Flying robot, control program for flying robot, and control method for flying robot

Abstract

To implement a falconer game in which users use flying robots to compete in technique of falconer's putting a hawk on his or her body.SOLUTION: When a flying robot (named as "DROTAKAJO") 101 comprising an unmanned aircraft (drone) flying by automatic steering and a camera mounted on the unmanned aircraft is thrown up in the air by a user 601, the flying robot 101 starts flying and the camera starts capturing. When the user 601 taking a specific posture is recognized on the basis of an image captured by the camera, the flying robot 101 flies toward the user 601 at a speed higher than that at which it was thrown up, and is put on the body of the user 601. Thus, the user 601 can enjoy a falconer game of putting the flying robot 101 on his or her body. In addition, it is possible that the flying robot 101 is used to give the user 601 a feeling as if a hawk has a will to fly toward the user.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a flying robot capable of assisting in enjoyable and casual exercise, a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] In recent years, games using electronic devices such as smartphones, tablets, game consoles, and personal computers have become widespread. Electronic devices used in games are also widely spread among users belonging to the so-called younger generation, such as children and students. In games using such electronic devices, for example, there are various technologies for improving user convenience.

[0003] Specifically, conventionally, for example, the method of progressing a battle can be changed between a manual mode and an auto mode according to the user's past battle experience, and while maintaining the playfulness of the battle in the battle in the manual mode, there has been a technology for reducing the complexity of user operations in the battle in the auto mode (see, for example, Patent Document 1 below).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, since games using electronic devices generally involve little physical movement, they have a low effect on promoting health. Also, when users of such games belong to the young generation who are in the process of physical and mental development, spending time without moving their bodies is not preferable from the viewpoints of the growth of physical functions and health promotion.

[0006] Also, in view of an aging society, although exercises for health promotion aimed at extending the healthy life expectancy are recommended for adults as well, in the case of adults, they often prepare themselves for the purpose of exercise itself, such as wearing sports wear and going to the gym or running, and there are few opportunities to easily move their bodies in daily life.

[0007] Also, for the exercise that adults do for health promotion, it is difficult to maintain motivation for regular exercise alone, and it is difficult to coordinate the schedules of multiple people, so it is difficult to continue, and in many cases, the purpose has not been fully achieved.

[0008] In order to solve the problems caused by the above-described prior art, an object of the present invention is to provide a flying robot that can support fun and easy exercise.

Means for Solving the Problems

[0009] In order to solve the above-described problems and achieve the object, a flying robot according to the present invention includes an unmanned aircraft that flies by automatic control and a camera mounted on the unmanned aircraft, and when a user is recognized based on an image captured by the camera, it is characterized in that it is placed on the body of the user.

[0010] Also, the flying robot according to the present invention, in the above invention, includes a detection means for detecting a start trigger, and when the detection means detects the start trigger, it is characterized in that the camera starts shooting. When the detection means detects the start trigger, the camera starts shooting.

[0011] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the detection means detects that the flying robot has been thrown into the air as a trigger for starting.

[0012] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the detection means includes an inertial sensor.

[0013] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the detection means includes at least one of an acceleration sensor and an angle sensor.

[0014] In addition, the flying robot according to the present invention is characterized in that, in the above invention, when the detection means detects the trigger for starting, it starts flying.

[0015] In addition, the flying robot according to the present invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and the direction of the sound source of a predetermined sound collected by the microphone is photographed by the camera.

[0016] In addition, the control program of the flying robot according to the present invention causes a computer of a flying robot equipped with a camera and flying by automatic control to perform shooting by the camera, and when a user is recognized based on an image photographed by the camera, causes the flying robot to be placed on the body of the user.

[0017] In addition, the control program of the flying robot according to the present invention is characterized in that, in the above invention, it detects a trigger for starting, and when the trigger for starting is detected, it starts shooting by the camera.

[0018] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, the flying robot is detected as the trigger for starting when it is thrown into the air.

[0019] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, based on the output signal of the inertial sensor, the flying robot is detected as the trigger for starting when it is thrown into the air.

[0020] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, based on the output signal of at least one of the acceleration sensor and the angle sensor, the flying robot is detected as the trigger for starting when it is thrown into the air.

[0021] Also, the control program for the flying robot according to the present invention is characterized in that, in the above invention, when the trigger for starting is detected, the flight of the flying robot is started.

[0022] Also, the control method for the flying robot according to the present invention is characterized in that, for a flying robot equipped with an unmanned aerial vehicle equipped with a camera and flying by automatic control, the camera is made to take a picture, and when a user is recognized based on the image taken by the camera, the user is made to wear it on the body.

[0023] Also, the control method for the flying robot according to the present invention is characterized in that, in the above invention, a trigger for starting is detected, and when the trigger for starting is detected, the camera is made to start taking pictures.

[0024] Also, the control method for the flying robot according to the present invention is characterized in that, in the above invention, the flying robot is detected as the trigger for starting when it is thrown into the air.

[0025] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, based on the output signal of the inertial sensor, it is detected that the flying robot has been thrown into the air, and this is used as the trigger for starting.

[0026] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, based on the output signal of at least one of the acceleration sensor and the angle sensor, it is detected that the flying robot has been thrown into the air, and this is used as the trigger for starting.

[0027] Further, the control method of the flying robot according to the present invention is characterized in that, in the above invention, when the trigger for starting is detected, the flight of the flying robot is started.

Effect of the Invention

[0028] According to the flying robot, the control program of the flying robot, and the control method of the flying robot according to the present invention, there is an effect that it is possible to support enjoyable and casual exercise.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying out the Invention

[0030] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the flying robot, the control program of the flying robot, and the control method of the flying robot according to the present invention will be described in detail.

[0031] (An example of the appearance of the flying robot) First, an example of the appearance of the flying robot according to the embodiment of the present invention will be described. FIG. 1 is an explanatory diagram showing an example of the appearance of the flying robot according to the embodiment of the present invention. As shown in FIG. 1, the flying robot 101 is in the form of a drone (unmanned aerial vehicle).

[0032] Specifically, the drone can adopt, for example, a quadcopter equipped with four propellers 102. The drone is not limited to a quadcopter, and various multicopters such as a hexacopter equipped with six propellers and an octocopter equipped with eight propellers can be adopted.

[0033] The flying robot 101 can have a shape imitating a bird such as an eagle, for example, as shown in FIG. 1. Specifically, the flying robot 101 includes a head with a beak, a member 105 imitating the wings and tail of a bird, etc. The flying robot 101 is not limited to a shape imitating a bird such as an eagle. The flying robot 101 is not limited to existing birds and beasts in modern times, but can also have a shape imitating extinct animals such as dinosaurs, mythical beasts such as dragons and unicorns, or insects, and can be provided with a member 105 corresponding to characteristic parts of birds and beasts, not limited to beaks, heads, wings, and tails, but also including tails, ears, feet (legs, limbs), horns, fangs, whiskers, etc.

[0034] The members 105 corresponding to the characteristic parts of birds and beasts may each be movable. Specifically, for example, members such as the beak, head, wings, and tail may be independently moved by a motor, a gear train, or a link mechanism. Thereby, the flying robot 101 can imitate the actions of wagging its tail or moving its ears.

