1000 to fly is stopped (step S1201: Yes), it is then determined whether or not a collision has occurred (step S1202). That is, since the driving force is stopped, the flying robot 1000 falls naturally due to its own weight. Then, the flying robot 1000 reaches (falls to) the ground or the like, whereupon a collision occurs. Therefore, whether or not a collision has occurred is determined based on the detection result of an acceleration sensor or the like.

[0463] Here, the system waits for a collision to occur, and if a collision has occurred (step S1202: Yes), the stopped driving is restarted (step S1204), and the series of processes ends.

[0464] In step S1202, if there is no collision (step S1202: No), it is determined whether a predetermined time has elapsed since the detection of the stopped state (step S1203). As described above, the predetermined time is, for example, about 0.1 to 0.3 seconds. This time can be measured by a timer or the like provided in the control circuit.

[0465] If more time passes after the driving is stopped, the falling speed becomes too fast, and the impact when the flying robot 1000 hits the ground becomes large. This may cause damage such as breakage or malfunction of the flying robot 1000. Alternatively, if the impact cannot be detected correctly, the flying robot 1000 may malfunction and be unable to lift off (fly).

[0466] Therefore, in order to avoid risks from such damage or from malfunctions due to automatic steering, if a collision is not detected (step S1202: No) and the predetermined time has not elapsed (step S1203: No), the process returns to step S1201.

[0467] Then, after steps S1201 and S1202, if a predetermined time has elapsed in step S1203 (step S1203: Yes), the process proceeds to step S1204, where the stopped driving is restarted (step S1204), and the series of processes ends. As a result, the flying robot 1000 can rise and resume flying by automatic control.

[0468] In this manner, the flying robot 1000 can perform bounding flight by natural falling.

[0469] Fig. 13 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. Specifically, Fig. 13 shows a procedure of a dribble bound flight processing that imitates a basketball dribble by natural falling.

[0470] In the flowchart of FIG. 13, first, it is determined whether or not the aircraft is in flight (step S1301). If the aircraft is not in flight (step S1301: No), the process ends. On the other hand, if the aircraft is in flight (step S1301: Yes), it is determined whether or not an instruction has been given (step S1302). Specifically, an instruction may be, for example, an instruction to bound. If no instruction has been given (step S1302: No), the process returns to step S1301. On the other hand, if an instruction has been given (step S1302: Yes), the propulsion system used for flight is Then, the operation is stopped (step S1303).

[0471] Then, it is determined whether or not a collision has occurred (step S1304). Here, the system waits for a collision to occur (step S1304: No), and if a collision has occurred (step S1304: Yes), sound or light is output (emitted) in response to the collision. Alternatively, both may be output (step S1305).

[0472] Then, driving for flight is started (step S1306), and a counter provided in the control circuit 207 is incremented by +1 (step S1307).

[0473] Next, it is determined whether the counter is at a predetermined number (step S1308). This predetermined number indicates the number of bounces. Therefore, if the predetermined number is "1", there has been one bounce, and if the predetermined number is "5", there have been five bounces.

[0474] In step S1308, if the counter has not reached the predetermined number (step S1308: No), it is then determined whether a predetermined time has elapsed (step S1309). This predetermined time is the time required for the flying robot 1000 to rise to a predetermined altitude, and specifically, may be about 0.1 to 0.2 seconds, which is the time required for the flying robot 1000 to rise to about 1 m.

[0475] Here, the process waits for a predetermined time to elapse (step S1309: No), and if the predetermined time has elapsed (step S1309: Yes), the process returns to step S1303, whereby the flying robot 1000 reaches a predetermined altitude.

[0476] After that, the processes of steps S1303 to S1309 are repeated, and if the counter reaches a predetermined number in step S1308 (step S1308: Yes), the counter is reset (step S1310) and the series of processes ends. After that, the aircraft transitions to normal flight under autopilot.

[0477] In this manner, the flying robot 1000 can perform continuous dribble-bound flight by natural falling.

[0478] Fig. 14 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. Specifically, Fig. 14 shows a procedure of a bounding flight processing that does not rely on free fall.

[0479] In the flowchart of FIG. 14, first, it is determined whether the flying robot 1000 is falling (descending) (step S1401). Specifically, for example, whether the flying robot 1000 is falling is determined based on whether the altitude is decreasing as detected by an altitude sensor, or whether the flying robot 1000 is moving toward the ground as detected by an acceleration sensor. It may also be determined whether the flying robot 1000 is falling (descending) based on the driving situation. Here, if the flying robot 1000 is not falling (step S1401: No), nothing is done and the process ends.

[0480] On the other hand, if the flying robot 1000 is falling (step S1401: Yes), it is then determined whether or not a collision has occurred (step S1402). That is, since the flying robot 1000 is falling (descending), it will reach the ground or the like (crash) after a predetermined time has elapsed. Then, a collision will occur at that point. Therefore, it is determined whether or not a collision has occurred.

[0481] Here, a collision is waited for, and if a collision occurs (step S1402: Yes), Then, the controller 10 starts driving the aircraft to take off (rise) (step S1405), and ends the series of processes.

[0482] In step S1402, if there is no collision (step S1402: No), after a fall (descent) is detected, it is determined whether or not the speed of the player's aircraft (fall speed) has reached a predetermined speed (step S1403).

[0483] If the falling (descent) speed becomes too fast, the impact when the flying robot 1000 hits the ground will be too great, and the flying robot 1000 may be damaged or broken.

[0484] Therefore, in order to avoid the risks of such damage, it is advisable to take into consideration the falling speed of the flying robot 1000 and the damage that would occur if it were to collide with the ground or the like at that speed, set a falling speed at which there is a risk of malfunction, etc., and set this falling speed as the specified speed.

[0485] In step S1403, if the predetermined speed is reached (step S1403: Yes), the floating drive is started (step S1405), and the series of processes ends. On the other hand, if the predetermined speed is not reached (step S1403: No), it is next determined whether a predetermined time has elapsed (step S1404). As described above, the predetermined time is, for example, about 0.1 to 0.3 seconds. This time can be measured by a timer provided in the control circuit 207.

[0486] If the falling time is too long, it can be assumed that the impact was not detected correctly, which may cause the flying robot 1000 to malfunction and not be able to take off (fly).

[0487] Therefore, in order to avoid risks due to malfunctions caused by such automatic steering, if a collision is not detected (step S1402: No) and the predetermined time has not elapsed (step S1404: No), the process returns to step S1401.

[0488] Then, after steps S1401 and S1402, if the predetermined time has elapsed in step S1403 (step S1403: Yes), the flying robot 1000 starts to fly up (step S1405) and ends the series of processes. As a result, the flying robot 1000 floats up and resumes flying by automatic control.

