Flying robot

Abstract

To soothe the user's heart and give them a sense of fulfillment. [Solution] The flying robot is equipped with a drone that flies by autopilot. When the drive stops, it is allowed to fall naturally, and as a result, it detects whether a collision has occurred. If a collision is detected, it emits sound or lights up and restarts the drive. After a predetermined time has elapsed, the drive stops again. By repeating this operation process a predetermined number of times, the flying robot can be made to perform actions that mimic the bouncing of a ball. It can also perform actions that mimic the jumping of animals such as rabbits and kangaroos. Such actions can entertain the user and increase their sense of attachment to the flying robot as a pet.

Description

Technical Field

[0001] This invention relates to a flying robot, a control program, and a control method, for example, a flying robot that performs actions mimicking animals such as pets, a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] Conventionally, there are pet-type robots that are shaped like animals such as dogs and cats and perform actions mimicking the actions of animals such as moving on their own and making sounds. Such pet-type robots are not designed for practical functions that seek convenience, but mainly for the purpose of healing and entertaining the user's mind through their appearance and actions.

[0003] Specifically, conventionally, for example, there has been a technique that enables sharing (joint attention) of a learning object and enables appropriate identification of the learning object by identifying a learning object, storing information on the identified learning object in an associative memory unit, and acting based on the information on the learning object stored in the associative memory unit and a newly detected object (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

Patent Document 6

Patent Document 7

[0005] However, animals have their own will and do not necessarily act only in response to the actions of their owners. Sometimes they do not listen to their owners' instructions or move around freely even when their owners are not present. However, the conventional technologies described above operate uniformly in response to communication with the user and are inferior in terms of autonomy.

[0006] In order to solve the problems caused by the above-described conventional technologies, an object of the present invention is to provide a flying robot, a control program for the flying robot, and a control method for the flying robot that can heal the user's mind and give the user a sense of fulfillment.

Means for Solving the Problems

[0007] 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 recognizes a specific user based on an image captured by the camera, and is characterized by flying around the specific user 600.

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

[0009] Further, the flying robot according to the present invention is characterized in that, in the above invention, the specific user is a person who has been photographed by the camera within a specific range.

[0010] Further, the flying robot according to the present invention is characterized in that, when at least a part of the specific user approaches the unmanned aircraft during flight around the specific user, it flies away from the specific user.

[0011] In addition, the flying robot according to this invention, in the above invention, when flying around the specific user and the specific user does not visually observe the unmanned aircraft, it is characterized by flying so as to approach the specific user.

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

[0013] In addition, the flying robot according to this invention, in the above invention, is provided with a wireless communication interface mounted on the unmanned aircraft, and when acquiring predetermined information via the wireless communication interface, it is characterized by flying around the specific user.

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

[0015] In addition, the flying robot according to this invention, in the above invention, is characterized in that the predetermined information is information indicating that disasters, earthquakes, tsunamis, lightning strikes, rainfall, strong winds, or sudden weather changes may occur within a predetermined time after the current time.

[0016] In addition, the flying robot according to this invention, in the above invention, is provided with a speaker mounted on the unmanned aircraft, and while outputting voice from the speaker toward the specific user, it is characterized by flying around the specific user.

[0017] In addition, the flying robot according to this invention, in the above invention, is provided with a microphone mounted on the unmanned aircraft, and when a predetermined voice is collected by the microphone, it is characterized by flying around the specific user. [[ID=​​Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

[0019] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined voice is the voice of the specific user.

[0020] Furthermore, the flying robot according to 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 predetermined sound is picked up by the microphone, it outputs the sound from the speaker toward the specific user and flies around the specific user.

[0021] Furthermore, the flying robot according to this invention is characterized in that the sound output from the speaker is a sound that imitates the sound of an animal.

[0022] Furthermore, the control program for the flying robot according to this invention is characterized in that it causes a computer in an unmanned aerial vehicle equipped with a camera and flying by autopilot to recognize a specific user based on an image taken by the camera, and to execute a process of flying around the recognized specific user.

[0023] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when the unmanned aerial vehicle is flying around a specific user, if at least a portion of the specific user approaches the unmanned aerial vehicle, the program executes a process to cause the robot to fly away from the specific user.

[0024] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, if the unmanned aerial vehicle is flying around a specific user and the specific user does not see the unmanned aerial vehicle, the program will execute a process to make the robot fly closer to the specific user.

[0025] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it performs a process of flying away from the specific user after flying around the specific user a predetermined number of times.

[0026] Furthermore, the control method for a flying robot according to this invention is characterized in that a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot is made to recognize a specific user based on an image taken by the camera, and to fly around the recognized specific user.

[0027] Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, if at least a portion of the specific users approach the unmanned aerial vehicle while it is flying around the specific users, the robot is made to fly away from the specific users.

[0028] Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, if the specific user 600 does not see the unmanned aerial vehicle while it is flying around the specific user, the robot is made to fly in a manner that approaches the specific user.

[0029] Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, the robot flies around a specific user a predetermined number of times and then flies away from the specific user.

[0030] Furthermore, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by autopilot, a camera mounted on the unmanned aerial vehicle, and a microphone mounted on the unmanned aerial vehicle, and is characterized in that it recognizes a specific user based on an image captured by the camera, and when a predetermined sound is picked up by the microphone, it flies between the vicinity of the recognized specific user and the source of the predetermined sound in accordance with the predetermined sound.

[0031] Furthermore, the flying robot according to this invention is characterized in that, when a predetermined sound is collected by the microphone, it circles around the recognized specific user in accordance with the predetermined sound, and then flies between the vicinity of the specific user and the source of the predetermined sound.

[0032] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

[0033] Furthermore, in the flying robot according to this invention, the predetermined sound is emitted at the entrance of a building or site, and visitors to the building or site are alerted to the residents of the building or site. It is characterized by being the sound of a doorbell installed to call a person or manager.

[0034] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a sound with a sound pressure above a predetermined threshold.

[0035] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a sound generated by the specific user within a predetermined range.

[0036] Furthermore, the flying robot according to this invention is characterized in that, in response to the predetermined sound, it flies around the recognized specific user in a flight mode corresponding to the predetermined sound.

[0037] Furthermore, the flying robot according to 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 predetermined sound is collected by the microphone, it projects an image corresponding to the predetermined sound from the projector in front of the recognized specific user.

[0038] Furthermore, the flying robot according to 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 relating to the image projected from the projector via the wireless communication interface.

[0039] Furthermore, the flying robot according to this invention is characterized in that, when a predetermined sound is collected by the microphone, it projects characters corresponding to the predetermined sound from the projector in front of the recognized specific user.

[0040] Furthermore, the control program for the flying robot according to this invention is characterized in that it causes a computer equipped with a flying robot that is an unmanned aerial vehicle equipped with a camera and a microphone and flies by autopilot to recognize a specific user based on an image taken by the camera, and when a predetermined sound is picked up by the microphone, to execute a process to fly between the vicinity of the recognized specific user and the predetermined sound source in accordance with the predetermined sound.

[0041] Furthermore, the control method for a flying robot according to this invention is characterized in that a flying robot equipped with a camera and a microphone and flying by autopilot is made to recognize a specific user based on an image captured by the camera, and when a predetermined sound is picked up by the microphone, it is made to fly between the vicinity of the recognized specific user and the predetermined sound source in accordance with the predetermined sound.

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

[0043] Furthermore, the control method for a flying robot according to this invention is characterized in that a flying robot equipped with a camera, microphone, and projector, and which flies by autopilot, recognizes a specific user based on an image captured by the camera, and when a predetermined sound is picked up by the microphone, the flying robot flies between the vicinity of the recognized specific user and the source of the predetermined sound in accordance with the predetermined sound, and projects an image corresponding to the predetermined sound from the projector in front of the recognized specific user 600.

[0044] Furthermore, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by autopilot, 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 based on an image taken by the camera, and when it obtains information via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time from the present, it flies between the vicinity of the recognized specific user and the source of a predetermined voice in response to the predetermined voice.

[0045] Furthermore, the control program for the flying robot according to this invention is characterized in that, when a computer equipped with a flying robot that is an unmanned aerial vehicle equipped with a camera and a wireless communication interface and flies by autopilot is made to recognize a specific user based on an image taken by the camera, and when it obtains information via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time from the present, it is made to execute a process to fly between the vicinity of the recognized specific user 600 and the source of a predetermined voice in response to the predetermined voice.

[0046] Furthermore, the control method for a flying robot according to this invention is characterized in that a flying robot equipped with a camera and a wireless communication interface, which flies by autopilot, recognizes a specific user based on an image captured 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 predetermined time from the present, it flies between the vicinity of the recognized specific user and the source of a predetermined sound in response to the predetermined sound.

[0047] Furthermore, the flying robot according to this invention is equipped with an unmanned aerial vehicle that flies by autopilot, and is characterized in that it detects when the drive used for flight has stopped during the flight of the unmanned aerial vehicle, detects that the aircraft has collided with something after detecting that the drive has stopped, and starts the drive when the collision is detected.

[0048] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, after the detection of the drive stop, the robot starts the drive when a predetermined time has elapsed without the robot colliding with anything.

[0049] Furthermore, the flying robot according to this invention is equipped with an unmanned aerial vehicle that flies by autopilot, and is characterized in that, during the flight of the unmanned aerial vehicle, it detects that the aircraft is falling, and after detecting the falling, it detects that the aircraft has collided with something, and when it detects the collision, it performs a drive to lift the aircraft up.

[0050] Furthermore, the flying robot according to this invention is characterized in that, after detecting the cessation of the fall, the robot starts the drive when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

[0051] Furthermore, the flying robot according to this invention is characterized in that it includes an unmanned aerial vehicle that flies by autopilot, and during the flight of the unmanned aerial vehicle, it receives an instruction to stop the drive used for flight, stops the drive when such instruction is received, detects that the aircraft has collided with something after the drive has been stopped, and starts the drive when such collision is detected.

[0052] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it stops its drive when it acquires predetermined information via a wireless communication interface provided on the robot itself.

[0053] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0054] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0055] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, after a predetermined time has elapsed since the start of the drive, the drive is stopped again.

[0056] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the stopping and starting of the drive is repeated a predetermined number of times.

[0057] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the drive is controlled so that the collision position is the same.

[0058] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the drive is controlled so that the collision position is different.

[0059] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it recognizes a specific user based on an image captured by a camera equipped on the robot, and controls the drive so that the collision position is different in order to follow the moving specific user.

[0060] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, after the detection of the drive stop, the robot starts the drive when a predetermined time has elapsed without the robot colliding with anything.