[0035] In addition, the flying robot 101 is equipped with a camera 103. The camera 103 can be realized, for example, by a general-purpose digital camera. As shown in FIG. 1, in the flying robot 101 having a shape imitating a bird such as an eagle, for example, the lens of the camera 103 can be provided at a portion corresponding to the eyes. Alternatively, the camera 103 may be provided on the lower side (ventral side) of the drone's housing.

[0036] The flying robot 101 uses the camera 103 to capture images of the surroundings of the flying robot 101. The flying robot 101 recognizes the user based on the images captured by the camera 103. The user can be, for example, a person taking a specific posture. The specific posture can be, for example, as shown in FIG. 2, a posture in which the arm in a fist-clenched state, with the elbow bent, protrudes forward of the body at the same height as the shoulder and remains stationary when a falconer 201 calls a raptor such as a falcon 202.

[0037] The stillness may be, for example, for a specified time or more such as 1 second, or may be instantaneous. The protruding arm may be the right arm or the left arm. Also, only a person who protrudes the right arm may be recognized as the user, or only a person who protrudes the left arm may be recognized as the user.

[0038] Similarly, the specific posture may be, for example, a stationary posture in which the arm in a fist-clenched state protrudes forward of the body, such as the posture taken when a falconer calls a raptor such as a falcon. Similarly, the specific posture may be, for example, a stationary posture in which the arm in a fist-clenched state is extended laterally of the body at a height equivalent to the shoulder, such as the posture taken when a falconer calls a raptor such as a falcon.

[0039] The specific posture may be one type of posture set in advance, or may be a plurality of types of postures. In the flying robot 101 in which a plurality of types of postures are set as the specific posture, a person taking any one of the plurality of types of postures is recognized as a user.

[0040] Also, the specific posture may be a series of postures (a series of movements) in which the same person takes a plurality of postures continuously. Specifically, for example, after waving both hands above the head to the flying robot 101, a series of movements such as the arm in a fist-clenched state protruding forward of the body at a height equivalent to the shoulder with the elbow bent and then stationary may be set as the specific posture.

[0041] In this way, by setting a series of movements as the specific posture, when the flying robot 101 is being charged indoors, etc., the flying robot 101 reacts to the movements accidentally taken by the user, and the flying robot 101 starts flying inadvertently in a situation where the user has no intention of playing This can be avoided, and the user can play safely.

[0042] In the case of a specific posture that takes multiple postures continuously, the multiple postures may be taken in a predetermined order or in an arbitrary order. Specifically, for example, a user may be recognized as a person who performed a series of operations such that, after swinging both hands above the head with respect to the flying robot 101, the arm in a fist - clenched state protruded forward of the body at the same height as the shoulders with the elbow bent and then remained stationary. Also, specifically, for example, a user may be recognized as a person who performed a series of operations such that, after swinging both hands above the head with respect to the flying robot 101, performed an operation of swinging one hand in the middle, and then the arm in a fist - clenched state protruded forward of the body at the same height as the shoulders with the elbow bent and then remained stationary.

[0043] The user may be a specific person who takes a specific posture. The specific person can be, for example, a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more, that is, a person who has had an opportunity to contact the flying robot 101 appropriately in advance. In this case, the specific person may be a person who has been photographed for a predetermined time or more or a predetermined number of times or more going back infinitely in the past, or may be a person who has been photographed for a predetermined time or more or a predetermined number of times or more during the period from the current time point back to a time point a predetermined period ago. Information regarding the specific person is stored in the memory (see FIG. 3) provided in the flying robot 101.

[0044] Also, the specific person may be, for example, a person who has been photographed with a predetermined input operation. Specifically, for example, a person photographed when an input operation for photographing by the camera 103 is performed can be regarded as a specific person. Alternatively, specifically, for example, a person shown in a photograph transmitted from a terminal device such as a smartphone may be regarded as a specific person.

[0045] In addition, a specific person may be a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more within a specific range in the past or up to a time point retroactively from the current time by a predetermined period. The specific range is a range set by the user, and for example, it can be an area within a predetermined range centered on the location set by the user as their home. Alternatively, the specific range may be, for example, within the school grounds, inside a store, etc. Whether the shooting location is within the specific range can be determined by using, for example, a GPS (Global Positioning System) sensor (see FIG. 3) provided in the flying robot 101.

[0046] The specific person may be one person or a plurality of persons. The number of specific persons may be limited to a predetermined number or may be unlimited. By limiting the number of specific persons to a predetermined number, the capacity of the memory for storing information about the specific persons can be suppressed.

[0047] In an operation of limiting the number of specific persons to a predetermined number by setting a specific person as a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more within a specific range from the current time up to a time point retroactively by a predetermined period, even when the flying robot 101 is transferred from a previously stored specific person to another person, etc., a person who has recently had an appropriate contact opportunity with the flying robot 101 can be set as the specific person.

[0048] Instead of a general-purpose digital camera, the camera 103 may be realized by a night vision camera that photographs dark places by amplifying sensitivity to light, an infrared camera that has sensitivity to infrared rays, an infrared color night vision camera that analyzes the black-and-white shades in an image photographed by the infrared camera to photograph a color image, etc. By photographing an image using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be accurately recognized even at night or in a low-illuminance indoor environment. user can be accurately recognized.

[0049] The camera 103 provided in the flying robot 101 may be one or a plurality. In the flying robot 101 equipped with a plurality of cameras 103, it is not limited to one type of camera 103, and it may be equipped with a plurality of different types of cameras 103. As shown in FIG. 1, in the flying robot 101 shaped like an animal, for example, the lens of the camera 103 may be provided at a portion corresponding to the eyes.

[0050] The camera 103 may be connected to the drone in a state where the attitude can be adjusted. Specifically, the camera 103 can be connected to the bottom surface of the drone via a universal joint such as a ball joint, for example. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

[0051] Furthermore, the flying robot 101 may be provided with a drive mechanism for changing the attitude of the camera 103 with respect to the drone. Thereby, the attitude of the camera 103 with respect to the drone can be adjusted without manual intervention. The drive mechanism can be constituted by, for example, a motor and a gear train. By enabling the attitude of the camera 103 with respect to the drone to be adjusted without manual intervention, the shooting direction can be arbitrarily adjusted during the flight of the flying robot 101 regardless of the attitude of the drone. The camera 103 may be provided with a zoom function.

[0052] The flying robot 101 may be provided with a power receiving coil in wireless power transfer (Wireless Power Transfer, Contactless Power Transmission). Wireless power transfer (wireless power supply) is a technology for receiving power without passing through a charging contact with a battery (see FIG. 3), and is also referred to as non-contact power supply or wireless power supply.

[0053] The power receiving coil is provided inside the outer surface of the housing of the flying robot 101. This can avoid deterioration and failure of the power receiving coil due to water droplets such as rain and dew or skin oil. The flying robot 101 may be provided with charging contacts for charging the battery instead of or in addition to the power receiving coil.