[0489] In this way, the flying robot 1000 can perform bounding flight without relying on natural falling.

[0490] Fig. 15 is a flowchart showing an example of another processing procedure of the flying robot according to the third embodiment of the present invention. Specifically, Fig. 15 shows a procedure of continuous dribble bound flight processing that does not rely on free fall.

[0491] In the flowchart of FIG. 15, first, it is determined whether or not the robot is in flight (step S1501). If the robot is not in flight (step S1501: No), the process ends. On the other hand, if the robot is in flight (step S1501: Yes), it is determined whether or not an instruction has been given, specifically, for example, an instruction to bounce (step S1502). If no instruction has been given (step S1502: No), the process returns to step S1501. On the other hand, if an instruction has been given (step S1502: Yes), a drive to drop the robot is performed (step S1503).

[0492] Then, it is determined whether or not a collision has occurred (step S1504). Here, the system waits for a collision to occur (step S1504: No), and if a collision has occurred (step S1504: Yes), sound or light is output (emitted) in response to the collision. Alternatively, both may be output (step S1505).

[0493] Then, the levitation drive is started (step S1506). Also, the counter provided in the control circuit 207 is incremented by +1 (step S1507).

[0494] Next, it is determined whether the counter is at a predetermined number (step S1508). This predetermined number indicates the number of bounces. Therefore, if the predetermined number is "2", the bounces will be two, and if the predetermined number is "5", the bounces will be five.

[0495] In step S1508, if the counter has not reached the predetermined number (step S1508: No), it is then determined whether a predetermined time has elapsed (step S1509). This predetermined time is the time required for the flying robot 1000 to rise to a predetermined altitude, and specifically, may be about 0.1 to 0.2 seconds, which is the time required for the flying robot 1000 to rise to about 1 m.

[0496] Here, the process waits for a predetermined time to elapse (step S1509: No), and if the predetermined time has elapsed (step S1509: Yes), the process returns to step S1503, whereby the flying robot 1000 reaches a predetermined altitude.

[0497] After that, the processes in steps S1503 to S1509 are repeated, and if the counter reaches a predetermined number in step S1508 (step S1508: Yes), the counter is reset (step S1510) and the series of processes ends. After that, the aircraft transitions to normal flight under autopilot.

[0498] In this way, the flying robot 1000 can perform dribble bound flight without relying on natural falling.

[0499] As described above, the flying robot 1000 according to the third embodiment of the present invention includes an unmanned aerial vehicle (drone 1000a) that flies by automatic control, and detects that the driving force for the flight is stopped during the flight of the drone 1000a, detects that the drone has collided with another vehicle after detecting the stop of the driving force, and starts driving when the collision is detected. This allows the flying robot 1000 to perform a bouncing motion. This bouncing motion can attract some attention from the user, and the cuteness of the movement can soothe the user's heart and give the user a sense of satisfaction.

[0500] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it starts driving when a predetermined time has passed without the flying robot itself colliding after detecting the driving stop, which makes it possible to avoid malfunctions (such as not restarting driving) that may occur when the flying robot 1000 is unable to correctly detect a collision.

[0501] The flying robot 1000 according to the third embodiment of the present invention includes a drone 1000a that flies by automatic control, and detects that the drone 1000a is falling during the flight of the drone 1000a, detects that the drone has collided after the fall, and drives the drone 1000a to float up when the collision is detected. This allows the flying robot 1000 to perform a bounding motion without relying on natural falling. In addition, the motion and collision position of the flying robot 1000 when it falls can be freely controlled, and further new motions can be added to the bounding motion.

[0502] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it starts driving when the speed of the fall reaches a predetermined speed without the flying robot colliding after detecting the end of the fall, thereby reducing damage to the flying robot 1000 when it collides.

[0503] The flying robot 1000 according to the third embodiment of the present invention includes a drone 1000a that flies by automatic control, and receives an instruction to stop the driving for the flight while the drone 1000a is flying, stops the driving when the instruction is received, detects a collision of the drone after the driving is stopped, and starts the driving when the collision is detected. This can trigger the flying robot 1000 to transition to a bounding motion.

[0504] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it stops driving when it acquires predetermined information via the wireless communication interface 208 provided in the flying robot itself. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the predetermined information is notification information output from a specific terminal device. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the predetermined information is information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the current time. This makes it possible to alert the user that the predetermined information has been received.

[0505] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it stops driving again when a predetermined time has elapsed after starting driving. The flying robot 1000 according to the third embodiment of the present invention is characterized in that it repeats stopping and starting driving a predetermined number of times. This allows the flying robot 1000 to perform continuous bounding motions.

[0506] The flying robot 1000 according to the third embodiment of the present invention is characterized by controlling the driving so that the collision position is the same. This makes it possible to simulate the action of kicking a ball.

[0507] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it controls the driving so that the collision positions are different, thereby making the continuous bounding motion look larger.

[0508] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it recognizes a specific user 600 based on an image captured by a camera provided in the flying robot, and controls the driving so that the collision position is set to a different position so as to follow the specific user 600 moving. This allows the flying robot 1000 to express an action of chasing after the user, and further enhances the sense of attachment to the flying robot 1000 as a pet.

[0509] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it starts driving when a predetermined time has passed without the flying robot colliding after detecting the driving stop. This not only prevents malfunction of the flying robot 1000, but also enables the flying robot 1000 to perform a strange motion, such as dribbling in the air, which is unthinkable with a normal ball.

[0510] The flying robot 1000 according to the third embodiment of the present invention includes a drone 1000a that flies by automatic control, and a driving force that causes the drone 1000a to drop during the flight of the drone 1000a is set. The flying robot 1000 receives an instruction to move, and when the instruction is received, the flying robot 1000 is driven, and when the collision is detected after the driving is performed, the flying robot 1000 is driven to float up. This allows the flying robot 1000 to perform continuous bouncing motions without relying on natural falling.

[0511] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it drives the robot to drop when it acquires predetermined information via the wireless communication interface 208 provided in the flying robot. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the predetermined information is notification information output from a specific terminal device. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the predetermined information is information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the current time. This makes it possible to alert the user that the predetermined information has been received.

[0512] The flying robot 1000 according to the third embodiment of the present invention is characterized in that, after driving the robot to levitate, the robot is driven to drop again when a predetermined time has elapsed. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the driving to drop the robot and the driving to levitate the robot are repeated a predetermined number of times. This allows the flying robot 1000 to perform continuous bounding motions.

[0513] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it controls at least one of the driving to drop the robot and the driving to lift the robot so that the collision position is the same. This makes it possible to simulate the action of kicking a ball.