[0061] Furthermore, the flying robot according to this invention is characterized by comprising an unmanned aerial vehicle that flies by autopilot, receiving a command to drive the unmanned aerial vehicle to fall while the unmanned aerial vehicle is in flight, performing the drive when the command is received, detecting that the unmanned aerial vehicle has collided with something after the drive has been performed, and performing a drive to lift the unmanned aerial vehicle when the collision is detected.

[0062] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, when it acquires predetermined information via a wireless communication interface provided on the robot, it performs a drive to cause the robot to fall.

[0063] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0064] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0065] Furthermore, the flying robot according to this invention is characterized in that, after performing a drive to lift itself up, it performs a drive to drop itself again after a predetermined time has elapsed.

[0066] Furthermore, the flying robot according to this invention is characterized in that it repeatedly performs a drive to drop the robot and a drive to lift the robot a predetermined number of times.

[0067] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is the same.

[0068] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision positions are different.

[0069] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it recognizes a specific user based on an image captured by a camera equipped on the robot, and controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is different, in order to follow the moving specific user.

[0070] Furthermore, the flying robot according to this invention is characterized in that, after the above invention has been driven to fall, if the falling speed reaches a predetermined speed without the robot colliding with anything, it is driven to levitate.

[0071] Furthermore, the flying robot according to this invention is characterized in that it comprises a spherical housing that covers the unmanned aerial vehicle in the above invention.

[0072] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it comprises a hemispherical housing that covers only the lower side of the unmanned aerial vehicle.

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

[0074] Furthermore, the flying robot according to this invention is characterized in that the housing has a plurality of holes.

[0075] Furthermore, the flying robot according to this invention is characterized in that the housing is made of a mesh structure.

[0076] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, when a collision is detected, it outputs a predetermined sound from a speaker provided on the robot.

[0077] Furthermore, the flying robot according to this invention is characterized in that the sound output from the speaker is a sound that imitates the sound made when a living creature jumps.

[0078] Furthermore, the flying robot according to this invention is characterized in that the sound output from the speaker is a sound that mimics the sound made when an object bounces.

[0079] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it changes at least one of the volume and type of the sound based on the detected impact value of the collision.

[0080] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a light-emitting unit and emits light from the light-emitting unit when a collision is detected.

[0081] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, at least one of the light intensity, color, and emission pattern is changed based on the detected impact value of the collision.

[0082] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the drive control after the collision is changed based on the detected impact value of the collision.

[0083] Furthermore, the flying robot according to this invention is characterized by increasing its buoyancy speed in accordance with the magnitude of the detected impact value of the collision.

[0084] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it increases its own buoyancy altitude in accordance with the magnitude of the detected impact value of the collision.

[0085] Furthermore, the control program for a flying robot according to this invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, characterized in that it causes the computer equipped with the unmanned aerial vehicle to execute a process that detects when the drive used for flight has stopped during the flight of the unmanned aerial vehicle, detects when the aircraft has collided with something after detecting when the drive has stopped, and starts the drive when the collision is detected.

[0086] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, after the detection of the stop of the drive, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0087] Furthermore, the control program for a flying robot according to this invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, characterized in that it causes the computer equipped with the unmanned aerial vehicle to execute a process that detects when the unmanned aerial vehicle is falling during the flight of the unmanned aerial vehicle, detects when the unmanned aerial vehicle has collided with something after detecting the falling, and, when the collision is detected, performs a drive to lift the unmanned aerial vehicle up.

[0088] Furthermore, the control program for the flying robot according to this invention is characterized in that, after detecting the cessation of the fall, the program starts driving when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

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

[0090] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when predetermined information is acquired via a wireless communication interface provided by the robot, the drive is stopped.

[0091] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0092] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0093] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the drive is stopped again after a predetermined time has elapsed since the start of the drive.

[0094] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the stopping and starting of the drive is repeated a predetermined number of times.

[0095] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it controls the drive so that the collision position becomes the same.

[0096] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it controls the drive so that the collision position becomes a different position.

[0097] Furthermore, the control program for the flying robot according to this 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, and controls the drive so that the collision position is different in order to follow the moving specific user 600.

[0098] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, after the detection of the stop of the drive, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0099] Furthermore, the control program for a flying robot according to this invention is a control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, characterized in that it causes the computer equipped with the unmanned aerial vehicle to receive a command to drive the vehicle to fall while the unmanned aerial vehicle is in flight, to perform the drive when the command is received, to detect that the vehicle has collided after the drive has been performed, and to perform a drive to lift the vehicle when the collision is detected.

[0100] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when predetermined information is acquired via the wireless communication interface provided by the robot, it performs a drive to cause the robot to fall.

[0101] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0102] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0103] Furthermore, the control program for the flying robot according to this invention, in the above invention, after performing a drive to lift the robot off the ground, if a predetermined time has elapsed, the robot will fall again. It is characterized by performing a drive.

[0104] Furthermore, the control program for the flying robot according to this invention is characterized in that it repeatedly performs a drive to make the robot fall and a drive to make the robot float a predetermined number of times.

[0105] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is the same.

[0106] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is different.

[0107] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it recognizes a specific user based on an image captured by a camera equipped on the robot, and controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is different, in order to follow the moving specific user.

[0108] Furthermore, the control program for the flying robot according to this invention is characterized in that, after the robot is driven to fall, if the speed of the fall reaches a predetermined speed without the robot colliding with anything, it is driven to levitate.

[0109] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it changes the drive control after the collision based on the detected impact value of the collision.

[0110] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it increases the aircraft's lift-off speed according to the magnitude of the detected impact value of the collision.

[0111] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it increases the aircraft's buoyancy altitude according to the magnitude of the detected impact value of the collision.

[0112] Furthermore, the control method for a flying robot according to this 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 with the unmanned aerial vehicle detects that the drive used for flight has stopped during the flight of the unmanned aerial vehicle, detects that the aircraft has collided with something after detecting that the drive has stopped, and when the collision is detected, performs the process of starting the drive.

[0113] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, after the detection of the stop of the drive, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0114] Furthermore, the control method for a flying robot according to this invention is a control method for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, wherein the computer equipped with the unmanned aerial vehicle detects that the unmanned aerial vehicle is falling during the flight of the unmanned aerial vehicle, detects that the unmanned aerial vehicle has collided with something after detecting the falling, and when the collision is detected, performs a drive to lift the unmanned aerial vehicle. Now, it is characterized by executing the process.

[0115] Furthermore, the control method for a flying robot according to this invention is 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 anything.

[0116] Furthermore, the control method for a flying robot according to this 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 with the unmanned aerial vehicle receives an instruction to stop the drive used for flight while the unmanned aerial vehicle is in flight, stops the drive when the instruction is received, detects that the aircraft has collided after the drive has been stopped, and starts the drive when the collision is detected.

[0117] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, when predetermined information is acquired via a wireless communication interface provided by the robot, the drive is stopped.

[0118] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0119] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0120] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the drive is stopped again after a predetermined time has elapsed since the start of the drive.

[0121] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the stopping and starting of the drive is repeated a predetermined number of times.

[0122] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the drive is controlled so that the collision position becomes the same.

[0123] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the drive is controlled so that the collision position becomes a different position.

[0124] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the robot recognizes a specific user based on an image captured by a camera on the robot, and controls the drive so that the collision position is different, so as to follow the moving specific user.

[0125] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, after the detection of the stop of the drive, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0126] Furthermore, the control method for a flying robot according to this invention is a control method for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, wherein the computer equipped with the unmanned aerial vehicle receives a command to drive the aircraft to fall while the aircraft is in flight, performs the drive when the command is received, detects that the aircraft has collided after the drive has been performed, and performs the drive to lift the aircraft when the collision is detected. It is characterized by the following.

[0127] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, when predetermined information is acquired via a wireless communication interface provided by the robot, the robot is driven to fall.

[0128] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

[0129] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

[0130] Furthermore, the control method for a flying robot according to this invention is characterized in that, after performing a drive to lift the robot into the air, a predetermined time has elapsed, and then a drive to make the robot fall is performed again.

[0131] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the driving force to make the robot fall and the driving force to make the robot float are repeatedly performed a predetermined number of times.

[0132] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, at least one of the drives that cause the robot to fall and the drives that cause the robot to float are controlled so that the collision position is the same.

[0133] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, at least one of the drives that cause the robot to fall and the drives that cause the robot to float are controlled so that the collision position is different.

[0134] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, it recognizes a specific user based on an image captured by a camera equipped on the robot, and controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision position is different, in order to follow the moving specific user.

[0135] Furthermore, the control method for a flying robot according to this invention is characterized in that, after the robot is driven to fall, if the falling speed reaches a predetermined speed without the robot colliding with anything, the robot is driven to levitate.

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

[0137] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the robot's buoyancy speed is increased according to the magnitude of the detected impact value of the collision.

[0138] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the aircraft's buoyancy altitude is increased according to the magnitude of the detected impact value of the collision. [Effects of the Invention]

[0139] Flying robot, control program for flying robot and flying robot according to this invention Depending on the control method used, it can have the effect of soothing the user's mind and giving them a sense of satisfaction. [Brief explanation of the drawing]

[0140] [Figure 1A] This is an explanatory diagram (part 1) showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 1B] This is an explanatory diagram (part 2) showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 2] This is an explanatory diagram showing the hardware configuration of a flying robot according to Embodiment 1 of the present invention. [Figure 3] This is an explanatory diagram showing the functional configuration of the flying robot according to Embodiment 1 of the present invention. [Figure 4A] This is an explanatory diagram (part 1) showing an example of a charging spot. [Figure 4B] This is an explanatory diagram (part 2) showing an example of a charging spot. [Figure 5] This flowchart shows an example of the processing procedure for a flying robot according to Embodiment 1 of this invention. [Figure 6A] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 6B] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 6C] This is an explanatory diagram (part 3) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 7]This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of this invention. [Figure 8] This is an explanatory diagram showing the hardware configuration of a flying robot according to Embodiment 2 of the present invention. [Figure 9] This flowchart shows an example of the processing procedure for a flying robot according to Embodiment 2 of this invention. [Figure 10] This is an explanatory diagram showing an example of the flight overview of a flying robot according to Embodiment 3 of this invention. [Figure 11A] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 3 of this invention. [Figure 11B] This is an explanatory diagram showing another example of the external appearance of the flying robot according to Embodiment 3 of this invention. [Figure 12] This flowchart shows an example of the processing procedure for a flying robot according to Embodiment 3 of this invention. [Figure 13] This flowchart shows an example of another processing procedure for the flying robot according to Embodiment 3 of this invention. [Figure 14] This flowchart shows an example of another processing procedure for the flying robot according to Embodiment 3 of this invention. [Figure 15] This flowchart shows an example of another processing procedure for the flying robot according to Embodiment 3 of this invention. [Modes for carrying out the invention]

[0141] Preferred embodiments of the flying robot, control program for the flying robot, and control method for the flying robot according to the present invention will be described in detail below with reference to the attached 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 Embodiment 1 of this invention will be described. Figures 1A and 1B are explanatory diagrams showing an example of the external appearance of a flying robot according to Embodiment 1 of the present invention. As shown in Figures 1A and 1B, the flying robot 100 is equipped with a drone (unmanned aerial vehicle) 101.