[0054] Also, as shown in FIG. 1, in the flying robot 101 having a shape like an animal, for example, an LED lamp 104 may be provided at a portion corresponding to the eyes. When there is a lens of the camera 103 at a portion corresponding to the eyeball, the LED lamp 104 may be provided so as to surround the lens.

[0055] The flying robot 101 may further be provided with a solar cell (solar battery, see FIG. 3) that generates electricity by external light such as sunlight. The solar cell is provided, for example, on the upper surface of the housing of the flying robot 101. This can surely take in external light during flight and generate electricity efficiently. Also, by providing the solar cell, it is possible to charge during flight, so that the flight time per flight can be ensured to be long.

[0056] The flying robot 101 may be provided with a fixing member (not shown) that can be detached from and attached to an ornament such as a belt worn by the user. The fixing member can be realized, for example, by a hook, a hock, a fastener, a magnet, or the like. The flying robot 101 can determine whether it is fixed to or removed from the ornament by detecting, for example, the load applied to the fixing member.

[0057] The ornament such as a belt may be a special product for carrying the flying robot 101. When the ornament such as a belt is a special product for carrying the flying robot 101, an RFID may be attached to the ornament and the flying robot 101 may be made to read the RFID. In this case, by setting the communication distance of the RFID to a short distance of about 10 cm, for example, it is possible to determine whether the flying robot 101 is fixed to or removed from the ornament.

[0058] Furthermore, when an ornament such as a belt is a special item for carrying the flying robot 101, a battery may be provided in the ornament. Thereby, an RFID is attached to the flying robot 101, and it is possible to determine whether the flying robot 101 is fixed to or removed from the ornament by the battery on the ornament side without consuming the battery on the flying robot 101 side. Also, in this case, the flying robot 101 can be charged even while it is being carried.

[0059] Also, when a battery is provided in the ornament, a power supply coil in wireless power transmission may be provided in the ornament. Thereby, when carrying the flying robot 101, the battery of the flying robot 101 can be charged. When a battery is provided in the ornament, instead of or in addition to the fixing member provided on the flying robot 101, a holder for holding the flying robot 101 is provided in the ornament, and by detecting the load applied to the ornament, it is possible to determine whether the flying robot 101 is fixed to or removed from the ornament. In an ornament equipped with a battery and a power supply coil, a holder is provided at a position where the power receiving coil of the flying robot 101 can receive power supply from the power supply coil of the ornament.

[0060] (Hardware Configuration of Flying Robot 101) Next, the hardware configuration of the flying robot 101 will be described. FIG. 3 is an explanatory diagram showing an example of the hardware configuration of the flying robot 101. As shown in FIG. 3, the hardware of the flying robot 101 is composed of a battery 301, a motor 302, a camera 103, a microphone 303, a speaker 304, a GPS sensor 305, an object sensor 306, a control circuit 307, an acceleration sensor 308, a communication I / F 309, an LED lamp 104, a solar cell 310, and the like. Each part 103, 104, 301 to 309 provided in the flying robot 101 is connected by a bus 300.

[0061] The battery 301 supplies power required for the operation of each part of the flying robot 101. The battery 301 can be realized, for example, by a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 301 realized by the secondary battery may be detachable from the drone.

[0062] The motor 302 is controlled by the control circuit 307 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 302. By providing the same number of motors 302 as the number of propellers 102, each propeller 102 can be rotated independently, and the flying robot 101 can be moved forward, backward, or pivoted in the left - right direction.

[0063] When the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 307 also controls the operation of the motor constituting the drive mechanism. Thereby, while the flying robot 101 is moving, it can adjust the attitude of the camera 103 without manual intervention and can take pictures in an arbitrary range or a wide range.

[0064] The camera 103 includes an imaging element, and takes an image by causing the imaging element to receive light of the lens that has passed through the imaging lens. In addition, the camera 103 outputs the taken image, that is, the image information (shooting data) obtained by converting the optical signal received by the imaging element into an electrical signal, to the control circuit 307.

[0065] The camera 103 may be configured to take still pictures or moving pictures. The moving pictures include those obtained by continuously shooting still pictures taken at predetermined time intervals. The image information may be compressed according to a standard specification of a predetermined moving picture and audio data compression method (for example, MPEG (Moving Picture Experts Group), etc.).

[0066] The microphone 303 collects the sounds around the flying robot 101. The microphone 303 converts the input sound as analog data into an electrical signal. Specifically, the microphone 303 performs analog / digital conversion on the analog audio signal input as analog data to generate audio data in digital format.

[0067] The speaker 304 vibrates the diaphragm with an electrical signal which is an audio signal to generate sound. Also, the speaker 304 may be an output terminal for outputting an audio signal, and an external speaker 304 may be connected to the output terminal to generate sound.

[0068] The GPS sensor 305 identifies the current position of the flying robot 101. Specifically, the GPS sensor 305 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, a baseband unit, etc. The GPS antenna receives the radio waves broadcast by GPS satellites. The RF unit demodulates the signal before modulation received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 305 may further include a filter for removing unnecessary components and amplifiers such as an LNA (Low Noise Amplifier) and a power amplifier PA (Power Amplifier).

[0069] The current position of the flying robot 101 can be identified by positioning based on the radio waves transmitted from a plurality of GPS satellites. The baseband unit calculates the distances to four GPS satellites respectively, and performs positioning by calculating the position where the respective distances intersect. Instead of GPS which obtains the geometric position between the GPS satellite and the flying robot 101 based on the radio waves received from the GPS satellite, satellite positioning systems such as Michibiki, GLONASS, and Galileo may be used to identify the current position of the flying robot 101.

[0070] The object sensor 306 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. An obstacle is an object that hinders the flight of the flying robot 101, and specifically, for example, a wall, ceiling, furniture, person, etc. are applicable. When flying the flying robot 101 outdoors, for example, all objects that hinder the flight of the flying robot 101, such as vehicles, flying robots 101 other than the own device, trees, buildings, etc., correspond to obstacles.

[0071] Specifically, the object sensor 306 can be realized by, for example, non-contact sensors such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc. The object sensor 306 can be realized by at least any one of non-contact sensors such as an infrared sensor, a capacitance sensor, an ultrasonic sensor, etc. The flying robot 101 may be equipped with a plurality of types of non-contact sensors as the object sensor 306. Also, the flying robot 101 may detect the presence or absence of obstacles within a predetermined range from the flying robot 101 based on an image captured by the camera 103.

[0072] The acceleration sensor 308 detects movements such as gravity and vibration applied to the flying robot 101, and impacts, etc. As the acceleration sensor 308, for example, a frequency change type acceleration sensor such as a crystal acceleration sensor with low noise and high stability can be used. Also, as the acceleration sensor, a piezoelectric acceleration sensor, a capacitance type acceleration sensor, a piezoresistive acceleration sensor, etc. may be used.

[0073] The solar cell 310 is composed by bonding a P-type silicon semiconductor that tends to be positively charged and an N-type silicon semiconductor that tends to be negatively charged via a PN junction surface. In the solar cell 310, when light energy from external light such as sunlight is applied to the PN junction surface, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 310, electrodes are respectively connected to the P-type silicon semiconductor and the N-type silicon semiconductor, and the electric power generated can be taken out via electric wires respectively connected to the electrodes.