[0514] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it controls at least one of the driving to drop the robot and the driving to lift the robot so that the collision position is changed to a different position, thereby making the continuous bouncing motion look larger.

[0515] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it recognizes a specific user 600 based on an image captured by a camera provided in the flying robot, and controls at least one of driving to drop the flying robot and driving to lift the flying robot so that the collision position is different so as to follow the specific user 600 moving. This allows the flying robot 1000 to express an action of chasing after the user, and further enhances the feeling of attachment to the flying robot 1000 as a pet.

[0516] The flying robot 1000 according to the third embodiment of the present invention is characterized in that, after the flying robot 1000 is driven to drop, if the speed of the drop reaches a predetermined speed without the flying robot colliding with anything, the flying robot 1000 is driven to lift up. This not only avoids the risk of damage such as breakdown or breakage of the flying robot 1000, but also enables the flying robot 1000 to perform a strange motion, such as dribbling in the air, which is unthinkable with a normal ball.

[0517] The flying robot 1000 according to the third embodiment of the present invention is characterized by having a spherical housing that covers the unmanned aerial vehicle. This allows the flying robot 1000 to absorb the impact of a collision. The flying robot 1000 can be a spherical pet. The flying robot 1000 can be a toy that resembles a ball.

[0518] The flying robot 1000 according to the third embodiment of the present invention is characterized by having a hemispherical housing that covers only the lower side of the unmanned aerial vehicle. This allows the flying robot 1000 to absorb the impact of a collision. In addition, the upper side of the unmanned aerial vehicle can be freely designed.

[0519] Moreover, the flying robot 1000 according to the third embodiment of the present invention is characterized in that the housing is made of an elastic material.

[0520] Moreover, the flying robot 1000 according to the third embodiment of the present invention is characterized in that the housing has a plurality of holes, which ensures ventilation for flight using the propellers.

[0521] The flying robot 1000 according to the third embodiment of the present invention is characterized in that the housing is made of a mesh structure. This ensures ventilation for flight by the propellers and reduces the impact of a collision.

[0522] Moreover, the flying robot 1000 according to the third embodiment of the present invention is characterized in that, when a collision is detected, a predetermined sound is output from a speaker provided in the flying robot.

[0523] The flying robot 1000 according to the third embodiment of the present invention is characterized in that the sound output from the speaker imitates the sound made by a living thing when it bounces. The flying robot 1000 according to the third embodiment of the present invention is characterized in that the sound output from the speaker imitates the sound made by an object when it bounces. This allows the flying robot 1000 to be kept as a pet, which can increase the sense of attachment to the flying robot.

[0524] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it changes at least one of the volume and type of sound based on the impact value of the detected collision, thereby expanding the range of effects that can be produced by the bouncing action, thereby providing more entertainment to the user.

[0525] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it includes a light emitting unit and emits light when a collision is detected. The flying robot 1000 according to the third embodiment of the present invention is characterized in that it changes at least one of the size, color, and light emission pattern of the light based on the impact value of the detected collision. This allows the range of effects that can be produced by the bouncing action to be expanded, providing more entertainment to the user.

[0526] The flying robot 1000 according to the third embodiment of the present invention is characterized in that it changes the drive control after the collision based on the impact value of the detected collision. The flying robot 1000 according to the third embodiment of the present invention is characterized in that it increases the flying speed of the robot itself according to the magnitude of the impact value of the detected collision. The flying robot 1000 according to the third embodiment of the present invention is characterized in that it increases the flying height of the robot itself according to the magnitude of the impact value of the detected collision. This makes it possible to realize a more realistic bounding motion. In addition, it is possible to realize unexpected and mysterious movements that are generally unthinkable, thereby making it possible to entertain the user more.

[0527] The control method for the flying robot described in the third embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. The program can be stored on a computer-readable recording medium such as a hard disk, a CD-ROM, an MO, a DVD, a USB memory, or an SSD. The program may be recorded in a storage medium and executed by a computer by reading it from the storage medium. The program may also be a transmission medium that can be distributed via a network such as the Internet.

[0528] The following are additional notes regarding the third embodiment.

[0529] (Appendix 1) Equipped with an unmanned aerial vehicle that flies by autopilot, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. A flying robot that starts the driving when the collision is detected.

[0530] (Appendix 2) The flying robot according to claim 1, characterized in that the flying robot starts driving when a predetermined time has elapsed without the flying robot colliding after the detection of the drive stop.

[0531] (Appendix 3) Equipped with an unmanned aerial vehicle that flies by autopilot, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. A flying robot characterized in that, when the collision is detected, the flying robot is driven to lift itself up.

[0532] (Appendix 4) The flying robot described in Appendix 3, characterized in that after detecting the cessation of the fall, the flying robot starts driving when the falling speed reaches a predetermined speed without the robot colliding with something.

[0533] (Appendix 5) Equipped with an unmanned aerial vehicle that flies by autopilot, receiving an instruction to stop a drive used for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; A flying robot that starts the driving when the collision is detected.

[0534] (Appendix 6) The flying robot according to claim 5, characterized in that the driving is stopped when predetermined information is acquired via a wireless communication interface equipped in the flying robot.

[0535] (Appendix 7) The flying robot according to claim 6, wherein the specified information is notification information output from a specific terminal device.

[0536] (Appendix 8) The flying robot according to claim 6, wherein the specified information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a specified time from the present time.

[0537] (Appendix 9) 9. The flying robot according to any one of claims 5 to 8, wherein the driving is stopped again when a predetermined time has elapsed after the driving is started.

[0538] (Appendix 10) 10. The flying robot according to claim 9, wherein the stopping and starting of the driving is repeated a predetermined number of times.

[0539] (Appendix 11) 11. The flying robot according to claim 10, wherein the drive is controlled so that the collision position is the same.

[0540] (Appendix 12) 11. The flying robot according to claim 10, wherein the driving is controlled so that the collision position is different.

[0541] (Appendix 13) Recognizing a specific user 600 based on an image captured by a camera equipped in the device; The flying robot described in Appendix 12, characterized in that the drive is controlled so that the collision position is different so as to follow the specific user 600 moving.

[0542] (Appendix 14) The flying robot according to any one of appendices 5 to 13, wherein the flying robot starts driving when a predetermined time has elapsed without the flying robot colliding after the drive stop is detected.

[0543] (Appendix 15) Equipped with an unmanned aerial vehicle that flies by autopilot, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, A flying robot characterized in that, when the collision is detected, the flying robot is driven to lift itself up.

[0544] (Appendix 16) 16. The flying robot according to claim 15, characterized in that when predetermined information is acquired via a wireless communication interface equipped in the robot, the flying robot is driven to drop.