[0143] Drone 101 can, for example, employ a quadcopter equipped with four propellers 102. Drone 101 is not limited to quadcopters; it can employ various types of multirotors, such as a hexacopter with six propellers or an octocopter with eight propellers.

[0144] Furthermore, the flying robot 100 is equipped with a camera 103. As shown in Figures 1A and 1B, in the flying robot 100 which has an animal-like shape, the camera 103 can be installed, for example, in the part corresponding to the eye. Alternatively, the camera 103 may be installed on the underside of the housing of the drone 101.

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

[0146] A specific user 600 can be, for example, a person who is photographed by camera 103 for a predetermined amount of time or a predetermined number of times, that is, a person who has had a reasonable opportunity to come into contact with the flying robot 100. Alternatively, a specific user 600 can be, for example, a person who is photographed within a specific range, that is, a person who is likely to be photographed by camera 103 because they have a reasonable opportunity to be in a specific range such as their home, school grounds, or store. The specific range may be a predetermined range from the charging spot (see Figures 4A and 4B).

[0147] Alternatively, a specific user 600 may be, for example, a person who is photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range. Such a person is considered to have a reasonable opportunity to be in a specific range, such as inside a home, on school grounds, or inside a store, and to have a reasonable opportunity to come into contact with the flying robot. Therefore, a person who has had the opportunity to come into contact with the flying robot for a long period of time and at a high frequency within a specific range can be designated as a specific user 600.

[0148] The specified user 600 may be one person or multiple people. The number of people designated as specified user 600 may be limited to a predetermined number or may be unlimited. By limiting the number of people designated as specified user 600 to a predetermined number, the memory capacity (see Figure 2) can be reduced.

[0149] Furthermore, a specific user 600 may be a person who has been photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range between the present time and a predetermined period prior to that time. This allows for operation that limits the number of people designated as specific users 600 to a predetermined number, even if the flying robot 100 is transferred from a person previously designated as specific user 600 to another person, or if the people entering the specific range change due to promotion to the next grade or graduation at a school or nursery school, the person who has had a reasonable opportunity to interact with the flying robot 100 in the most recent time can be designated as specific user 600, enabling operation that is appropriate to the current situation.

[0150] Camera 103 is a night vision camera that amplifies sensitivity to light to take pictures in dark places, an infrared camera that is sensitive to infrared light, and an infrared camera that replaces general-purpose digital cameras. This can also be achieved by using an infrared color night vision camera that analyzes the grayscale in images captured by a camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., a specific user 600 can be accurately recognized even at night or in dimly lit indoor environments.

[0151] The flying robot 100 may have one camera 103 or multiple cameras 103. In the case of a flying robot 100 equipped with multiple cameras 103, it is not limited to one type of camera 103, but may be equipped with multiple different types of cameras 103.

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

[0153] Furthermore, the flying robot 100 may be equipped with a drive mechanism to change 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 can be configured, for example, with a motor or a gear train. By making the attitude of the camera 103 relative to the drone 101 adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 100, regardless of the attitude of the drone 101. The camera 103 may also be equipped with a zoom function.

[0154] The flying robot 100 is equipped with a power receiving coil for wireless power transfer (contactless power transmission) within the housing of the drone 101. Wireless power transfer is a technology that receives power to a battery (see Figure 2) without using charging contacts, and is also called contactless power transfer or wireless power transfer.

[0155] The power receiving coil is located inside the outer surface of the drone 101's casing. This prevents deterioration and malfunction of the flying robot 100 due to water droplets such as beverages or raindrops. The flying robot 100 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0156] Furthermore, as shown in Figures 1A and 1B, in an animal-shaped flying robot 100, for example, an LED lamp 104 may be provided in the area corresponding to the eye. The LED lamp 104 can be provided, for example, in the area corresponding to the eyeball, or, if the lens of the camera 103 is in the area corresponding to the eyeball, to frame the lens. In such a flying robot 100, a member 105 corresponding to a characteristic part of a bird or mammal, such as a tail, ears, wings, feet (legs, limbs), horns, tusks, whiskers, etc., may also be provided.

[0157] The component 105, which corresponds to a characteristic part of a bird or mammal, is not limited to a component that corresponds to a component of a bird or mammal that actually exists in modern times, but may also correspond to a component of an extinct animal such as a dinosaur, or a component of a mythical creature such as a dragon or a unicorn. Furthermore, these components may be movable and equipped with a drive mechanism such as a motor to operate them. This allows the flying robot 100 to mimic actions such as wagging its tail or moving its ears.

[0158] The flying robot 100 may also be equipped with a solar cell 106 that generates electricity from ambient light such as sunlight. The solar cell 106 may be, for example, a drone 10 It is installed on the upper surface of the housing of 1. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by incorporating solar cell 106, charging can be performed during flight, thus extending the flight time per charge.

[0159] (Hardware configuration of the flying robot 100) Next, the hardware configuration of the flying robot 100 will be described. Figure 2 is an explanatory diagram showing the hardware configuration of the flying robot 100 according to Embodiment 1 of this invention. As shown in Figure 2, the hardware of the flying robot 100 consists 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, and the like. The various parts 103, 104, 106, 201-208 of the flying robot 100 are connected by a bus 200.

[0160] Battery 201 supplies power to operate the various parts of the flying robot 100. Battery 201 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. Battery 201 implemented as a secondary battery may be detachable from the drone 101.

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

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

[0163] The flying robot 100 does not necessarily have to use a propeller 102, as long as it can be made to float or fly. Therefore, the drive source for flight is not limited to the motor 202. Specifically, it could be, for example, a jet engine.

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

[0165] Camera 103 is equipped with an image sensor and captures images by having the image sensor receive light that has passed through the photographic lens. Camera 103 also outputs the captured image, that is, image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0166] Camera 103 may capture still images or video. Video may include the continuous playback of still images captured at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)).

[0167] Microphone 203 collects sounds from the surrounding area of ​​the flying robot 100. Microphone 203 converts the sound input as analog data into an electrical signal. Specifically, microphone 203 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0168] The speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. The speaker 204 may also have an output terminal that outputs an audio signal, and an external speaker 204 may be connected to this output terminal to generate sound.

[0169] The GPS sensor 205 determines 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 also include a filter to remove unwanted components and amplifiers such as an LNA (Low Noise Amplifier) ​​and a power amplifier 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 calculates the distance to each of the four GPS satellites and performs positioning by calculating the position where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the flying robot 100 based on radio waves received from GPS satellites, the current position of the flying robot 100 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0171] The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. Obstacles are objects that hinder the flight of the flying robot 100, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 100 is flown outdoors, all objects that hinder the flight of the flying robot 100, such as vehicles, other flying robots 100, trees, and buildings, are considered obstacles.

[0172] The object sensor 206 can be specifically implemented by non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The object sensor 206 can be implemented by at least one of the non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. 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 obstacles within a predetermined range from the flying robot 100 based on images captured by the camera 103.

[0173] Solar cell 106 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In solar cell 106, when light energy from ambient light such as sunlight is applied to the PN junction, 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, and the generated electricity can be extracted via wires connected to these electrodes.

[0174] The control circuit 207 drives and controls various parts of the flying robot 100. 7 can be implemented by a microcontroller consisting of a CPU, memory, etc. The control circuit 207 can be specifically implemented by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

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

[0176] The memory can be implemented in various ways, such as by IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the flying robot 100 via a card slot provided on the flying robot 100. The memory card can function as an IC card, such as an SD (Secure Digital) memory card. The memory may also function as an external USB memory device.

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

[0179] The IMU consists of sensors necessary for the drone 101 to acquire external information, and is comprised of, for example, a gyroscope, accelerometer, barometer, ultrasonic sensor, and magnetic compass. The GPS sensor 205 mentioned above is also included in the IMU.

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

[0181] The accelerometer detects the change in the drone 101's speed. The gyroscope and accelerometer allow for the calculation of changes in both the drone 101's tilt and its speed, enabling the drone 101 to continue flying even while tilted.

[0182] The barometric pressure sensor detects the altitude of the drone 101. The barometric pressure sensor detects the altitude of the drone 101, for example, by detecting changes in atmospheric pressure. By measuring the altitude of the drone 101 using the barometric 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, for example, mounted on the underside of the drone 101 and uses the reflection of ultrasonic waves emitted downwards from the drone 101 to detect the distance from an object located below the drone 101. This allows the drone 101 to track the ground (floor, ground, etc.). This allows for stable tracking and landing. When an ultrasonic sensor is used as the object sensor 206, the ultrasonic waves are emitted in all directions from the drone 101, and the ultrasonic sensor may function as both an object sensor 206 and as part of the IMU.

[0184] The magnetic compass sensor detects which direction (north, south, east, or west) the drone 101 is facing. Since the flying robot 100 is affected by magnetic fields depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location for operational reasons.

[0185] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 202 and outputs control signals to the ESC to control the rotation direction and speed of the propeller (propeller motor 202). The ESC controls the rotation of motor 202 based on the control signals output from the flight controller. During the flight of the flying robot 100, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 100 and recursively outputs control signals to motor 202.

[0186] Specifically, the flight controller prevents the flying robot 100 from rotating by, for example, outputting a control signal that controls adjacent propellers to rotate in opposite directions. It also moves the flying robot 100 forward by, for example, controlling the propeller in the direction of travel to rotate slower than the propeller in the direction of travel rearward. Furthermore, it makes the flying robot 100 turn to the right by, for example, controlling the propeller on the right side of the direction of travel to rotate slower than the propeller on the left side of the direction of travel.

[0187] Furthermore, the control circuit 207 includes a remaining charge measurement circuit for measuring the remaining charge of the battery 201. The remaining charge measurement circuit measures the remaining charge of the battery 201 using various known methods, such as the impedance track method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method.

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

[0189] Communication I / F208 is a wireless interface, for example, Wi-Fi (registered trademark). Communication I / F208 also uses a mobile phone network (for example, LTE (Long Term)). It may also be a wireless communication interface such as Evolution or PHS (Personal Handy-phone System).

[0190] Communication via the communication interface 208 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory may store information acquired through communication via the communication interface 208. The memory may also store information pre-entered by the user of the flying robot 100.