[0074] The control circuit 307 drives and controls each part of the flying robot 101. The control circuit 307 can be realized by a microcomputer composed of a CPU, a memory, and the like. The memory stores various types of information such as a control program for the flying robot according to the embodiment of the present invention, information about a specific person, and information input in advance by the user of the flying robot 101. Specifically, the control circuit 307 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0075] The CPU controls the overall operation of the flying robot 101 by executing the program stored in the memory. The memory stores various types of information such as the program executed by the CPU, information about various conditions related to the operation of the flying robot 101, and information about the image captured by the camera 103.

[0076] Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). Further, the memory may be a memory card detachable from the flying robot 101 via a card slot provided in the flying robot 101. The memory card can realize its function by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may be configured to realize its function by an external USB memory or the like.

[0077] In addition, the control circuit 307 includes a charging circuit that charges the battery 301 with the electric power generated by the solar cell 310, a remaining amount measurement circuit that measures the remaining amount of the battery 301, and the like. The charging circuit includes a DC / DC converter that adjusts the voltage of the electric power generated by the solar cell 310. The remaining amount measurement circuit measures the remaining amount of the battery 301 using various known methods, such as the impedance tracking method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method.

[0078] In addition, the control circuit 307 includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

[0079] The IMU is a set of sensors necessary for the drone to acquire external information and is composed of, for example, an acceleration sensor 308, a gyro sensor, a pressure sensor, an ultrasonic sensor, a magnetic azimuth sensor (compass), etc. Also, the above GPS sensor 305 is included in the IMU.

[0080] The acceleration sensor 308 detects the change in the speed of the drone. With the gyro sensor and the acceleration sensor 308, it is possible to calculate the change in both the inclination of the drone and the speed of the drone, so that the drone can continue to fly even if it remains tilted.

[0081] The gyro sensor detects the change in the angle of the drone. The gyro sensor detects the change in the angle of the drone, for example, by measuring the angular velocity using the Coriolis force. The gyro sensor enables the drone to fly stably.

[0082] The pressure sensor detects the altitude of the drone. The pressure sensor detects the altitude of the drone, for example, by detecting changes in air pressure. By measuring the altitude of the drone with the pressure sensor, the altitude of the drone can be maintained.

[0083] The ultrasonic sensor detects the distance from an object (such as the floor or an obstacle) located below the drone. The ultrasonic sensor is provided, for example, on the lower surface of the drone and detects the distance from an object located below the drone by utilizing the reflection of ultrasonic waves emitted below the drone. Thereby, the drone can stably perform ground (floor, ground, etc.) tracking and landing. When an ultrasonic sensor is used as the object sensor 306, ultrasonic waves can be emitted in all directions of the drone, and the ultrasonic sensor can perform both the function as the object sensor 306 and the function as a part of the IMU.

[0084] The magnetic azimuth sensor detects in which direction (north, south, east, or west) the drone is facing. Since the flying robot 101 is affected by magnetism depending on the location where it flies, it is preferable to perform compass calibration and adjust the magnetic azimuth sensor when changing the flying location during operation.

[0085] The IMU, together with the above microcontroller, constitutes a flight controller. The flight controller performs calculations related to the rotation control of the motor 302 and outputs a control signal to the ESC to control the rotation direction and rotation speed of the propeller (the motor 302 of the propeller). The ESC rotationally controls the motor 302 based on the control signal output from the flight controller. During the flight of the flying robot 101, the flight controller detects the inclination of the flying robot 101 and repeatedly performs calculations, and recursively outputs a control signal to the motor 302.

[0086] The flight controller specifically prevents the rotation of the flying robot 101 by outputting a control signal that controls, for example, adjacent propellers 102 to rotate in opposite directions. Also, for example, the flying robot 101 is made to move forward by controlling the propeller 102 in the forward direction of travel to rotate slower than the propeller 102 in the rearward direction of travel. Further, for example, the flying robot 101 is made to turn right by controlling the propeller 102 on the right side of the direction of travel to rotate slower than the propeller 102 on the left side of the direction of travel.

[0087] The communication I / F 309 is a wireless communication interface that connects the flying robot 101 and the network N through a communication line, controls the interface between the network N and the inside of the flying robot 101, and controls the input of data from an external device connected via the network N and the output of data to the external device. The network N is realized, for example, by the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), or the like.

[0088] The communication I / F 309 can be realized, for example, by a wireless interface using Wi-Fi (registered trademark). Also, the communication I / F 309 may be a wireless communication interface such as a mobile phone line (for example, LTE (Long Term Evolution), PHS (Personal Handy-phone System), etc.). Communication via the communication I / F 309 may be performed periodically, such as at a predetermined time or at regular intervals, or may be performed at an arbitrary timing according to the status of the communication line or the like. The above memory may store information acquired by communication via the communication I / F 309.

[0089] The LED lamp 104 provided at the part corresponding to the eyes is controlled by the control circuit 307 and lights on, off, or blinks in conjunction with the flight operation of the flying robot 101. Also, the LED lamp 104 may guide the state of the flying robot 101. Specifically, for example, when the remaining charge amount falls below a predetermined threshold value, it blinks in a predetermined pattern. The emission color of the LED lamp 104 is not limited to one color and may be a plurality of colors.

[0090] The flying robot 101 may also include, although not shown in the figure, input / output devices such as keys or buttons for giving input instructions to the flying robot 101, a power switch for switching the ON / OFF of the power supply of the flying robot 101, and LED lamps provided at positions other than the part corresponding to the eyes. The input / output device may be realized by connection terminals or the like that can connect to other information processing devices.

[0091] (Functional Configuration of Flying Robot 101) Next, the functional configuration of the flying robot 101 will be described. FIG. 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to the present invention. As shown in FIG. 4, the functions of the flying robot 101 are realized by a storage unit 401, a detection unit 402, a photographing unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

[0092] The storage unit 401 stores various programs related to the control by the control unit 407 and various information including thresholds used for the execution of the programs. Also, the storage unit 401 stores image information photographed by the photographing unit 403, information acquired by the acquisition unit 404, and the like. The storage unit 401 may store information regarding the charging spots of the battery. Specifically, the function of the storage unit 401 can be realized by, for example, a memory in the control circuit 307 shown in FIG. 3.

[0093] The detection unit 402 detects the start trigger. For example, the detection unit 402 detects that the flying robot 101 has been thrown into the air as the start trigger. Specifically, the detection unit 402 can detect that the flying robot 101 has been thrown into the air based on the output signal from the acceleration sensor 308. In this case, the detection unit 402 can be specifically realized by, for example, the acceleration sensor 308 included in the control circuit 307 shown in FIG. 3. Also, the detection unit 402 can be specifically realized by, for example, a gyro sensor included in the control circuit 307 shown in FIG. 3, or can be realized by an IMU.