[0545] (Appendix 17) The flying robot described in Appendix 16, characterized in that the specified information is notification information output from a specific terminal device.

[0546] (Appendix 18) 17. The flying robot according to claim 16, wherein the predetermined information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the present time.

[0547] (Appendix 19) 19. The flying robot according to any one of claims 15 to 18, wherein after the flying robot has been driven to lift itself up, when a predetermined time has elapsed, the flying robot is driven to drop again.

[0548] (Appendix 20) 20. The flying robot according to claim 19, characterized in that a driving force for dropping the robot and a driving force for lifting the robot are repeated a predetermined number of times.

[0549] (Appendix 21) 21. The flying robot according to claim 20, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is the same.

[0550] (Appendix 22) 21. The flying robot according to claim 20, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different.

[0551] (Appendix 23) Recognizing a specific user 600 based on an image captured by a camera equipped in the device; The flying robot described in Appendix 22 is characterized in that it controls at least one of a drive to drop the robot and a drive to lift the robot so that the collision position is different so as to follow the specific user 600 who is moving.

[0552] (Appendix 24) A flying robot as described in any one of appendices 15 to 23, characterized in that after a driving force is applied to drop the robot, if the speed of the drop reaches a predetermined speed without the robot colliding, a driving force is applied to lift the robot up.

[0553] (Appendix 25) The flying robot described in any one of appendixes 1 to 24, characterized in that it has a spherical housing that covers the unmanned aerial vehicle.

[0554] (Appendix 26) An airborne robot described in any one of appendices 1 to 24, characterized in that it has a hemispherical housing that covers only the underside of the unmanned aerial vehicle.

[0555] (Appendix 27) 27. The flying robot according to claim 25 or 26, wherein the housing is made of an elastic material.

[0556] (Appendix 28) 28. The flying robot according to any one of claims 25 to 27, wherein the housing includes a plurality of holes.

[0557] (Appendix 29) 28. The flying robot according to any one of claims 25 to 27, wherein the housing has a mesh structure.

[0558] (Appendix 30) 30. The flying robot according to any one of appendices 1 to 29, wherein when the collision is detected, a predetermined sound is output from a speaker provided in the flying robot.

[0559] (Appendix 31) 31. The flying robot according to claim 30, wherein the sound output from the speaker is a sound that imitates the sound made by a living thing when jumping.

[0560] (Appendix 32) 31. The flying robot according to claim 30, wherein the sound output from the speaker is a sound that imitates the sound made when an object bounces.

[0561] (Appendix 33) 33. The flying robot according to any one of appendices 30 to 32, wherein at least one of the volume and type of the sound is changed based on the detected impact value of the collision.

[0562] (Appendix 34) Equipped with a light emitting section, 32. The flying robot according to any one of claims 1 to 31, wherein when the collision is detected, light is output from the light-emitting unit.

[0563] (Appendix 35) At least one of the size, color, and light emission pattern of the light is selected based on the impact value of the detected collision. 35. The flying robot according to claim 34, wherein the above-mentioned is changed.

[0564] (Appendix 36) 36. The flying robot according to any one of claims 1, 3, 5 to 13, 15 to 23, and 25 to 35, wherein drive control after the collision is changed based on the detected impact value of the collision.

[0565] (Appendix 37) 37. The flying robot according to claim 36, wherein the flying robot increases its own lift-off speed depending on the magnitude of the detected impact value of the collision.

[0566] (Appendix 38) 38. The flying robot according to claim 36 or 37, wherein the flying robot increases its flying height depending on the magnitude of the detected impact value of the collision.

[0567] (Appendix 39) A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. When the collision is detected, the driving is started. A control program for a flying robot, which causes the robot to execute a process.

[0568] (Appendix 40) 40. The flying robot control program of claim 39, wherein the flying robot starts driving when a predetermined time has elapsed without the flying robot colliding after the drive stop is detected.

[0569] (Appendix 41) A control program for a flying robot having an unmanned aerial vehicle that flies by automatic control. , A computer equipped in the unmanned aerial vehicle, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. When the collision is detected, a drive is performed to lift the aircraft. A control program for a flying robot, which causes the robot to execute a process.

[0570] (Appendix 42) 42. The control program for a flying robot according to claim 41, characterized in that, after detecting the cessation of the fall, the driving is started when the speed of the fall reaches a predetermined speed without the robot colliding with another object.

[0571] (Appendix 43) A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, receiving an instruction to stop a drive used for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; When the collision is detected, the driving is started. A control program for a flying robot, which causes the robot to execute a process.

[0572] (Appendix 44) 44. A control program for a flying robot as described in claim 43, characterized in that the driving is stopped when specified information is acquired via a wireless communication interface equipped in the flying robot.

[0573] (Appendix 45) The flying robot control program according to claim 44, wherein the specified information is notification information output from a specific terminal device.

[0574] (Appendix 46) 45. The flying robot control program according to claim 44, wherein the specified information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a specified time from the present time.

[0575] (Appendix 47) 47. The flying robot control program according to any one of claims 43 to 46, wherein the driving is stopped again when a predetermined time has elapsed after the driving is started.

[0576] (Appendix 48) 48. The flying robot control program according to claim 47, wherein the stopping and starting of the driving is repeated a predetermined number of times.

[0577] (Appendix 49) 49. The control program for a flying robot according to claim 48, wherein the drive is controlled so that the collision position is the same.

[0578] (Appendix 50) 49. The control program for a flying robot according to claim 48, wherein the drive is controlled so that the collision position is different.

[0579] (Appendix 51) Recognizing a specific user 600 based on an image captured by a camera equipped in the device; A control program for a flying robot described in Appendix 50, characterized in that the drive is controlled so that the collision position is different so as to follow the specific user 600 moving.

[0580] (Appendix 52) A control program for a flying robot described in any one of appendices 43 to 51, characterized in that the driving is started if a predetermined time has elapsed after the detection of the drive stop without the robot colliding.

[0581] (Appendix 53) A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, When the collision is detected, a drive is performed to lift the aircraft. A control program for a flying robot, which causes the robot to execute a process.

[0582] (Appendix 54) A control program for a flying robot as described in Appendix 53, characterized in that when specified information is acquired via a wireless communication interface equipped in the flying robot, the program drives the flying robot to drop.

[0583] (Appendix 55) The flying robot control program according to claim 54, wherein the specified information is notification information output from a specific terminal device.

[0584] (Appendix 56) 55. The flying robot control program according to claim 54, wherein the specified information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a specified time from the present time.

[0585] (Appendix 57) A control program for a flying robot described in any one of appendices 53 to 56, characterized in that after driving the robot to lift up, when a predetermined time has elapsed, driving the robot to drop again.