[0191] The LED lamps 104 located in the eye area are controlled by the control circuit 207 and light up, turn off, and blink in conjunction with the flight movements of the flying robot 100. Furthermore, the LED lamp 104 may indicate the status of the flying robot 100. Specifically, for example, it may blink in a predetermined pattern when the remaining charge falls below a predetermined threshold. The LED lamp 104 is not limited to one color, but may have multiple colors.

[0192] The flying robot 100 may also be equipped with input / output devices such as keys or buttons for giving input instructions to the flying robot 100, a power switch for switching the power of the flying robot 100 on and off, and LED lamps located in positions other than the eyes, although these are not shown in the figures. The input / output devices may be implemented by connection terminals to which other information processing devices can be connected.

[0193] (Functional configuration of flying robot 100) Next, the functional configuration of the flying robot 100 will be described. Figure 3 is an explanatory diagram showing the functional configuration of the flying robot 100 according to Embodiment 1 of the present invention. As shown in Figure 3, the functions of the flying robot 100 are realized by a storage unit 301, a detection unit 302, an imaging unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307.

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

[0195] The detection unit 302 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. Specifically, the detection unit 302 can perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, the detection unit 302 may also perform its function using, for example, the camera 103 shown in Figure 2 instead of the object sensor 206, or in addition to the object sensor 206.

[0196] The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 100 moves. By using the moving stereo method, it is possible to detect the presence or absence of obstacles within a predetermined range from the flying robot 100 using a monocular camera.

[0197] The imaging unit 303 captures images of the area surrounding the flying robot 100. Specifically, the imaging unit 303 can perform its function using, for example, the camera 103 shown in Figure 2. The storage unit 301 stores image information related to the images captured by the imaging unit 303.

[0198] Furthermore, in addition to image information, the memory unit 301 may also store information relating to the location where the image was taken, associating it with the image information. Information relating to the location where the image was taken can be identified, for example, using the GPS sensor 205.

[0199] The acquisition unit 304 acquires external information of the flying robot 100. Specifically, the acquisition unit 304 acquires images of the surroundings of the flying robot 100, for example. In this case, the acquisition unit 304 can specifically perform its function using, for example, the camera 103 shown in Figure 2. The storage unit 301 stores a small portion of the information acquired by the acquisition unit 304. Even if not, the system stores information about the person included in the captured image, or information about the characteristics of that person.

[0200] Furthermore, the acquisition unit 304 may, for example, acquire predetermined information from an external device via a network N. In this case, the acquisition unit 304 can specifically implement its function using, for example, the communication interface 208 shown in Figure 2.

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

[0202] In this case, the acquisition unit 304 may acquire, for example, information indicating that there is a possibility of an event occurring within a predetermined time period from the present moment that could affect a specific user 600, such as a disaster. The predetermined information may, for example, be information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment. The acquisition unit 304 acquires such predetermined information by communicating, for example, continuously or at predetermined intervals, via the network N.

[0203] Furthermore, the acquisition unit 304 may acquire various types of information, such as music, news, and sales information for goods that match the preferences of a specific user 600, as predetermined information. In this case, the acquisition unit 304 can specifically realize its function using, for example, the camera 103 and microphone 203 shown in Figure 2. Music, news, and sales information for goods that match the preferences of a specific user 600 can be determined based, for example, on sounds collected around the specific user 600 by the microphone 203, items that the specific user 600 uses frequently, or items that frequently come into the specific user 600's field of vision.

[0204] Items that frequently come into the field of view of a particular user 600 include, for example, television programs such as movies, news, and variety shows, and hobby-related items such as gardening supplies and tableware. These can be determined based on images captured by the camera unit 303, similar to items that the particular user 600 frequently uses. The storage unit 301 can store at least information related to the preferences of the particular user 600 from 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 a specific user 600 can be determined, for example, based on the sound collected by the microphone 203, or the sound collected by the microphone 203 and images captured by the camera at the same time. In this case, the acquisition unit 304 can specifically realize its function using, for example, the camera 103 and microphone 203 shown in Figure 2. The storage unit 301 can store information related to the voice of a specific user 600 from the information acquired by the acquisition unit 304.

[0206] Furthermore, the acquisition unit 304 may, for example, acquire information learned by another flying robot 100 as predetermined information. This allows multiple other flying robots 100 to share information obtained through the learning of a single flying robot 100, enabling the flying robots 100 to perform actions that better match the preferences of a specific user 600.

[0207] The drive unit 305 controls the flight of the drone 101. Specifically, the drive unit 305 can perform its function using, for example, the drone 101 shown in Figure 1. More specifically, section 305 can realize its function through components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC) in the control circuit 207 shown in Figure 2, and the motor 202, object sensor 206, etc.

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

[0209] Specifically, the output unit 306 can, for example, light up or blink an LED lamp 104 located in the part corresponding to the eye when the flying robot 100 is flying around a specific user 600. In this case, the output unit 306 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2.

[0210] Furthermore, the output unit 306 may output sound from the speaker 204 when the flying robot 100 is flying around a 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 speaking to a specific user 600, or music. In this case, the output unit 306 can specifically realize its function using, for example, the speaker 204 shown in Figure 2.

[0211] Furthermore, the output unit 306 may, in response to information being acquired indicating that an event that could potentially affect a specific user 600, such as a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden weather change, may output an audio message informing the user of the possibility of such an event occurring when the flying robot 100 approaches the vicinity of the specific user 600, or it may illuminate or flash the LED lamp 104 in a specific pattern or color.

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

[0213] The control unit 307 flies the drone 101, for example, by controlling the drive unit 305. Specifically, the control unit 307 starts the drone 101 flying when the battery is fully charged. The control unit 307 also starts the drone flying when it detects a call from a specific user 600, for example. Furthermore, the control unit 307 starts the drone flying when it obtains predetermined information based on information acquired via the communication interface 208, for example.

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

[0215] Furthermore, when recognizing a specific user 600, the control unit 307, for example, uses the image captured by the imaging unit 303 to identify the smallest elements constituting the image, such as eyes and mouth, at the pixel level. • It extracts features such as the nose and recognizes the person in the image based on various information such as color and brightness assigned to the pixels.

[0216] Furthermore, upon recognizing a specific 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 the person was photographed and the cumulative number of times the person was photographed. The information about the extracted person may also include, for example, both the cumulative time the person was photographed and the cumulative number of times the person was photographed.

[0217] Furthermore, when recognizing a specific user 600, the control unit 307 determines, for example, whether the person recognized from the image taken by the imaging unit 303 is a person who has been photographed by the imaging unit 303 for a predetermined amount of time or a predetermined number of times, based on the image taken by the imaging unit 303 and the information about the extracted person stored in the storage unit 301. If the person extracted from the image taken by the imaging unit 303 is a person who has been photographed for a predetermined amount 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 a specific user 600 by determining whether or not the person being photographed by the imaging unit 303 is within a specific range. Specifically, for example, a person who has a reasonable opportunity to be in a specific range such as inside a home, on school grounds, or inside a store can be recognized as a specific user 600.

[0219] The control unit 307 may further recognize a specific user 600 by determining whether 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 for a predetermined number of times or longer. Specifically, for example, if a person recognized from an image captured by the imaging unit 303 within a specific range such as inside a home, on school grounds, or inside a store is a person who has been photographed for a predetermined time or for a predetermined number of times or longer, the control unit 307 recognizes the person recognized from the image as a specific user 600.

[0220] Furthermore, the control unit 307, for example, when it recognizes a specific user 600, controls the drive unit 305 to make the flying robot 100 fly around the specific user 600. Specifically, the control unit 307 makes the flying robot 100 fly at a position close enough to the specific user 600 that the user 600 cannot touch the flying robot 100 even if they reach out their hand.

[0221] More specifically, the control unit 307 flies the flying robot 100 in such a way as to circle it above the head of a specific user 600, hover it in front of the specific user 600, or move the flying robot 100 closer to or further away from the specific user 600 as if to play with the user 600.

[0222] If the control unit 307 detects that a specific user 600 has seen the flying robot 100, it may instruct the flying robot 100 to fly away from the specific user 600 and return to the charging spot. In this way, the flying robot 100 mimics "territorial behavior," where it patrols the area around a nest to assess the situation and then returns to it, essentially treating the charging spot as a nest. This gives the surrounding people, including the specific user 600, the impression that the flying robot 100 is a living creature with its own will.

[0223] The control unit 307 controls the drive unit 305 to identify the flying robot 100. The flying robot 100 may simply fly around the user 600, or the drive unit 305 and output unit 306 may be linked to make the flying robot 100 fly around a specific user 600 while the LED lamp 104 is illuminated (flashing) or sound is output from the speaker 204.

[0224] (An example of what a charging station looks like) Next, an example of the appearance of a charging spot will be described. Figures 4A and 4B are explanatory diagrams showing an example of a charging spot. Figure 4A shows an example of the appearance of a charging spot. Figure 4B shows the AA cross-section in Figure 4A. As shown in Figures 4A and 4B, the charging spot 400 comprises a charging pad 401 and an outer casing 402.

[0225] The charging pad 401 is equipped with a power transmission coil 401a. The power transmission coil 401a is enclosed in a cover 401b made of ABS resin or silicone rubber. A power cable 401c, which has a power outlet plug at its end, is connected to the charging pad 401 (power transmission coil 401a). By connecting the power outlet plug at the end of the power cable 401c to a commercial power source and supplying electricity to the power transmission coil 401a, a magnetic field can be generated in the power transmission coil 401a.

[0226] The charging pad 401 may have a terminal to which a charging cable can be connected, such as a female USB terminal, instead of the power cable 401c. In this case, a power cable with a male USB terminal or an adapter for converting between commercial power and USB power can be used to supply electricity to the power transmission coil 401a, thereby generating a magnetic field in the power transmission coil 401a. This allows the use of a power cable of any length depending on the installation location of the charging spot 400.

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

[0228] If the aerial robot 100 has an opening above the charging pad 401, it approaches the charging pad 401 from above and takes off to the top of the charging pad 401. If the flying robot 100 has an exterior part 402 with a cavernous shape, it approaches the charging pad 401 from the upper side and takes off to the upper 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 brought into a home, and having the flying robot 100 communicate via the charging spot 400, it is possible to use multiple flying robots 100 with just one charging spot 400.

[0230] (An example of the processing procedure for flying robot 100) Next, an example of the processing procedure for the flying robot 100 will be described. Figure 5 is a flowchart showing an example of the processing procedure for the flying robot 100 of Embodiment 1 according to this invention. In the flowchart of Figure 5, first, it is determined whether or not to start flying (step S501). In step S501, for example, based on the remaining battery charge, it is determined to start flying when the battery is fully charged. Also, step S50 In step 1, for example, if a call from a specific user 600 is detected based on the sound collected via the microphone 203, it may be decided to start the flight. Also, in step S501, for example, if predetermined information is obtained based on the information acquired via the communication I / F 208, it may be decided to start the flight.