[0094] The detection unit 402 may detect, for example, that a predetermined input instruction to the flying robot 101 via an input / output device such as a key or a button performed by the user has been received as the start trigger. Alternatively, the detection unit 402 may detect, for example, that it has been detected that it has been removed from the ornament based on the load applied to the fixing member as the start trigger.

[0095] Also, the detection unit 402 detects whether the flying robot 101 is in a falling state. Specifically, the detection unit 402, for example, based on the output signal from the acceleration sensor 308 , detects whether the flying robot 101 is in a falling state. The detection unit 402 may detect whether the flying robot 101 is in a falling state based on the output signal from the gyro sensor included in the control circuit 307 or the output signal from the IMU.

[0096] Also, the detection unit 402 detects the presence or absence of an obstacle existing within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 306 shown in FIG. 3. Also, in this case, the detection unit 402 can specifically realize its function by, for example, replacing the object sensor 306 or in addition to the object sensor 306, by a camera 103 shown in FIG. 3.

[0097] 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 obtains the distance to the obstacle based on the parallax (the difference between each image) in each of a plurality of different images captured at different positions obtained by the movement of the flying robot 101. By using the moving stereo method, it is possible to detect the presence or absence of an obstacle existing within a predetermined range from the flying robot 101 using a monocular camera.

[0098] The imaging unit 403 captures an image of the surroundings of the flying robot 101. Specifically, the imaging unit 403 can realize its function by, for example, the camera 103 shown in FIG. 3. The above storage unit 401 stores the image information related to the image captured by the imaging unit 403. In addition to the image information, the storage unit 401 may store information regarding the location where the image related to the image information was captured in association with the image information. The information regarding the location where the image was captured can be specified, for example, using the GPS sensor 305.

[0099] The drive unit 405 controls the flight of the flying robot 101. Specifically, the drive unit 405 can realize its function by, for example, the propeller 102 shown in FIG. 1, the flight controller, ESC, BEC (UBEC), motor 302, and object sensor 306 in the control circuit 307 shown in FIG. 3.

[0100] The control unit 407 controls the entire flying robot 101. Specifically, the control unit 407 can realize its function by, for example, the control circuit 307 shown in FIG. 3. More specifically, the control unit 407 can realize its function by, for example, the CPU in the control circuit 307 shown in FIG. 3 executing a program stored in a memory or the like.

[0101] The control unit 407 controls the drive unit 405 to fly the flying robot 101. For example, when the detection unit 402 detects a start trigger, the control unit 407 controls the drive unit 405 to fly the flying robot 101 (drone). The control unit 407 may fly the flying robot 101 when a preset time arrives.

[0102] Also, the control unit 407 controls the driving of the camera 103 to perform shooting by the camera 103. For example, when the detection unit 402 detects a start trigger, the control unit 407 controls the driving of the camera 103 to start shooting by the camera 103. For example, while the flying robot 101 is flying, the control unit 407 may control the driving of the camera 103 to perform shooting by the camera 103.

[0103] The control unit 407 controls the driving of the camera 103 to shoot an omnidirectional image of the flying robot 101, for example. The control unit 407 may, for example, shoot an image of the entire perimeter of the flying robot 101 in the horizontal direction. The control unit 407 may, for example, shoot an image below the flying robot 101 according to the flight altitude of the flying robot 101. For example, when the control unit 407 detects a predetermined sound such as a user's voice after starting the flight of the flying robot 101, the control unit 407 may shoot the direction of the sound source of the predetermined sound with the camera 103.

[0104] Also, the control unit 407 recognizes the user based on the image captured by the imaging unit 403. User recognition is performed, for example, by determining whether the image captured by the imaging unit 403 includes a person in a specific posture.

[0105] When recognizing the user, the control unit 407, for example, removes noise, distortion, etc. from the image captured by the imaging unit 403, emphasizes the contours of the objects included in the image, or adjusts the brightness and color tone of the image, making it easier to extract the person included in the image. Also, when recognizing the user, the control unit 407, for example, extracts features such as the positions of the arms and shoulders in terms of pixels, and based on various information such as the color and brightness assigned to the pixels, determines whether the image captured by the imaging unit 403 contains a person in a specific posture.

[0106] In addition, when recognizing the user, in addition to determining whether the image contains a person in a specific posture, the control unit 407 may also determine whether the person extracted from the image captured by the imaging unit 403 is a specific person. That is, the control unit 407 may determine whether a specific person is in a specific posture. In this case, the control unit 407, for example, extracts features such as eyes, mouth, nose, etc. in terms of pixels, and based on various information such as the color and brightness assigned to the pixels, determines whether the person captured in the image is a specific person. The presence or absence of a specific person can be determined even if the specific person is not in a specific posture.

[0107] The determination of whether a person is a specific person is made, for example, based on the image captured by the imaging unit 403 and the information about the extracted person stored in the storage unit 401, by determining whether the person extracted from the image captured by the imaging unit 403 was captured by the imaging unit 403 for a predetermined time or more or a predetermined number of times or more in the past or up to a time point retroactively from the current time point by a predetermined period. And when the person extracted from the image captured by the imaging unit 403 was captured by the imaging unit 403 for a predetermined time or more or a predetermined number of times or more in the past or up to a time point retroactively from the current time point by a predetermined period, it is determined that the person recognized from the image is a specific person.

[0108] In addition, the determination of whether a person is a specific person can be made, for example, by determining whether the person extracted from the image captured by the imaging unit 403 was captured within a specific range in the past or up to a time point retroactively from the current time point for a predetermined period. And when the person extracted from the image captured by the imaging unit 403 was captured within a specific range in the past or up to a time point retroactively from the current time point for a predetermined period, it is determined that the person recognized from the image is a specific person.

[0109] When the control unit 407 recognizes a user, it causes the flying robot 101 (drone) to fly so as to be placed on the user's body. Specifically, for example, when recognizing a user in a stationary posture with their arm protruding forward, it performs a placement operation of causing the flying robot 101 (drone) to fly so as to be placed on the user's arm. The inventor named the flying robot 101 that flies so as to be placed on the user's body as "Dro Takajo". In addition, the inventor named the flying robot 101 that recognizes the user as the owner and operates according to the owner's actions as "Dro Pet".

[0110] The placed state can be, for example, a state where the flying robot 101 (drone) does not fall from the user's body while continuing to stop the rotation of the propeller 102 for a predetermined placement time after contacting the user's body. The placement time that serves as the threshold for determining placement can be arbitrarily set, such as 5 seconds, 10 seconds, 30 seconds, etc.

[0111] The placement time that serves as the threshold for determining placement may be made changeable according to the difficulty level of the physical activity using the flying robot 101 (hereinafter, appropriately referred to as the "hawk craftsman game"). Specifically, for example, the higher the difficulty level of the hawk craftsman game, the longer the placement time can be set.

[0112] Also, the difficulty level of the hawk craftsman game may be set according to, for example, the part where the flying robot 101 is placed. Specifically, for example, when the difficulty level of the hawk craftsman game is low, a relatively easy-to-place part such as the palm can be used. When the difficulty level of the hawk craftsman game increases, parts where it is difficult for the flying robot 101 to be placed, such as above the shoulder, above the elbow when the arm in a fist-holding state protrudes at the same height as the shoulder with the elbow bent, and the top of the head, can be used.