[0586] (Appendix 58) A control program for a flying robot described in Appendix 57, characterized in that a drive to drop the robot and a drive to lift the robot are repeated a predetermined number of times.

[0587] (Appendix 59) A control program for a flying robot described in Appendix 58, characterized in that it controls at least one of a drive to drop the robot and a drive to lift the robot so that the collision position is the same.

[0588] (Appendix 60) A control program for a flying robot described in Appendix 58, characterized in that it controls at least one of a drive to drop the robot and a drive to lift the robot so that the collision position is different.

[0589] (Appendix 61) Recognizing a specific user 600 based on an image captured by a camera equipped in the device; A control program for a flying robot described in Appendix 60, characterized in that the flying robot is controlled to drop or lift off the robot so that the collision position is different to follow the specific user 600 who is moving.

[0590] (Appendix 62) A control program for a flying robot described in any one of Appendices 53 to 61, characterized in that after a drive is performed to drop the robot, if the speed of the drop reaches a predetermined speed without the robot colliding, a drive is performed to lift the robot up.

[0591] (Appendix 63) 62. The flying robot control program according to any one of claims 39, 41, 43 to 51, and 53 to 61, wherein drive control after the collision is changed based on the detected impact value of the collision.

[0592] (Appendix 64) A control program for a flying robot as described in Appendix 63, characterized in that the flying robot's ascent speed is increased depending on the magnitude of the detected impact value of the collision.

[0593] (Appendix 65) 65. A control program for a flying robot as described in appendix 63 or 64, characterized in that the flying altitude of the robot is increased depending on the magnitude of the impact value of the detected collision.

[0594] (Appendix 66) A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. When the collision is detected, the driving is started. A method for controlling an flying robot, comprising the steps of:

[0595] (Appendix 67) 67. The flying robot control method of claim 66, further comprising starting the driving when a predetermined time has elapsed without the flying robot colliding after the detection of the driving stop.

[0596] (Appendix 68) A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. When the collision is detected, a drive is performed to lift the aircraft. A method for controlling an flying robot, comprising the steps of:

[0597] (Appendix 69) 69. The method for controlling a flying robot described in claim 68, characterized in that after detecting the cessation of the fall, the actuation is started when the speed of the fall reaches a predetermined speed without the robot colliding with another object.

[0598] (Appendix 70) A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, receiving an instruction to stop a drive used for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; When the collision is detected, the driving is started. A method for controlling an flying robot, comprising the steps of:

[0599] (Appendix 71) A method for controlling a flying robot as described in Appendix 70, characterized in that the driving is stopped when specified information is acquired via a wireless communication interface equipped in the flying robot.

[0600] (Appendix 72) The flying robot control method according to claim 71, wherein the specified information is notification information output from a specific terminal device.

[0601] (Appendix 73) 73. The flying robot control method of claim 72, wherein the specified information is information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a specified time from the present time.

[0602] (Appendix 74) 74. The flying robot control method according to any one of claims 70 to 73, further comprising stopping the driving again when a predetermined time has elapsed after the driving was started.

[0603] (Appendix 75) 75. A method for controlling a flying robot according to claim 74, characterized in that the stopping of the driving and the starting of the driving are repeated a predetermined number of times.

[0604] (Appendix 76) 76. The method for controlling a flying robot according to claim 75, wherein the driving is controlled so that the collision position is the same.

[0605] (Appendix 77) 76. The method for controlling a flying robot according to claim 75, wherein the driving is controlled so that the collision position is different.

[0606] (Appendix 78) Recognizing a specific user 600 based on an image captured by a camera equipped in the device; 78. A method for controlling a flying robot as described in Appendix 77, characterized in that the driving is controlled so that the collision position is different so as to follow the specific user 600 moving.

[0607] (Appendix 79) A method for controlling an flying robot described in any one of Appendices 70 to 78, characterized in that the driving is started if a predetermined time has elapsed after the detection of the drive stop without the robot colliding.

[0608] (Appendix 80) A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, When the collision is detected, a drive is performed to lift the aircraft. A method for controlling an flying robot, comprising the steps of:

[0609] (Appendix 81) A method for controlling a flying robot as described in Appendix 80, characterized in that when specified information is acquired via a wireless communication interface equipped in the flying robot, the flying robot is driven to drop.

[0610] (Appendix 82) 82. The flying robot control method according to claim 81, wherein the specified information is notification information output from a specific terminal device.

[0611] (Appendix 83) 82. The flying robot control method according to claim 81, wherein the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change occurring within a specified time from the present time.

[0612] (Appendix 84) A flying robot control method according to any one of appendices 80 to 83, characterized in that after driving the robot to lift up, when a predetermined time has elapsed, driving the robot to drop again.

[0613] (Appendix 85) 85. A method for controlling a flying robot as described in appendix 84, characterized in that a drive to drop the robot and a drive to lift the robot are repeated a predetermined number of times.

[0614] (Appendix 86) 86. A flying robot control method according to claim 85, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is the same.

[0615] (Appendix 87) 86. A flying robot control method as described in appendix 85, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different.

[0616] (Appendix 88) The device recognizes a specific user 600 based on an image captured by the device's camera. , A method for controlling a flying robot as described in Appendix 87, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different so as to follow the specific user 600 who is moving.

[0617] (Appendix 89) A method for controlling a flying robot described in any one of Appendices 80 to 88, characterized in that after a drive is performed to drop the robot, if the speed of the drop reaches a predetermined speed without the robot colliding, a drive is performed to lift the robot.

[0618] (Appendix 90) A method for controlling an flying robot according to any one of appendices 66, 68, 70 to 78, and 80 to 88, characterized in that drive control after the collision is changed based on the detected impact value of the collision.

[0619] (Appendix 91) 91. A method for controlling a flying robot as described in appendix 90, characterized in that the flying robot's ascent speed is increased depending on the magnitude of the detected impact value of the collision.

[0620] (Appendix 92) 92. A method for controlling a flying robot according to claim 90 or 91, characterized in that the flying altitude of the robot is increased depending on the magnitude of the detected impact value of the collision. [Industrial Applicability]

[0621] As described above, the flying robot, the flying robot control program, and the flying robot control method of the present invention are useful for users who want a pet robot, and are particularly suitable for users who want to easily raise one. [Explanation of symbols]

[0622] 100 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 User 600 700 Flying Robot 701 Projector 701a Projection Lens 1000 Flying Robot 1000a Drone (Unmanned Aerial Vehicle) 1100 (Spherical) Housing 1101a~d Propeller 1102 Camera 1103 Speaker 1104 LED Lamp

Claims

1. Equipped with an unmanned aerial vehicle that flies by autopilot, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. A flying robot that starts the driving when the collision is detected.