[0231] In step S501, the system waits until it is determined to begin flight (step S501: No). On the other hand, if it is determined in step S501 to begin flight (step S501: Yes), the system begins flight (step S502). In step S502, for example, the drone 101 is activated, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles. The predetermined range can be any range, including specific areas such as inside a house, on school grounds, or inside a store.

[0232] Next, it is determined whether a specific user 600 has been detected based on the images taken by the camera during flight (step S503). In step S503, for example, it is possible to determine whether a specific user 600 has been detected by determining whether the person extracted by performing predetermined image processing as described above is a person who has been photographed by the shooting unit 303 for a predetermined time or a predetermined number of times or longer. Alternatively, in step S503, for example, it may be possible to determine whether a specific user 600 has been detected by determining whether the person recognized from the images taken by the shooting unit 303 within a specific range is a person who has been photographed by the shooting unit 303 for a predetermined time or a predetermined number of times or longer, as described above.

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

[0234] The process to be initiated in step S504 can be selected based on, for example, the remaining battery level, the current position of the flying robot, or a specific user 600 detected in step S503:Yes. Alternatively, in step S504, the process of returning to the charging spot 400 after circling the specific user 600 any number of times may be initiated.

[0235] Specifically, in step S504, the system starts executing processes such as approaching a specific user 600, turning on or flashing the LED lamps 104 located in the area corresponding to the eyes, or outputting sounds that mimic animal noises. This makes it possible to simulate the endearing behavior of living creatures such as pets.

[0236] Furthermore, if a specific user 600 is moving, in step S504, the execution of a process to track that specific user 600 may be started. The process to be started in step S504 may be one or multiple processes. If multiple processes are to be started, they may be started simultaneously or at different times.

[0237] Furthermore, in step S504, for example, music that matches the preferences of a specific user 600 may be output or news may be announced. Also, in step S504, for example, based on the profile of the specific user 600, such as past behavior and preferences, flights used by another user whose behavior and preferences are similar to those of the specific user 600 may be announced. Information such as the action patterns of the robot 100 may be acquired via the network N, and a process to be executed may be determined based on the acquired information.

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

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

[0240] On the other hand, in step S506, if the process is running (step S506: Yes), a warning is output (step S507). In step S507, for example, an LED lamp 104 located in the eye area may be lit or flashed in a specific color such as red, or a warning sound may be output from the speaker 204. Alternatively, in step S507, an audio message may be output to inform a specific user 600 of the status of the flying robot 100 in words, such as "the battery is running low" or "I'm hungry."

[0241] Alternatively, in step S507, the aircraft may perform flight maneuvers that mimic, for example, a wobbling or swaying motion.

[0242] Next, it is determined in step S506:Yes whether the process that was determined to be running has completed (step S508). If the process has completed (step S508:Yes), the process proceeds to step S511. If the process has not completed in step S508 (step S508:No), it is determined whether the battery level has fallen below a pre-set second threshold (step S509).

[0243] The second threshold is set to a smaller amount than the first threshold and can be set to the amount of battery power 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 or the position of the charging spot 400.

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

[0245] In step S510, if multiple processes are running, all running processes are terminated. In step S511, the Return To Home (RTH) failsafe function of the drone 101 is activated, allowing the drone to return to the charging spot 400. While RTH is activated, camera 10 Obstacles are avoided based on images captured by 3 and detection results from object sensor 206.

[0246] In the above-described embodiment 1, a warning is issued when the battery level falls below a first threshold, and a return process is performed when it falls below a second threshold lower than the first threshold. However, the invention is not limited to this. Instead of, or in addition to, the determination based on the battery level, a warning may be issued or the running process 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 of the start of flight in step S502. For this reason, the type and number of processes to be started in step S504 may be determined according to the remaining battery charge at the time of the start of flight.

[0248] (An example of how the flying robot 100 can be used) Next, an example of how the flying robot 100 of Embodiment 1 can be used will be described. Figures 6A, 6B, and 6C are explanatory diagrams showing an example of how the flying robot 100 can be used.

[0249] The flying robot 100 can, for example, start flying at any time, and upon recognizing a specific user 600, approach the user 600 and fly around the user 600 (see Figure 6A). Then, for example, after circling the user 600 a number of times, or when the user 600 takes their eyes off the flying robot 100, it returns to the charging spot 400.

[0250] In this way, by having the flying robot 100 operate independently of the will of a specific user 600, it is possible to give the user 600 the feeling that the flying robot 100 has come from its nest of its own volition and has returned to its nest without any apparent reason. Furthermore, by having the flying robot 100 operate independently of the user's will, it is possible to give the user 600 the feeling that the boring flying robot 100 has come and gone without any purpose and is flying around without any purpose.

[0251] Furthermore, by having the flying robot 100 perform unpredictable actions independently of the specific user 600's will, the specific user 600 can be made to feel as if the flying robot 100 is acting of its own volition, and is trying to find and communicate with the specific user 600 of its own volition.

[0252] This allows for the creation of a situation similar to owning a pet, and by cherishing the flying robot 100, it can alleviate feelings of loneliness and isolation in specific users 600, and reduce stress. It can also provide mental fulfillment and a sense of calm to specific users 600.

[0253] In addition, for the unpredictable actions of the flying robot 100 that are independent of the intention of a specific user 600, the specific user 600 can be made to consider the intention of the actions of the flying robot 100. Thereby, the specific user 600 can be made to feel as if the flying robot 100 is not an inorganic or inanimate robot but is interacting with a living and animate being. And thereby, it is possible to alleviate the loneliness and sense of isolation of the specific user 600, reduce stress, enhance mental fulfillment, and soothe the mood of the specific user 600.

[0254] When the specific user 600 performs a specific action, the flying robot 100 may execute another process according to the specific action. Specifically, for example, when the specific user 600 takes some action with respect to the flying robot 100, such as bringing a hand close to the flying robot 100, it may fly away from the specific user 600 (see Fig. 6B).

[0255] In this way, by deliberately performing actions contrary to the intention of the specific user 600, the flying robot 100 can make the specific user 600 feel as if the flying robot 100 is not flattering the specific user 600 and is acting like a capricious cat.

[0256] Alternatively, specifically, for example, even if it circles around the specific user 600, when the specific user 600 is unresponsive (such as the action of "not facing the flying robot 100"), it may fly closer to the specific user 600 (see Fig. 6C). By the flying robot 100 performing such an action, the specific user 600 can be made to feel as if the flying robot 100 is approaching (getting involved with) the specific user 600 because it wants to be taken care of.

[0257] In this way, the flying robot 100 monitors a specific user 600, performs a predetermined action on the specific user 600 based on the monitoring result, and performs the next action based on the behavior of the specific user 600 corresponding to the action, so that the specific user 600 can have a feeling of interacting with a living being such as a pet with a soul rather than an inorganic and inanimate robot.

[0258] The flying robot 100 does not necessarily always perform the same action for the same behavior of a specific user 600. For example, even if the flying robot 100 approached the specific user 600 further in response to the specific user 600 approaching the flying robot 100 with a hand last time, when the specific user 600 performs the same behavior next time, it may fly away from the specific user 600. In this way, the intention of the operation of the flying robot 100 may not be clearly understood by the specific user 600. Thereby, it is possible to simulate the inexplicability that often occurs in the interaction between living beings.

[0259] Even if the intention of the operation of the flying robot 100 is not clearly understood, the specific user 600 can enjoy the operation of the flying robot 100 itself and can enjoy the inexplicability that often occurs in the interaction between living beings. By reproducing the relationship with a living being such as a pet in this way, the specific user 600 can enjoy the act of thinking about the intention of the operation of the flying robot 100 whose correct answer is unknown (whether there is a correct answer or not).

[0260] Also, when the flying robot 100 is equipped with a night vision camera or an infrared camera, even at night, it can clearly capture an image of the surroundings of the flying robot 100 without using a light source for imaging assistance. As a result, when a person (such as a thief) is detected in the dark, a loud sound can be output or contact can be made with an external party such as a security company via the communication I / F 208.

[0261] In the above-described embodiment 1, a flying robot 100 that provides relaxation to a user (a specific user 600) was described, but the use of the flying robot 100 is not limited to this. The flying robot 100 can be used, for example, in martial arts such as boxing and karate. It can be used as a fighting simulator to support the simulation of actual combat and matches.

[0262] The flying robot 100, used as a fighting simulator, specifically flies to guide users to suitable locations for practicing strikes in combat sports such as boxing and karate. In this case, users can practice (so-called sparring) that simulates actual combat or matches by striking at the flying robot 100.

[0263] During sparring, the timing of strikes may be indicated by the illumination or flashing of LED lights, adjustment of light color, or output of sound. Specifically, during sparring, for example, the location to strike with the hand (fist) may be indicated by illuminating the LED light red, and the location to strike (kick) with the foot may be indicated by illuminating the LED light green. Furthermore, during sparring, information on the movements of famous athletes may be acquired via network N, and based on this information, flight movements that mimic the movements of famous athletes may be performed.

[0264] Furthermore, the flying robot 100 can be used, for example, as a flying conductor to conduct performances in orchestras or wind ensembles. Specifically, the flying robot 100 used as a flying conductor can perform flight movements that mimic the movement of the tip of a conductor's baton. It may also be positioned to fly near the relevant part (instrument) when parts switch during a performance. This ensures reliable support for the performance of each part.

[0265] Furthermore, the flying robot 100 can be used, for example, as a flying performer in karaoke, to provide interjections in time with the song's progression or to fly as if dancing along to the music. When used as a flying performer, the flying robot 100 may also output the karaoke music 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 according to this embodiment of the present invention comprises an autonomously piloted drone (unmanned aerial vehicle) 101 and a camera 103 mounted on the drone 101, and is characterized in that it recognizes a specific user 600 based on an image taken by the camera 103 and flies around the specific user 600.

[0267] According to the first embodiment of this invention, the flying robot 100 can automatically fly around a specific user 600 recognized based on images captured by the camera 103, thereby recognizing the specific user 600 as its owner and performing actions similar to those of an animal pet, such as requesting communication from the owner. This can soothe the emotions of the specific user 600 and give them a sense of satisfaction.

[0268] Furthermore, the flying robot 100 can maintain a clean environment, eliminating hygiene problems compared to keeping live animals. Additionally, the flying robot 100 eliminates the problem of animal allergies, allowing users 600 to experience communication with a pet regardless of their individual constitution.