[0113] The difficulty level of the hawk craftsman game can be set, for example, by the communication between a terminal device such as a smartphone installed with a predetermined application and the flying robot 101. Also, the difficulty level of the hawk craftsman game may be set, for example, by accepting an input operation on the flying robot 101 in an input / output device such as a key or a button.

[0114] When the placement operation is successful, that is, when the rotation of the propeller 102 can be continuously stopped and the state of not falling from the user's body can be maintained during the placement time which is the threshold value for the placement determination, the control unit 407 may execute a predetermined process. The predetermined process can be realized, for example, by an operation of outputting a sound imitating the voice of a bird from the speaker 304 or outputting a voice such as "Placement successful!". Also, the predetermined process can be realized, for example, by an operation of swirling above the user's head or blinking the LED lamp 104.

[0115] If the detection unit 402 detects that the flying robot 101 is in a falling state before the placement time elapses after the flying robot 101 contacts the user's body, the control unit 407 controls the drive unit 405 to fly the flying robot 101 again. Thereby, when the user cannot continuously place the flying robot 101 on the arm during the placement time, it is possible to prevent the flying robot 101 from falling to the ground or the like and being damaged.

[0116] Further, if the control unit 407 detects that the flying robot 101 is in a falling state by the detection unit 402 after coming into contact with the user's body and before the wearing time has elapsed, it flies to a position a predetermined distance away from the position where the falling state was detected, starts shooting again by the shooting unit 403 from the position a predetermined distance away, and performs user recognition. As a result, the user can resume the hawk game without throwing the flying robot 101 again.

[0117] At the time of user recognition, the control unit 407 may store, for example, information regarding the recognized user's characteristics in the storage unit 401. The information regarding the user's characteristics includes, for example, at least one of the cumulative time when a person having the characteristics was photographed and the cumulative number of times the person was photographed. The information regarding the user's characteristics may include, for example, both the cumulative time when a person determined to be a user was photographed and the cumulative number of times the person was photographed.

[0118] As a result, for a specific person who has had an opportunity to come into contact with the flying robot 101 even when the user is not in a specific posture, for example, it can show special behavior only for a specific person, such as flying around the user or chasing the user. In this case, the flying robot 101 may be made to fly at a position close to the specific person to such an extent that the specific person cannot touch the flying robot 101 even if they stretch out their hand. As a result, it is possible to simulate the state of getting familiar with a person who has had an opportunity to come into contact with the flying robot 101.

[0119] Furthermore, when the remaining battery level becomes equal to or less than a predetermined amount, the control unit 407 may fly the flying robot 101 so as to approach the user or around the user's feet, regardless of whether the user is in a specific posture. By performing such special flying, it is possible to inform the user that the remaining battery level is decreasing.

[0120] Also, if there is a dedicated harness for carrying the flying robot 101, when the remaining amount of the battery becomes equal to or less than a predetermined amount, the control unit 407 may fly the flying robot 101 so as to return it to the harness. When such a harness includes a battery, a power feeding coil, and a holder, by flying the flying robot 101 so that it fits into the holder, the battery can be charged easily and surely.

[0121] The output unit 406 operates in conjunction with the flying operation of the flying robot 101. Also, the output unit 406 operates according to the state of the flying robot 101. For example, the output unit 406 operates in conjunction with a flying operation in which the flying robot 101 flies around a specific user, or operates according to the remaining amount of the battery when the flying robot 101 is flying around a specific user.

[0122] Specifically, for example, when the flying robot 101 flies around a specific user, the output unit 406 turns on or blinks the LED lamp 104 provided in the part corresponding to the eyes. In this case, specifically, the output unit 406 can realize its function by, for example, the LED lamp 104 shown in FIG. 1 or FIG. 3.

[0123] Also, for example, when the flying robot 101 flies around a specific user, the output unit 406 may output sound from the speaker 304. The sound output by the output unit 406 may be, for example, a sound imitating the cry of an animal, a voice addressed to a specific user, or music. In this case, specifically, the output unit 406 can realize its function by, for example, the speaker 304 shown in FIG. 3.

[0124] Further, for example, when information indicating that an event that may affect a specific user, such as a disaster, earthquake, tsunami, lightning strike, rainfall, strong wind, or sudden weather change, may occur is acquired, the output unit 406 outputs a voice guiding that the event may occur when the flying robot 101 approaches the vicinity of the specific user, or causes the LED lamp 104 to emit light or blink in a specific pattern or emission color.

[0125] The acquisition unit 404 acquires information outside the flying robot 101. Specifically, the acquisition unit 404 acquires, for example, an image around the flying robot 101. In this case, the acquisition unit 404 can specifically implement its function by, for example, the camera 103 shown in FIG. 3. The above storage unit 401 stores at least information about a person included in the captured image or characteristics of the person among the information acquired by the acquisition unit 404.

[0126] Further, specifically, the acquisition unit 404 may acquire predetermined information from an external device via the network N. In this case, the acquisition unit 404 can specifically implement its function by, for example, the communication I / F 309 shown in FIG. 3.

[0127] In this case, the acquisition unit 404 acquires, as predetermined information, notification information output from a specific terminal device. The specific terminal device is, for example, a terminal device that has previously stored identification information in the storage unit 401, and can be specifically realized by a smartphone or the like owned by a specific user.

[0128] Further, in this case, the acquisition unit 404 may acquire, as predetermined information, information indicating that an event that may affect a specific user, such as a disaster, may occur within a predetermined time after the current time. The predetermined information may be, for example, information indicating that a disaster, earthquake, tsunami, lightning strike, rainfall, strong wind, or sudden weather change may occur within a predetermined time after the current time. The acquisition unit 404 acquires such predetermined information through the network N, for example, constantly or at predetermined intervals by communicating.

[0129] Further, the acquisition unit 404 may acquire, as predetermined information, various types of information such as music, news, and sales information of goods that match the preferences of a specific user. In this case, specifically, the acquisition unit 404 can implement its function by, for example, the camera 103 and the microphone 303 shown in FIG. 3. Music, news, sales information of goods that match the preferences of a specific user can be determined based on, for example, the sound collected around a specific user by the microphone 303, goods with a high usage frequency of a specific user, goods that frequently enter the field of view of a specific user, and the like.

[0130] Goods that frequently enter the field of view of a specific user are, for example, TV programs such as movies, news, and variety shows, highly interesting goods such as gardening products and tableware, and can be determined based on images captured by the imaging unit 403, similar to goods with a high usage frequency of a specific user. The above storage unit 401 can store at least information regarding the preferences of a specific user among the information acquired by the acquisition unit 404.

[0131] Further, the acquisition unit 404 may acquire, for example, the voice of a specific user. The voice of a specific user can be determined based on, for example, the voice collected by the microphone 303, or the voice collected by the microphone 303 and the image captured by the camera during the same period. In this case, specifically, the acquisition unit 404 can implement its function by, for example, the camera 103 and the microphone 303 shown in FIG. 3. The above storage unit 401 can store information related to the voice of a specific user among the information acquired by the acquisition unit 404.