2. 2. The flying robot according to claim 1, wherein the flying robot starts driving when a predetermined time has elapsed without the flying robot colliding with another flying robot after the detection of the drive stop.

3. Equipped with an unmanned aerial vehicle that flies by autopilot, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. A flying robot characterized in that, when the collision is detected, the flying robot is driven to lift itself up.

4. 4. The flying robot according to claim 3, wherein the driving is started when, after the stop of the fall is detected, the speed of the fall reaches a predetermined speed without the flying robot colliding with another object.

5. Equipped with an unmanned aerial vehicle that flies by autopilot, receiving an instruction to stop a drive used for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; A flying robot that starts the driving when the collision is detected.

6. 6. The flying robot according to claim 5, wherein the driving is stopped when predetermined information is acquired through a wireless communication interface provided in the flying robot.

7. 7. The flying robot according to claim 6, wherein the predetermined information is notification information output from a specific terminal device.

8. The flying robot according to claim 6, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden change in weather occurring within a specified time from the present time.

9. 9. The flying robot according to claim 5, wherein the driving is stopped again when a predetermined time has elapsed after the driving is started.

10. 10. The flying robot according to claim 9, wherein the stopping and starting of the driving are repeated a predetermined number of times.

11. 11. The flying robot according to claim 10, wherein the driving is controlled so that the collision position is the same.

12. 11. The flying robot according to claim 10, wherein the driving is controlled so that the collision position is different.

13. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The collision position is set to a different position so as to follow the specific user 600 moving.

13. The flying robot according to claim 12, wherein the driving is controlled so as to:

14. The flying robot according to any one of claims 5 to 13, characterized in that, after detection of the drive stop, if a predetermined time has elapsed without the flying robot colliding, the driving is started.

15. Equipped with an unmanned aerial vehicle that flies by autopilot, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, A flying robot characterized in that, when the collision is detected, the flying robot is driven to lift itself up.

16. 16. The flying robot according to claim 15, characterized in that, when predetermined information is acquired via a wireless communication interface provided in the flying robot, the flying robot is driven to drop.

17. 17. The flying robot according to claim 16, wherein the predetermined information is notification information output from a specific terminal device.

18. The flying robot according to claim 16, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden change in weather occurring within a specified time from the present time.

19. 19. The flying robot according to claim 15, wherein, after a predetermined time has elapsed since the flying robot was driven to lift up, the flying robot is driven to drop again.

20. 20. The flying robot according to claim 19, wherein a driving action for dropping the robot and a driving action for lifting the robot are repeated a predetermined number of times.

21. 21. The flying robot according to claim 20, wherein at least one of a drive for dropping the robot itself and a drive for lifting the robot itself is controlled so that the collision position is the same.

22. 21. The flying robot according to claim 20, wherein at least one of a drive for dropping the robot itself and a drive for lifting the robot itself is controlled so that the collision position is different.

23. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The flying robot according to claim 22, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different so as to follow the specific user 600 who is moving.

24. The flying robot according to any one of claims 15 to 23, characterized in that after a driving force is applied to drop the robot, if the speed of the drop reaches a predetermined speed without the robot colliding, a driving force is applied to lift the robot up.

25. The flying robot described in any one of claims 1 to 24, characterized in that it is provided with a spherical housing that covers the unmanned aerial vehicle.

26. The flying robot described in any one of claims 1 to 24, characterized in that it is provided with a hemispherical housing that covers only the underside of the unmanned aerial vehicle.

27. 27. The flying robot according to claim 25, wherein the housing is made of an elastic material.

28. 28. The flying robot according to claim 25, wherein the housing has a plurality of holes.

29. The flying robot according to any one of claims 25 to 27, characterized in that the housing is made of a mesh structure.

30. 30. The flying robot according to claim 1, wherein when the collision is detected, a predetermined sound is output from a speaker provided in the flying robot.

31. 31. The flying robot according to claim 30, wherein the sound output from the speaker imitates the sound made by a living thing when jumping.

32. 31. The flying robot according to claim 30, wherein the sound output from the speaker is a sound that imitates a sound made when an object bounces.

33. 33. The flying robot according to claim 30, wherein at least one of the volume and type of the sound is changed based on the detected impact value of the collision.

34. Equipped with a light emitting section, 32. The flying robot according to claim 1, wherein when the collision is detected, light is output from the light-emitting unit.

35. At least one of the size, color, and light emission pattern of the light is selected based on the impact value of the detected collision.

35. The flying robot according to claim 34, characterized in that:

36. 36. The flying robot according to claim 1, 3, 5 to 13, 15 to 23, or 25 to 35, wherein drive control after the collision is changed based on the detected impact value of the collision.

37. 37. The flying robot according to claim 36, wherein the flying robot increases its lift-off speed in response to the magnitude of the impact value of the detected collision.

38. 38. The flying robot according to claim 36 or 37, characterized in that the flying robot increases its flying height according to the magnitude of the impact value of the detected collision.

39. A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. When the collision is detected, the driving is started. A control program for a flying robot, which causes the robot to execute a process.

40. 40. The flying robot control program according to claim 39, wherein the flying robot starts driving when a predetermined time has elapsed without the flying robot colliding after the detection of the drive stop.

41. A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. When the collision is detected, a drive is performed to lift the aircraft. A control program for a flying robot, which causes the robot to execute a process.

42. 42. The flying robot control program according to claim 41, characterized in that, after detecting the cessation of the fall, the driving is started when the speed of the fall reaches a predetermined speed without the flying robot colliding with another object.

43. A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, receiving an instruction to stop a drive used for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; When the collision is detected, the driving is started. A control program for a flying robot, which causes the robot to execute a process.

44. 44. The flying robot control program according to claim 43, characterized in that the driving is stopped when predetermined information is acquired through a wireless communication interface equipped in the flying robot.

45. 45. The flying robot control program according to claim 44, wherein the predetermined information is notification information output from a specific terminal device.

46. The flying robot control program of claim 44, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

47. The control program for a flying robot according to any one of claims 43 to 46, characterized in that the driving is stopped again when a predetermined time has elapsed after the driving is started.

48. 48. The flying robot control program according to claim 47, characterized in that the stopping and starting of the driving are repeated a predetermined number of times.

49. The control program for a flying robot according to claim 48, characterized in that the drive is controlled so that the collision position is kept at the same position.

50. The flying robot control program according to claim 48, characterized in that the drive is controlled so that the collision position is changed.

51. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The flying robot control program according to claim 50, characterized in that the drive is controlled so that the collision position is changed to a different position so as to follow the specific user 600 moving.