[0269] Furthermore, according to the flying robot 100, there will be no issues regarding hygiene or animal allergies. In addition, because it flies through the air, it does not adhere to surfaces such as floors, preventing bacteria, viruses, and dirt from attaching. Therefore, it can be used in places like hospitals and nursing homes. This allows for the expectation of therapeutic effects on patients and residents of hospitals and nursing homes.

[0270] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by recognizing a person who has been photographed by the camera 103 for a predetermined time or a predetermined number of times as a specific user 600.

[0271] According to the first embodiment of this invention, the flying robot 100 can mimic the behavior of a pet by automatically flying around a specific user 600 who has had a reasonable opportunity to interact with the flying robot 100, thereby becoming accustomed to the user through interaction. This allows the specific user 600 to maintain an interest in the flying robot over a long period of time, soothe the user's mind, and give the user 600 a sense of satisfaction.

[0272] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by recognizing a person photographed by the camera 103 within a specific range as a specific user 600.

[0273] According to Embodiment 1 of this invention, the flying robot 100 can perform pet-like actions by automatically flying around a specific user 600 who is likely to be photographed by a camera because they have a reasonable chance of being in a specific area such as inside a home, on school grounds, or inside a store. This allows the robot to become accustomed to the specific user 600 who has had a reasonable amount of contact with it within that area. As a result, the specific user 600 can develop an interest in, a sense of closeness to, and affection for the flying robot 100 over a long period of time, providing comfort and a sense of satisfaction to the specific user 600.

[0274] A flying robot 100 that performs such operations can, for example, perform different operations with a specific user 600 who has had an opportunity to appropriately contact the flying robot 100 indoors and a friend of the specific user 600 who has had an opportunity to appropriately contact the flying robot 100 outdoors. This makes it easier for the specific user 600 to develop a sense of familiarity and attachment to the flying robot, more reliably soothe the heart of the specific user 600, and give the specific user 600 a sense of satisfaction.

[0275] Moreover, the flying robot 100 according to Embodiment 1 of the present invention is characterized in that when at least a part of the specific user 600 approaches the unmanned aircraft during flight around the specific user 600, the flying robot 100 flies away from the specific user 600.

[0276] According to the flying robot 100 of Embodiment 1 of the present invention, it is possible to cause the flying robot 100 to perform an operation such as "checking the behavior of the owner", which is often seen in indoor dogs and cats, i.e., "although it has come close to the owner (specific user 600), it wants to avoid being touched". This can give the impression that the flying robot 100 is a creature with its own will.

[0277] Furthermore, the flying robot 100 according to Embodiment 1 of the present invention is characterized in that when the specific user 600 does not visually recognize the unmanned aircraft during flight around the specific user 600, the flying robot 100 flies closer to the specific user 600.

[0278] According to the flying robot 100 of Embodiment 1 of the present invention, it is possible to cause the flying robot 100 to perform an affectionate expression operation such as "since the owner (specific user 600) doesn't care about me, I'll act coquettishly", which is often seen in pets with a coquettish personality. This can give the impression that the flying robot 100 is a creature with its own will. ーザー600)が構ってくれないのでちょっかいをだす」という、甘えたい性格のペットによく見られる愛情表現動作を飛行型ロボット100におこなわせることができ、あたかも、飛行型ロボット100が自らの意思をもった生物のような印象を与えることができる。

[0279] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by flying around a specific user 600 a predetermined number of times and then flying away from the specific user 600.

[0280] According to the first embodiment of this invention, the flying robot 100 can be made to perform actions similar to those commonly seen in indoor dogs and cats, such as "coming to check on the owner's actions," giving the impression that the flying robot 100 is a living creature with its own will.

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

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

[0283] Furthermore, according to the first embodiment of this invention, the flying robot 100 can communicate with another flying robot 100 via the communication I / F 208, thereby sharing information obtained through the learning of the other flying robot 100. This allows the flying robot 100 to perform actions that better match the preferences of a specific user 600.

[0284] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, upon receiving notification information output from a specific terminal device via a communication I / F 208, it flies around a specific user 600.

[0285] According to the first embodiment of this invention, the flying robot 100 can, for example, use a smartphone owned by a specific user 600 as a specific terminal device. When the flying robot 100 receives notification information output from the smartphone that has received an incoming call, it can automatically fly around the specific user 600. This allows the user to quickly know that a notification has been received on their smartphone, even if they do not carry their smartphone with them at all times or if their smartphone is set to silent mode.

[0286] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, for example, if it obtains information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the present moment, it will fly around a specific user 600.

[0287] According to the first embodiment of this invention, the flying robot 100 can quickly learn that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes may occur within a predetermined time period from the present moment, even without the user 600 consciously collecting information. This allows them to live with peace of mind.

[0288] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is mounted on a drone 101. It is equipped with a speaker 204, which outputs sound to a specific user 600, and is characterized by flying around the vicinity of that specific user 600.

[0289] According to the first embodiment of this invention, the flying robot 100 can fly automatically around a specific user 600 and output sound from the speaker 204, thereby mimicking the behavior of a pet, requesting communication with the specific user 600 by making sounds like barking, treating the user 600 as its owner. This makes it possible to more reliably attract the attention of the specific user 600, soothe the user's mind, and give the user 600 a sense of satisfaction.

[0290] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a microphone 203 mounted on the drone 101, and is characterized in that when a predetermined sound is picked up by the microphone 203, it flies around a specific user 600.

[0291] According to the first embodiment of this invention, when predetermined sounds such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or an incoming call on a smartphone are collected, the flying robot 100 can automatically fly around the specific user 600, and in response to the predetermined sounds, it can respond to communication with the specific user 600 or inform the specific user 600 of the arrival of a third party or an incoming call on a smartphone.

[0292] Furthermore, the flying robot 100 of Embodiment 1 according to this invention can, when it hears the voice of a specific user 600, fly around that user 600 by autopilot, making the user 600 feel as though the robot came when they called, thus making them happy and allowing them to experience communication with their pet.

[0293] This not only soothes the hearts of 600 specific users, but also allows for the transmission of necessary information to those 600 users when needed. In particular, by transmitting necessary information to hearing-impaired users when needed, it is possible to support the lives of those users more easily and inexpensively compared to receiving assistance from hearing dogs, which are difficult to obtain and require significant care.

[0294] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a speaker 204 mounted on the drone 101, and when a predetermined sound is picked up by the microphone 203, it outputs the sound from the speaker 204 toward a specific user 600 and flies around the vicinity of the specific user 600.

[0295] According to the first embodiment of this invention, when predetermined sounds such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or an incoming call on a smartphone are collected, the robot flies around the specific user 600 on autopilot and outputs sound from the speaker 204. This allows the robot to mimic the actions of a pet, such as barking to the specific user 600 as its owner and requesting communication, or to inform the specific user 600, who may not be aware of the doorbell sound or incoming call on their smartphone, of the arrival of a third party or an incoming call on their smartphone.

[0296] This makes it possible to more reliably attract the attention of specific users 600, soothe their hearts, give them a sense of fulfillment, and convey necessary information to specific users 600 when needed. And this makes it possible to It can enrich the psychological state and lives of a fixed 600 users.

[0297] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that the sound output from the speaker 204 is a sound that imitates the sound of an animal.

[0298] According to the first embodiment of this invention, the flying robot 100 can more reliably attract the attention of a specific user 600 by outputting sounds that mimic animal noises. This gives the specific user 600 a strong sense of communicating with a pet, soothes their heart, and gives them a sense of satisfaction.

[0299] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that the predetermined voice is the voice of the specific user 600.

[0300] According to the first embodiment of this invention, the flying robot 100 automatically flies around a specific user 600 when the microphone 203 picks up the voice of that specific user 600. This mimics the action of coming in response to the specific user 600's call, thus comforting and satisfying the specific user 600. Furthermore, since it does not respond to calls from anyone other than the specific user 600, it fosters a sense of familiarity and affection towards the flying robot 100, further satisfying the specific user 600.

[0301] Thus, the flying robot 100 of Embodiment 1 of this invention is primarily designed to move autonomously like a pet and be cherished by people. By performing natural movements that mimic those of a pet and communicating with a specific user 600, it can reduce the stress of that user 600 and provide comfort. This can alleviate feelings of loneliness and isolation in people living alone or the elderly, for example, and contribute to a mentally fulfilling and peaceful life.

[0302] <Embodiment 2> Next, an example of a flying robot according to Embodiment 2 of this invention will be described. The flying robot of Embodiment 2 operates to achieve a specific purpose. Specifically, the flying robot of Embodiment 2 operates to achieve a purpose similar to that of a hearing assistance dog, recognizing a person with a hearing impairment as a specific user 600, informing the specific user 600 of sounds necessary in their life, and guiding the specific user 600 to the sound source.

[0303] Hearing assistance dogs have a shorter history compared to guide dogs for the blind, and the number of hearing assistance dogs is overwhelmingly insufficient compared to the number of people with hearing impairments. Furthermore, the training period required for a hearing assistance dog to be provided to a person with a hearing impairment is at least 1 year and 8 months, and the training cost is estimated to be around 1 million yen. Due to these factors, hearing assistance dogs are not adequately available to people with hearing impairments.

[0304] In light of the current situation, the flying robot of Embodiment 2 aims to enhance the motivation for independence and sense of security in daily life for people with hearing impairments who are unable to borrow a hearing assistance dog.

[0305] (An example of the appearance of a flying robot) Figure 7 is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of the present invention. In Embodiment 2, the same parts as in Embodiment 1 described above are indicated by the same reference numerals and their descriptions are omitted. As shown in Figure 7, the flying robot 700 is mounted on the drone 101. It is equipped with a camera 103 and a projector 701.

[0306] The projector 701 includes a projector light source, an optical system, a projection lens, etc. (all of which are not shown in the illustration). The projector 701 guides light emitted from the projector light source through the optical system to a predetermined path and projects an image onto the area where the light is irradiated by shining the light outside the projector 701 through the projection lens 701a.

[0307] The optical system consists of an integrator lens that enhances 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 to a predetermined polarization direction, a dichroic mirror that separates the light from the projector 701 into the three primary colors R, G, and B, a liquid crystal panel that displays images corresponding to each of the R, G, and B colors of light, and a dichroic prism that synthesizes the images of each color displayed by each liquid crystal panel (all of which are not shown in the diagram).

[0308] For example, the projector 701 can be a laser-type projector that uses a laser as its light source. By using a laser-type projector, the projector 701 can be made smaller. Specifically, laser-type projectors can keep the heat generation lower than mercury lamp-type projectors that use a mercury lamp as their light source, so they can be made smaller and lighter by eliminating mechanisms such as cooling fans.