[0132] Further, the acquisition unit 404 may acquire, for example, the information learned by another flying robot 101 as predetermined information. Thereby, the information obtained by the learning of a single flying robot 101 can be shared by a plurality of other flying robots 101, and the flying robot 101 can be made to act more in accordance with the preferences of a specific user.

[0133] (Processing procedure of the flying robot 101) Next, the processing procedure of the flying robot 101 will be described. FIG. 5 is a flowchart showing the processing procedure of the flying robot 101. In the flowchart of FIG. 5, first, wait until a start trigger is detected (step S501: No). In step S501, when a start trigger is detected (step S501: Yes), start flying (step S502). Also, when a start trigger is detected (step S501: Yes), start capturing an image with the camera 103 (step S503).

[0134] Next, based on the image captured by the camera 103, it is determined whether the user has been recognized (step S504). In step S504, for example, as described above, it is performed by determining whether the image captured by the camera 103 includes a person in a specific posture. In step S504, if the user has not been recognized (step S504: No), it waits until the user is recognized. Then, based on the image captured by the camera 103, it is determined whether the user has been recognized.

[0135] In step S504, if the user has been recognized based on the image captured by the camera 103 (step S504: Yes), the placing operation on the body of the recognized user is started (step S505). In step S505, for example, when a specific posture is a posture in which the arm in a fist - held state protrudes forward of the torso and remains stationary, a placing operation on a specific part of the person, such as the protruding arm of the person in the specific posture, is performed.

[0136] Then, it is determined whether it has been placed on the body of the user recognized in step S504: Yes (step S506). In step S506, for example, it is determined whether it is possible to maintain a state of not falling from the user's body while continuously stopping the rotation of the propeller 102 for a placement determination threshold time of placement.

[0137] In step S506, if it has been placed on the body of the user recognized in step S504: Yes (step S506: Yes), a predetermined process is executed (step S507), and a series of processes is terminated. When the placement is successful, by executing a predetermined process in step S507, a sense of achievement can be given to the user, and the hawk - craftsman game can be repeated.

[0138] On the other hand, in step S506, before determining that it has landed, that is, before the landing time has elapsed after contacting the user's body (step S506: No), it is determined whether the flying robot 101 is in a falling state (step S508). In step S508, if the flying robot 101 is not in a falling state (step S508: No), the process proceeds to step S506 to determine whether it has landed on the user's body.

[0139] On the other hand, in step S508, if the flying robot 101 is in a falling state before the landing time has elapsed after contacting the user's body (step S508: Yes), flight is resumed (step S509), the process proceeds to step S504, and it is determined whether the user has been recognized based on the image captured by the camera 103. As a result, the user can resume the hawk trainer game without throwing the flying robot 101 again.

[0140] (Overview of the hawk trainer game) Next, an overview of the hawk trainer game using the flying robot 101 will be described. FIGS. 6 to 8 are explanatory diagrams showing an overview of the hawk trainer game using the flying robot 101. As shown in FIG. 6, the hawk trainer game using the flying robot 101 starts by throwing the flying robot 101 into the air. In the hawk trainer game, movement can be caused by the action of throwing the flying robot 101 into the air.

[0141] The flying robot 101 thrown into the air captures an image with the camera 103 and recognizes the user 601 based on the captured image. When the captured image does not include a person, or when a person is included but the user 601 is not included, the flying robot 101 appropriately changes the shooting range, such as by turning.

[0142] When the user 601 is recognized, as shown in FIG. 7, it flies towards the user 601. The flying speed in the direction approaching the user 601 may be faster than the speed at the time of being thrown. This can give the user 601 a feeling as if a hawk with intention is flying towards oneself.

[0143] In the flying robot 101 imitating birds and beasts, when flying towards the user 601, it flies with its head facing the user 601 side, that is, in a state where the head is facing the front side of the traveling direction. And when the flying robot 101 approaches the user 601 to a certain extent, it may fly with its head side positioned upward and its ventral side tilted towards the user 601. Thereby, the movement when a hawk perches can be imitated.

[0144] The user 601 maintains a specific posture as shown in FIG. 8 until the placement time elapses after the flying robot 101 contacts a predetermined part, such as above the user's elbow. Thereby, the user 601 needs to continuously maintain a specific posture while the flying robot 101 is flying towards the user 601 and until the placement time elapses after the flying robot 101 contacts the user 601's body.

[0145] Among the specific postures, by making the posture when waiting for the placement of the flying robot 101 a posture that uses muscle strength and is not often done in daily life, muscles that are not usually used in daily life can be moved, and a further exercise effect can be achieved. Also, by designing the weight of the flying robot 101 itself to be large, the amount of muscle used when throwing the flying robot 101 and when waiting for the placement of the flying robot 101 can be increased to achieve a further exercise effect.

[0146] In the process of the above-described FIG. 5, in step S504, the recognition of the user 601 was performed by determining whether or not a person in a specific posture was included. However, it is not limited to this. In step S504, in addition to determining whether or not a person included in the image captured by the camera 103 is a person in a specific posture, the recognition of the user 601 may be performed by determining whether or not the person is a specific person. And only when a specific person is in a specific posture, the person may be recognized as the user 601 and the robot may operate to be placed on the body of the person.

[0147] Thereby, a person other than a specific person cannot cause the flying robot 101 to be placed on the body even if the person takes a specific posture, and it is possible to give an experience such that there is a trust relationship with the flying robot 101 imitating an eagle to the specific person recognized as the user 601. And thereby, a specific person can be made to have an attachment to the flying robot 101 and can be made to repeat the eagle-craft game, so that the person can be induced to move the body in a fun and relaxed manner.

[0148] As described above, the flying robot 101 according to the embodiment of the present invention includes a drone (unmanned aerial vehicle) that flies by automatic control and a camera 103 mounted on the unmanned aerial vehicle, and when the user 601 is recognized based on an image captured by the camera, it is characterized in that it is placed on the body of the user 601.

[0149] According to the flying robot 101 of the embodiment of the present invention, for example, the flying robot 101 can be placed on the body of the user 601 who takes a specific posture such as keeping the arm in a fist-holding state, bending the elbow, protruding forward of the torso at the same height as the shoulder, and standing still. That is, in order for the user 601 to place the flying robot 101 on the body, the user 601 must take a specific posture. Thereby, for the user 601 While playing a game of wearing the flying robot 101 on the body, the user can be made to perform movements such as stretching the arms or expanding the chest.

[0150] As described above, according to the flying robot 101 of the embodiment of the present invention, it is possible to support the user 601 in having fun and casual exercise, and to promote the health of the user 601 without imposing a psychological burden on the user 601.

[0151] In addition, according to the flying robot 101, since it can be kept in a clean state, problems in terms of hygiene can be eliminated as compared with the case of raising living organisms. Also, according to the flying robot 101, since there is no problem of animal allergy, regardless of the constitution of a specific user 601, it is possible to promote health while experiencing communication with the flying robot 101 that mimics a living organism.