52. A control program for a flying robot described in any one of claims 43 to 51, characterized in that the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the drive stop.

53. A control program for an airborne robot having an unmanned aerial vehicle that flies by automatic control, A computer equipped in the unmanned aerial vehicle, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, When the collision is detected, a drive is performed to lift the aircraft. A control program for a flying robot, which causes the robot to execute a process.

54. 54. A control program for a flying robot as described in claim 53, characterized in that when predetermined information is acquired via a wireless communication interface equipped in the flying robot, a drive is performed to drop the flying robot.

55. 55. The flying robot control program according to claim 54, wherein the predetermined information is notification information output from a specific terminal device.

56. The flying robot control program of claim 54, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden change in weather occurring within a specified time from the present time.

57. A control program for a flying robot as described in any one of claims 53 to 56, characterized in that after driving the robot to lift up, if a predetermined time has elapsed, driving the robot to drop again.

58. 58. A control program for a flying robot as described in claim 57, characterized in that a drive to drop the robot and a drive to lift the robot are repeated a predetermined number of times.

59. A control program for a flying robot as described in claim 58, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is the same.

60. A control program for a flying robot as described in claim 58, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different.

61. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The control program for a flying robot as described in claim 60, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different so that the robot follows the moving specific user 600.

62. After the player's ship is driven to fall, the speed of the fall is increased without the player's ship colliding. A control program for a flying robot according to any one of claims 53 to 61, characterized in that when a predetermined speed is reached, a drive is performed to lift the robot up.

63. The control program for a flying robot according to any one of claims 39, 41, 43 to 51, and 53 to 61, characterized in that the drive control after the collision is changed based on the detected impact value of the collision.

64. 64. The control program for a flying robot according to claim 63, characterized in that the flying robot's lift-off speed is increased according to the magnitude of the detected impact value of the collision.

65. 65. A control program for a flying robot as described in claim 63 or 64, characterized in that the flying height of the robot is increased according to the magnitude of the impact value of the detected collision.

66. A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, Detecting that a drive for flight has been stopped during flight of the unmanned aerial vehicle; After detecting the stop of the drive, the vehicle detects that it has collided with another vehicle. A method for controlling a flying robot, comprising the steps of: starting the driving when the collision is detected;

67. 67. The method for controlling an flying robot according to claim 66, characterized in that the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the drive stop.

68. A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, Detecting that the unmanned aerial vehicle is falling during flight, After detecting the fall, the vehicle detects that it has collided with another vehicle. A flying robot control method comprising the steps of: driving the flying robot to lift off when the collision is detected.

69. 69. The method for controlling a flying robot according to claim 68, characterized in that, after detecting the cessation of the fall, the actuation is started when the speed of the fall reaches a predetermined speed without the flying robot colliding with another object.

70. A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, receiving an instruction to stop a drive for flight during the flight of the unmanned aerial vehicle; When the instruction is received, the driving is stopped; After the driving is stopped, a collision of the vehicle is detected; When the collision is detected, the driving is started. A method for controlling an flying robot, comprising the steps of:

71. 71. The method for controlling a flying robot according to claim 70, further comprising the step of stopping said driving when predetermined information is acquired via a wireless communication interface provided in said flying robot.

72. 72. The method for controlling an flying robot according to claim 71, wherein the predetermined information is notification information output from a specific terminal device.

73. The predetermined information is information indicating that a disaster, an earthquake, a tsunami, lightning, rain, strong winds, or a sudden change in weather may occur within a predetermined time from the present time.

73. A method for controlling a flying robot according to claim 72.

74. The method for controlling an flying robot according to any one of claims 70 to 73, characterized in that the driving is stopped again when a predetermined time has elapsed after the driving is started.

75. 75. The method for controlling an flying robot according to claim 74, characterized in that the stopping of the driving and the starting of the driving are repeated a predetermined number of times.

76. The method for controlling an flying robot according to claim 75, characterized in that the driving is controlled so that the collision position is kept at the same position.

77. The method for controlling an flying robot according to claim 75, characterized in that the driving is controlled so that the collision position is changed.

78. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The method for controlling a flying robot according to claim 77, characterized in that the driving is controlled so that the collision position is different so as to follow the specific user 600 moving.

79. A method for controlling an flying robot according to any one of claims 70 to 78, characterized in that the driving is started when a predetermined time has elapsed without the flying robot colliding after the detection of the drive stop.

80. A method for controlling an airborne robot having an unmanned aerial vehicle that flies by automatic control, comprising: A computer equipped in the unmanned aerial vehicle, receiving an instruction to drop the unmanned aerial vehicle during flight of the unmanned aerial vehicle; When the instruction is received, the driving is performed; After the driving is performed, a collision of the vehicle is detected, When the collision is detected, a drive is performed to lift the aircraft. A method for controlling an flying robot, comprising the steps of:

81. The method for controlling a flying robot according to claim 80, characterized in that when predetermined information is acquired via a wireless communication interface equipped in the flying robot, the flying robot is driven to drop.

82. 82. The method for controlling an flying robot according to claim 81, wherein the predetermined information is notification information output from a specific terminal device.

83. The method for controlling an airborne robot as described in claim 81, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden change in weather occurring within a specified time from the present time.

84. A method for controlling a flying robot according to any one of claims 80 to 83, characterized in that after driving the robot to lift up, if a predetermined time has elapsed, driving the robot to drop again is performed.

85. The method for controlling a flying robot according to claim 84, characterized in that a drive for dropping the robot and a drive for lifting the robot are repeated a predetermined number of times.

86. A method for controlling a flying robot as described in claim 85, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is the same.

87. A method for controlling a flying robot as described in claim 85, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different.

88. Recognizing a specific user 600 based on an image captured by a camera provided in the device; The control method for a flying robot as described in claim 87, characterized in that at least one of a drive to drop the robot and a drive to lift the robot is controlled so that the collision position is different so that the robot follows the moving specific user 600.

89. A method for controlling a flying robot as described in any one of claims 80 to 88, characterized in that after a drive to drop the robot is performed, if the speed of the drop reaches a predetermined speed without the robot colliding, a drive to lift the robot is performed.

90. A method for controlling an flying robot according to any one of claims 66, 68, 70 to 78, and 80 to 88, characterized in that the drive control after the collision is changed based on the detected impact value of the collision.

91. The method for controlling a flying robot according to claim 90, characterized in that the flying robot's lift-off speed is increased according to the magnitude of the detected impact value of the collision.

92. 92. The method for controlling a flying robot according to claim 90 or 91, characterized in that the flying height of the robot is increased according to the magnitude of the impact value of the detected collision.