[0309] Furthermore, using a laser projector allows for quick startup and image projection. Additionally, using a laser projector allows for higher brightness of projected images while consuming less power than a mercury lamp projector.

[0310] Mercury lamp projectors are recommended to be used with the projection (optical axis) direction horizontal, thus limiting the freedom of projection direction. In contrast, laser projectors can be used with the optical axis tilted relative to the horizontal. Therefore, laser projectors can ensure a high degree of freedom in projection direction, allowing images to be projected not only onto walls but also onto the ground and floor.

[0311] The projector 701 is fixed to the drone 101 and moves along with the movement (flight) of the drone 101. The projector 701 may be connected to the drone 101 in a manner that allows for attitude adjustment. Specifically, for example, the projector 701 can be connected to the bottom surface 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 for adjusting the attitude of the projector 701 can be ensured.

[0312] In this case, the flying robot 700 may be equipped 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 or a gear train. By making the attitude of the projector 701 relative to the drone 101 adjustable, the image can be projected at an optimal angle depending on the location where the image is to be projected.

[0313] (Hardware configuration of the Flying Robot 700) Next, the hardware configuration of the flying robot 700 will be described. Figure 8 is an explanatory diagram showing the hardware configuration of the flying robot 700 according to Embodiment 2 of this invention. As shown in Figure 8, the hardware of the flying robot 700 consists of a battery 201, motor 202, camera 103, microphone 203, speaker 204, GPS sensor 205, object sensor 206, control circuit 207, communication I / F 208, LED lamp 104, solar cell 106, projector 701, and the like.

[0314] As described above, the projector 701 guides light emitted from the projector light source through an optical system to a predetermined path and projects an image onto the area illuminated by the light by irradiating the area outside the projector 701 through the projection lens 701a. The projector 701 may also 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 on which the image is projected. The distance between the projector 701 and the position on which the image is projected can be determined, for example, using a distance sensor. Various known sensors such as laser distance sensors, ultrasonic sensors, and infrared sensors can be used as distance sensors.

[0315] (Functional configuration of the Flying Robot 700) Next, the functional configuration of the flying robot 700 will be described. The functions of the flying robot 700 in Embodiment 2 are realized by a storage unit 301, a detection unit 302, an imaging 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] In the flying robot 700, the control unit 307, for example, when a predetermined sound is picked up by the microphone 203, controls the drive unit 305 to make the drone 101 fly, and in response to the predetermined sound, flies around a specific user 600 that has been recognized.

[0317] The specified sound could be, for example, a ringtone that notifies a telephone (landline, smartphone, etc.) that at least one of a phone call and / or email is coming in. Alternatively, the specified sound could be, for example, the ringtone of a doorbell installed at the entrance of a building or premises for visitors to call a resident or manager of the building or premises.

[0318] Furthermore, the specified sound can be, for example, a sound with a sound pressure above a predetermined threshold. Specifically, the specified sound can be, for example, a sound that is output at a high volume for the purpose of making known to an unspecified number of people, such as an alarm sound or siren. More specifically, it can be, for example, a sound with a sound pressure level of 70 dB or higher.

[0319] Furthermore, the predetermined sound may be, for example, a sound generated within a predetermined range from a specific user 600. Specifically, it can be a sound emitted by an alarm clock, kitchen timer, smartphone, or other device whose position relative to the specific user 600 may change frequently. In addition, the predetermined sound may be the sound of a boiling kettle, a gas leak detection buzzer, or an alarm that notifies the user that the refrigerator door is not closed properly or is ajar after use.

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

[0321] When the microphone 203 picks up a predetermined sound, the control unit 307 flies the drone 101 to guide a specific user 600 to the source of the sound. When the microphone 203 picks up a predetermined sound, the control unit 307 flies the drone, for example, between the vicinity of the recognized specific user 600 and the predetermined source of the sound. The 101 is made to fly. More specifically, for example, it repeatedly flies around a specific user 600 to attract the attention of that user 600, and then flies to the source of the sound.

[0322] The control unit 307 may fly the drone 101 in a flight pattern corresponding to a predetermined voice. Specifically, for example, when a phone call is received, the control unit 307 may fly the drone 101 in a zigzag pattern in front of a specific user 600. More specifically, for example, when a doorbell rings, the control unit 307 may fly the drone 101 around the specific user 600 before flying it to the source of the voice (the front door).

[0323] The output unit 306 of the flying robot 700 operates in conjunction with the flight movements of the flying robot 700, depending on the state of the flying robot 700. For example, when a predetermined sound is picked up by the microphone 203, the output unit 306 projects an image from the projector 701 in conjunction with the operation 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, if a phone call comes in, an image of the phone will be projected. Also, specifically, for example, if the doorbell rings, an image of the entrance or gate, or an image representing a visitor, will be projected. If a child is crying, an image of the crying child may be projected. The image data for the projected images can be obtained from network N via communication I / F208, for example.

[0325] The projected image may be an image captured by camera 103. In this case, the flying robot 700, for example, each time it detects a predetermined sound, captures an image of the source of the sound and projects the captured image. By projecting an image of an actual object in this way, the source of the sound can be reliably identified to a specific user 600. Furthermore, this allows for the projection of the appropriate image without having to store multiple image data.

[0326] Alternatively, the output unit 306 may, for example, project text from the projector 701 in conjunction with flying around a specific user 600 in response to a predetermined voice command. Specifically, it may project text (messages) such as "You have received an email" or "The doorbell is ringing" in front of the specific user 600. The 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 implement its function using, for example, the projector 701 shown in Figures 7 and 8.

[0327] Furthermore, the output unit 306 may, for example, light up or blink an LED lamp 104 in conjunction with the operation of flying around a specific user 600 in response to a predetermined voice. In this case, the output unit 306 can specifically realize this function using, for example, the LED lamp 104 shown in Figure 8.

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

[0329] (An example of the processing procedure for the Flying Robot 700) Next, an example of the processing procedure for the flying robot 700 will be described. Figure 9 is a flowchart showing an example of the processing procedure for the flying robot 700 according to Embodiment 2 of this invention. In the flowchart of Figure 9, first, sound is acquired via the microphone 203 (step S901), and the acquired sound is analyzed (step S902). In step S902, data representing the characteristics of the sound, such as the strength (loudness), frequency, and interval between sounds, is generated.

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

[0331] On the other hand, in step S903, if the acquired audio is a predetermined audio (step S903: Yes), the flight is started (step S904). In step S904, for example, the drone 101 is driven, takes off from the charging spot 400, and flies 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 imaging unit 303 for a predetermined time or a predetermined number of times, as described above, or a person whose features (such as images or voices) have been pre-stored in memory. By designating a person whose features have been pre-stored in memory as a specific user 600, the relevant person can be recognized as a specific user 600 immediately after starting to use the flying robot 700.

[0333] In step S905, the aircraft continues flying until a specific user 600 is detected (step S905: No), depending on the remaining charge of the battery 201. If the remaining charge of the battery 201 drops to a threshold that allows it to return to the charging spot 400 without detecting a specific user 600, the aircraft performs a return process.

[0334] In step S905, if a specific user 600 is detected (step S905: Yes), the execution of a predetermined process is started (step S906). In step S906, for example, the aircraft repeatedly performs actions such as flying around the specific user 600 to attract the user's attention and flying back and forth between the specific user 600 and the source of the sound. In step S906, for example, text indicating that sound is being produced, the source of the sound, or the content (event) related to the sound that has been produced may be projected from the projector 701.

[0335] The process in step S906 continues until the specific user 600 notices the source (cause) of the sound (step S907: No). Alternatively, the process in step S906 may be performed within a range that allows the flying robot 700 to return to the charging spot 400, depending on the remaining charge of the battery 201. Specifically, for example, if the battery 201's charge level drops to a threshold that allows it to return to the charging spot 400 while the specific user 600 is unaware of the sound source, the return process is performed.

[0336] In step S907, if a specific user 600 notices the sound source (step S907: Yes), a feedback process is performed (step S908), and the series of processes ends. In step S907, for example, it is determined whether a specific user 600 has taken action to approach the source of the sound based on an image captured by camera 103. By doing so, it is possible to determine whether or not a specific user 600 noticed the source of the sound.

[0337] As described above, the flying robot 700 of Embodiment 2 of this invention comprises an autonomously piloted drone 101, a camera 103 mounted on the drone 101, and a microphone 203 mounted on the drone 101. The robot recognizes a specific user 600 based on an image captured by the camera 103, and when a predetermined sound is picked up by the microphone 203, it flies around the recognized specific user 600 in accordance with the predetermined sound.

[0338] According to the second embodiment of the present invention, when a predetermined sound is picked up by the microphone 203, the flying robot 700 can visually guide a specific user 600, who has been recognized based on an image captured by the camera 103, by flying around the user, thereby indicating that the predetermined sound is being played. This ensures that even if the specific user 600 has a hearing impairment, they are reliably informed that the predetermined sound is being played.

[0339] This eliminates the difficulty of understanding one's surroundings due to hearing impairment, and alleviates the fatigue and stress caused by constantly having to be conscious of one's surroundings. Furthermore, because one can understand their surroundings without consciously trying, it reduces the fear of living without hearing, and increases motivation for independence and a sense of security in daily life.

[0340] Furthermore, the flying robot 700 of Embodiment 2 of this invention is characterized by flying around a specific recognized user 600 in a flight mode corresponding to a predetermined sound in response to that predetermined sound.

[0341] According to the second embodiment of the present invention, the flying robot 700 can visually guide users through the type and content of sounds depending on their flight mode. This allows for quick and detailed guidance to users 600 who have hearing impairments, informing them that a predetermined sound is being played and describing its type and content. This improves the convenience of daily life for users 600 who have visual impairments.

[0342] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is equipped with a projector 701 mounted on the drone 101, and when a predetermined sound is collected by the microphone 203, it projects an image corresponding to the predetermined sound from the projector 701 in front of a recognized specific user 600.

[0343] According to the flying robot 700 of Embodiment 2 of this invention, when a predetermined sound is picked up by the microphone 203, the robot flies around a specific user 600 recognized based on an image captured by the camera 103, and projects an image corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600. This allows the flying robot 700's actions and the image to visually guide the user that a predetermined sound is being played. As a result, even if the specific user 600 has a hearing impairment, the presence of a predetermined sound can be reliably and clearly communicated.

[0344] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is characterized in that, when a predetermined sound is collected by the microphone 203, it projects characters corresponding to the predetermined sound from the projector 701 in front of a recognized specific user 600.

[0345] According to the flying robot 700 of Embodiment 2 of this invention, when a predetermined sound is picked up by the microphone 203, the robot flies around a specific user 600 recognized based on an image captured by the camera 103, and projects characters corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600, thereby visually guiding the user of the flying robot 700's actions and the fact that a predetermined sound is being played through the characters.