[0152] In addition, according to the flying robot 101, in addition to no problems in terms of hygiene and animal allergy, by flying in the air, bacteria, viruses, dirt, etc. do not adhere from the floor or the like, so it can also be used in places such as hospitals and nursing facilities. Thereby, for example, it is possible to sponsor rehabilitation exercises for the recovery of motor function and to expect a therapeutic effect on the users of hospitals and nursing facilities.

[0153] In addition, the flying robot 101 of the embodiment of the present invention is characterized in that when a start trigger is detected, the camera 103 starts shooting. The start trigger can be detected using, for example, inertial sensors such as an acceleration sensor 308 and an angle sensor, or the camera 103.

[0154] According to the flying robot 101 of the embodiment of the present invention, for example, when it is detected using inertial sensors such as an acceleration sensor 308 and an angle sensor that the flying robot 101 has been thrown into the air as a start trigger, the camera 103 starts shooting. Thus, play can be started with a simple operation of throwing the flying robot 101, and battery 301 consumption can be suppressed compared to the case where the camera is always turned on. Also, the flying robot 101 can be made to move by the operation of throwing it into the air.

[0155] As a result, the user 601 can move their body more casually and the charging frequency can be suppressed, so the health of the user 601 can be improved without imposing a burden on the user 601.

[0156] Further, the flying robot 101 of the embodiment of the present invention is provided with a microphone 303, and is characterized in that the direction of a sound source of a predetermined voice collected by the microphone 303 is photographed by the camera 103. And the predetermined voice can be, for example, the voice of the user 601.

[0157] According to the flying robot 101 of the embodiment of the present invention, in response to the voice of the user 601, the shooting direction (flying direction) is determined and shooting is started, and based on the image captured as a result, the user 601 is recognized. Therefore, battery 301 consumption can be suppressed compared to the case of always shooting omnidirectionally without inadvertently shooting a wide range.

[0158] Further, according to the flying robot 101 of the embodiment of the present invention, in response to the voice of the user 601, the shooting direction (flying direction) is determined and shooting is started, and based on the image captured as a result, the user 601 is recognized. Therefore, while experiencing communication with the flying robot 101 that mimics a living thing, the health can be improved.

[0159] According to the flying robot 101 of the embodiment related to the present invention, for example, the flying robot 101 can be placed on the body of the user 601 who takes a specific posture such as protruding a clenched fist into the air. That is, the user 601 must take a specific posture in order to place the flying robot 101 on the body. Thereby, while making the user 601 play with placing the flying robot 101 on the body, the user 601 can be made to perform movements such as stretching the arms and expanding the chest.

[0160] In this way, according to the flying robot 101 of the embodiment related to the present invention, the user 601 can move the body happily and easily. And thereby, the health of the user 601 can be improved without imposing a psychological burden on the user 601.

[0161] Further, the flying robot 101 of the embodiment related to the present invention may regard a person photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more as the user 601.

[0162] According to such a flying robot 101, when it is recognized that a specific user 601 who has an opportunity to come into contact with the flying robot 101 in a corresponding manner has taken a specific posture, the flying robot 101 can be placed on the body of the specific user 601. In this way, by making the flying robot 101 perform an operation imitating a living being, such as building a trust relationship or a master-slave relationship with the user 601 by having an opportunity to come into contact with the flying robot 101 in a corresponding manner, the health of the specific user 601 can be improved, and by expressing that the specific user 601 is recognized as a breeder, the heart of the specific user 601 can be healed and a sense of fulfillment can be given.

[0163] Note that the control method of the flying robot described in this embodiment can be realized by executing a control program of the flying robot prepared in advance on a computer provided in the flying robot. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, or a DVD, and is executed by being read from the recording medium by a computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

Industrial Applicability

[0164] As described above, the flying robot, the control program of the flying robot, and the control method of the flying robot according to the present invention are useful for a flying robot, a control program of the flying robot, and a control method of the flying robot that can assist in movement. In particular, they are suitable for a flying robot, a control program of the flying robot, and a control method of the flying robot that can assist in enjoyable and casual movement.

Explanation of Signs

[0165] 101 Flying robot 102 Propeller 103 Camera 307 Control circuit 401 Storage unit 402 Detection unit 403 Photographing unit 404 Acquisition unit 405 Driving unit 406 Output unit 407 Control unit 601 User

Claims

1. An unmanned aerial vehicle that flies by autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with A flying robot characterized in that when it recognizes a user based on an image captured by the camera, it attaches itself to the user's body.

2. A detection means for detecting a start trigger is provided, 2. The flying robot according to claim 1, wherein when the start trigger is detected by the detection means, the camera starts taking pictures.

3. 3. The flying robot according to claim 2, wherein the detection means detects, as the start trigger, that the flying robot has been thrown into the air.

4. 3. The flying robot according to claim 1, wherein the detection means includes an inertial sensor.

5. 4. The flying robot according to claim 3, wherein the detection means includes at least one of an acceleration sensor and an angle sensor.

6. 5. The flying robot according to claim 2, wherein the flying robot starts flying when the start trigger is detected by the detection means.

7. A microphone mounted on the unmanned aerial vehicle, 7. The flying robot according to claim 1, wherein the camera captures an image of a direction of a source of a predetermined sound collected by the microphone.

8. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically Taking an image using the camera, When a user is recognized based on the image captured by the camera, the flying robot is placed on the body of the user. A control program for a flying robot, which causes the robot to execute a process.

9. Detect the start trigger, 9. The flying robot control program according to claim 8, wherein when the start trigger is detected, the camera starts taking pictures.

10. 10. The flying robot control program according to claim 9, wherein the flying robot is detected as a trigger for starting the flying robot by being thrown into the air.

11. 11. The flying robot control program according to claim 9 or 10, further comprising a step of detecting, as the start trigger, that the flying robot has been thrown into the air, based on an output signal from an inertial sensor.

12. 12. The flying robot control program according to claim 11, characterized in that the flying robot is detected as a trigger for starting the flying robot by being thrown into the air based on an output signal from at least one of an acceleration sensor and an angle sensor.

13. 13. The flying robot control program according to claim 8, wherein when the start trigger is detected, the flying robot starts flying.

14. A flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically. Taking an image using the camera, When a user is recognized based on the image captured by the camera, the device is placed on the user's body. A method for controlling a flying robot.

15. Detect the start trigger, 15. The flying robot control method according to claim 14, wherein when the start trigger is detected, the camera starts taking pictures.

16. 16. The method for controlling an flying robot according to claim 15, further comprising detecting, as a trigger for starting the flying robot, that the flying robot has been thrown into the air.

17. 17. The method for controlling an flying robot according to claim 15 or 16, further comprising detecting, as a trigger for starting the flying robot, that the flying robot has been thrown into the air, based on an output signal from an inertial sensor.

18. The flying robot control method according to claim 17, characterized in that the flying robot is detected as a trigger for starting the flying robot by being thrown into the air based on an output signal from at least one of an acceleration sensor and an angle sensor.

19. The method for controlling an flying robot according to any one of claims 15 to 18, characterized in that, when the start trigger is detected, the flying robot starts flying.

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