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

94. The flying robot according to claim 93, characterized in that the specific user is a person who has been photographed by the camera for a predetermined period of time or a predetermined number of times.

95. The flying robot according to claim 93 or 94, characterized in that the specific user is a person photographed by the camera within a specific range.

96. An aerial robot as described in any one of claims 93 to 95, characterized in that if at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the aerial robot flies away from the specific user.

97. An aerial robot as described in any one of claims 93 to 95, characterized in that while flying around a specific user, if the specific user does not visually observe the unmanned aerial vehicle, the aerial robot flies so as to approach the specific user.

98. The flying robot described in any one of claims 93 to 95, characterized in that after flying around the specific user a predetermined number of times, it flies away from the specific user.

99. A wireless communication interface is provided on the unmanned aerial vehicle. The flying robot according to any one of claims 93 to 98, characterized in that, when predetermined information is acquired via the wireless communication interface, the flying robot flies around the specific user.

100. 100. The flying robot according to claim 99, characterized in that the predetermined information is notification information output from a specific terminal device.

101. The flying robot according to claim 99, characterized in that the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden change in weather occurring within a specified time from the present time.

102. A speaker mounted on the unmanned aerial vehicle; The flying robot according to any one of claims 93 to 101, characterized in that it outputs a voice from the speaker toward the specific user and flies around the specific user.

103. A microphone mounted on the unmanned aerial vehicle, The flying robot according to any one of claims 93 to 102, characterized in that, when a predetermined sound is collected by the microphone, the flying robot flies around the specific user.

104. 104. The flying robot according to claim 103, wherein the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is received on a telephone set.

105. 104. The method of claim 103, wherein the predetermined voice is the voice of the particular user. A flying robot.

106. A speaker mounted on the unmanned aerial vehicle; The flying robot described in any one of claims 103 to 105, characterized in that when a predetermined sound is collected by the microphone, the flying robot outputs the sound from the speaker toward the specific user and flies around the specific user.

107. 107. The flying robot according to claim 102 or 106, wherein the sound output from the speaker is a sound that imitates an animal's cry.

108. 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.

109. When at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is caused to fly away from the specific user. A control program for a flying robot as described in claim 108, characterized in that it causes processing to be executed.

110. When the specific user does not visually observe the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is flown so as to approach the specific user. A control program for a flying robot as described in claim 108, characterized in that it causes processing to be executed.

111. After flying around the specific user a predetermined number of times, the drone is caused to fly away from the specific user. A control program for a flying robot as described in claim 108, characterized in that it causes processing to be executed.

112. 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.

113. When at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is caused to fly away from the specific user.

113. A method for controlling an airborne robot as described in claim 112.

114. When the specific user does not visually observe the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is flown so as to approach the specific user.

113. A method for controlling an airborne robot as described in claim 112.

115. After flying around the specific user a predetermined number of times, the drone is caused to fly away from the specific user.

113. A method for controlling an airborne robot as described in claim 112.

116. 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; A flying robot characterized in that when a specified sound is picked up by the microphone, the flying robot flies between the vicinity of the recognized specific user and the source of the specified sound in response to the specified sound.

117. The flying robot described in claim 116, characterized in that when a specific sound is picked up by the microphone, the flying robot orbits the specific user it has recognized in response to the specific sound, and then flies between the vicinity of the specific user and the source of the specific sound.

118. 118. The flying robot according to claim 116 or 117, characterized in that the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is arriving on a telephone set.

119. The flying robot described in claim 1164 or 117, characterized in that the specified sound is the ringtone of a doorbell installed at the entrance to a building or site so that visitors to the building or site can call the resident or manager of the building or site.

120. 118. The flying robot according to claim 116 or 117, characterized in that the predetermined sound is a sound having a sound pressure equal to or higher than a predetermined threshold value.

121. The flying robot according to claim 116 or 117, characterized in that the predetermined sound is a sound generated within a predetermined range from the specific user.

122. The flying robot described in any one of claims 116 to 121, characterized in that, in response to the specified voice, it flies around the recognized specific user in a flight mode corresponding to the specified voice.

123. A projector mounted on the unmanned aerial vehicle, The flying robot described in any one of claims 116 to 122, characterized in that when a specified sound is collected by the microphone, an image corresponding to the specified sound is projected from the projector in front of the recognized specific user.

124. A wireless communication interface is provided on the unmanned aerial vehicle. The flying robot according to claim 123, characterized in that image data related to an image to be projected from the projector is obtained via the wireless communication interface.

125. The flying robot described in any one of claims 116 to 124, characterized in that when a specified sound is collected by the microphone, characters corresponding to the specified sound are projected from the projector in front of the recognized specific user.

126. A computer equipped with a flying robot having an unmanned aerial vehicle equipped with a camera and a microphone and flying by automatic control, Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the drone is caused to fly between a vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound. A control program for a flying robot, which causes the robot to execute a process.

127. A flying robot equipped with a camera and microphone and an unmanned aerial vehicle that flies automatically. Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the drone is caused to fly between a vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound. A method for controlling a flying robot.

128. A computer included in a flying robot that includes an unmanned aerial vehicle equipped with a camera, a microphone, and a projector and flies by automatic control, Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the robot flies between the vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound, and projects an image corresponding to the predetermined sound from the projector in front of the specific user that has been recognized. A control program for a flying robot, which causes the robot to execute a process.

129. A flying robot equipped with a camera, microphone, and projector, and an unmanned aerial vehicle that flies automatically. Recognizing a specific user based on an image captured by the camera; When a predetermined sound is collected by the microphone, the robot flies between the vicinity of the specific user that has been recognized and a source of the predetermined sound in response to the predetermined sound, and projects an image corresponding to the predetermined sound from the projector in front of the specific user that has been recognized. A method for controlling a flying robot.

130. 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; When information is received via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a specified time from the present time, the flying robot flies between the vicinity of the recognized specific user and the source of the specified sound in response to the specified sound.

131. A computer included in an airborne robot having an unmanned aerial vehicle equipped with a camera and a wireless communication interface and flying by automatic control, Recognizing a specific user based on an image captured by the camera; when information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather is likely to occur within a predetermined time from the present time is acquired via the wireless communication interface, flying the drone between the vicinity of the recognized specific user and a source of the predetermined sound in response to the predetermined sound; A control program for a flying robot, which causes the robot to execute a process.

132. A flying robot equipped with a camera and a wireless communication interface and an unmanned aerial vehicle that flies by automatic control. Recognizing a specific user based on an image captured by the camera; when information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather is likely to occur within a predetermined time from the present time is acquired via the wireless communication interface, flying the drone between the vicinity of the recognized specific user and a source of the predetermined sound in response to the predetermined sound; A method for controlling a flying robot.

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