[0346] This ensures that even if a specific user 600 has a hearing impairment, they can be reliably and clearly informed that a designated sound is being played.

[0347] The control method for the flying robot described in these embodiments 1 and 2 can be implemented by executing a pre-prepared program on a computer such as a personal computer or workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, or SSD, and is executed by being read from the recording medium by the computer. This program may also be transmitted via a network such as the Internet.

[0348] The following are supplementary notes regarding Embodiment 1 and Embodiment 2.

[0349] (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing a specific user based on an image captured by the aforementioned camera and flying around that specific user.

[0350] (Note 2) The flying robot according to Appendix 1, characterized in that the aforementioned specific user is a person who has been photographed by the camera for a predetermined period of time or a predetermined number of times or more.

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

[0352] (Note 4) The flying robot according to any one of the appendices 1 to 3, characterized in that, while flying around the aforementioned particular users, if at least some of the aforementioned particular users approach the unmanned aerial vehicle, it flies away from the aforementioned particular users.

[0353] (Note 5) The flying robot according to any one of the appendices 1 to 3, characterized in that, while flying around the aforementioned particular user, if the aforementioned particular user does not make eye contact with the unmanned aerial vehicle, it flies in a manner that approaches the aforementioned particular user.

[0354] (Note 6) A flying robot according to any one of the appendices 1 to 3, characterized in that it flies around a specific user a predetermined number of times and then flies away from the specific user.

[0355] (Note 7) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, A flying robot according to any one of the appendices 1 to 6, characterized in that it flies around a specific user when it has acquired predetermined information via the wireless communication interface.

[0356] (Note 8) The flying robot according to Appendix 7, characterized in that the predetermined information is notification information output from a specific terminal device.

[0357] (Note 9) The flying robot described in Appendix 7 is characterized in that the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward.

[0358] (Note 10) The aforementioned unmanned aerial vehicle is equipped with a speaker, A flying robot according to any one of the appendices 1 to 9, characterized in that it outputs sound from the speaker toward the aforementioned specific user and flies around the aforementioned specific user.

[0359] (Note 11) The aforementioned unmanned aerial vehicle is equipped with a microphone, The flying robot according to any one of the appendices 1 to 10, characterized in that it flies around the specific user when a predetermined sound is collected by the microphone.

[0360] (Note 12) The flying robot according to Appendix 11, characterized in that the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

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

[0362] (Note 14) The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of the appendices 11 to 13, characterized in that when a predetermined sound is collected by the microphone, it outputs the sound from the speaker toward the specific user and flies around the specific user.

[0363] (Note 15) The flying robot according to Appendix 10 or 14, characterized in that the sound output from the speaker is a sound that imitates the sound of an animal.

[0364] (Note 16) The computer in the unmanned aerial vehicle, which is equipped with a camera and flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. To fly around the recognized specific user, A control program for a flying robot, characterized by its ability to execute processes.

[0365] (Note 17) If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A control program for a flying robot as described in Appendix 16, characterized by causing it to execute a process.

[0366] (Note 18) If the unmanned aerial vehicle is flying around the aforementioned specific user and the specific user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the specific user. A control program for a flying robot as described in Appendix 16, characterized by causing it to execute a process.

[0367] (Note 19) After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A control program for a flying robot as described in Appendix 16, characterized by causing it to execute a process.

[0368] (Note 20) A flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. To fly around the recognized specific user, A control program for a flying robot characterized by the following features.

[0369] (Note 21) If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A control program for a flying robot as described in Appendix 20, characterized by the features described herein.

[0370] (Note 22) If the unmanned aerial vehicle is flying around the aforementioned specific user and the specific user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the specific user. A control program for a flying robot as described in Appendix 20, characterized by the features described herein.

[0371] (Note 23) After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A control program for a flying robot as described in Appendix 20, characterized by the features described herein.

[0372] (Note 24) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The microphone mounted on the aforementioned unmanned aerial vehicle, Equipped with, Based on the image captured by the aforementioned camera, a specific user is recognized. A flying robot characterized in that, when a predetermined sound is collected by the microphone, it flies between the vicinity of the recognized specific user and the source of the predetermined sound in accordance with the predetermined sound.

[0373] (Note 25) When a predetermined sound is collected by the microphone, the system recognizes the predetermined sound accordingly. The flying robot according to Appendix 24, characterized in that it circles around a specific user and then flies between the vicinity of the specific user and a predetermined sound source.

[0374] (Note 26) The flying robot according to Appendix 24 or 25, characterized in that the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

[0375] (Note 27) The flying robot according to Appendix 24 or 25, characterized in that the predetermined sound is the ringing sound of a doorbell installed at the entrance of a building or premises for visitors to the building or premises to call the resident or manager of the building or premises.

[0376] (Note 28) The flying robot according to Appendix 24 or 25, characterized in that the predetermined sound is a sound with a sound pressure above a predetermined threshold.

[0377] (Note 29) The flying robot according to Appendix 24 or 25, characterized in that the predetermined voice is a voice generated by the specific user within a predetermined range.

[0378] (Note 30) A flying robot according to any one of the appendices 24 to 29, characterized in that, in response to the predetermined sound, it flies around the recognized specific user in a flight mode corresponding to the predetermined sound.

[0379] (Note 31) The aforementioned unmanned aerial vehicle is equipped with a projector, The flying robot according to any one of the 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] (Note 32) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to Appendix 31, characterized in that it acquires image data relating to an image projected from the projector via the wireless communication interface.

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

[0382] (Note 34) A computer in a flying robot equipped with a camera and microphone and flying on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the aircraft is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, in accordance with the predetermined sound. A control program for a flying robot, characterized by its ability to execute processes.

[0383] (Note 35) A flying robot equipped with a camera and microphone, and featuring an unmanned aerial vehicle that flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the aircraft is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, in accordance with the predetermined sound. A method for controlling a flying robot, characterized by the features described above.

[0384] (Note 36) A computer in a flying robot equipped with a camera, microphone, and projector, which flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the device is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, and an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user. A control program for a flying robot, characterized by its ability to execute processes.

[0385] (Note 37) A flying robot equipped with a camera, microphone, and projector, and featuring an unmanned aerial vehicle that flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the device is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, and an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user. A method for controlling a flying robot, characterized by the features described above.

[0386] (Note 38) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The wireless communication interface mounted on the aforementioned unmanned aerial vehicle, Equipped with, Based on the image captured by the aforementioned camera, a specific user is recognized. A flying robot characterized in that, upon receiving information via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time period from the present moment, it flies between the vicinity of a recognized specific user and the source of a predetermined voice in response to the predetermined voice.

[0387] (Note 39) A computer in a flying robot equipped with a camera and wireless communication interface, which flies autonomously, Based on the image captured by the aforementioned camera, a specific user is recognized. If information is obtained via the aforementioned wireless communication interface indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment, the aircraft will fly between the vicinity of the recognized specific user and the source of the predetermined voice, in response to the predetermined voice. A control program for a flying robot, characterized by its ability to execute processes.

[0388] (Note 40) A flying robot equipped with a camera and wireless communication interface, and featuring an unmanned aerial vehicle that flies autonomously, Based on the image captured by the aforementioned camera, a specific user is recognized. If information is obtained via the aforementioned wireless communication interface indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment, the aircraft will fly between the vicinity of the recognized specific user and the source of the predetermined voice, in response to the predetermined voice. A method for controlling a flying robot, characterized by the features described above.

[0389] <Embodiment 3> Embodiment 3 describes a new type of flight ("bound flight") for the flying robot that differs from Embodiments 1 and 2.

[0390] (Overview of flying robot flight) Figure 10 is an explanatory diagram showing an example of the flight overview of a flying robot according to Embodiment 3 of this invention.

[0391] In Figure 10, the flying robot 1000, which is equipped with an unmanned aerial vehicle (drone) that flies under automatic control, performs the following control in order to perform bound flight. First, the flying robot 1000 stops the drive system used for flight while in flight. As a result, the flying robot 1000 loses lift and falls naturally. STEP 1 shows this state.

[0392] The flying robot 1000, having begun to fall naturally, will collide with the ground or other surface after a predetermined period of time. STEP 2 illustrates this state. When a collision occurs, the impact can be detected by the acceleration sensor provided in the control circuit 207.

[0393] As will be described later, the flying robot 1000 is equipped with a configuration that absorbs the impact of a collision with the ground or other surface and bounces (details will be described later using Figures 11A and 11B). Therefore, the flying robot 1000 collides with the ground, bounces in response to the impact of the collision. STEP 3 shows this state.

[0394] When a collision is detected, the drive system is activated, and the flying robot 1000 gains lift through this drive and floats up. STEP 4 shows this state.

[0395] In this way, the flying robot 1000 can not only fly through the air like a normal drone, but can also land on the ground and immediately take off again, a so-called "bounce (touchdown)," which can be performed automatically.

[0396] Specifically, this expands the functionality of the electronic pet by mimicking movements such as a bouncing ball or the jumping of animals like rabbits and kangaroos, or insects.

[0397] As can be seen from Figure 10, the flying robot 1000, which has begun to fall naturally, is assumed to collide with the ground or the like after a predetermined time has elapsed. However, it may also be configured to start driving again after a predetermined time has elapsed without the robot colliding with anything after detecting that it has stopped driving. The predetermined time is, for example, about 0.1 to 0.3 seconds.

[0398] By doing this, the distance of free fall becomes too long (i.e., free fall begins from a position higher than the predetermined height), resulting in an excessively strong impact upon hitting the ground, etc. This can happen. In such cases, to prevent damage or malfunction of the machine, the machine can restart after a predetermined time has elapsed without the machine colliding with anything, following the detection of a drive stop.

[0399] Furthermore, even when you don't want your ship to touch the ground or other surfaces (for example, if you want to reduce the sound of collisions with the ground or if the ground is dirty), you can simulate the ship bouncing.

[0400] Furthermore, as can be seen in Figure 10, in order to simulate bouncing, the flying robot 1000 was made to descend by free fall, but this is not the only option.

[0401] Specifically, for example, the aircraft may be made to descend by controlling the propulsion without stopping the propulsion. Specifically, the aircraft may be made to descend by flying towards the ground or by suppressing the propulsion to reduce buoyancy.

[0402] In cases where the aircraft is descended without relying on natural fall, the system may detect that the aircraft is falling during flight, and after detecting the fall, it may detect that the aircraft has collided with something. If a collision is detected, the drive control may be changed to initiate a drive to lift the aircraft back up.

[0403] By doing this, when the flying robot 1000 is made to bounce, it can be made to descend towards the ground or other surface without relying on natural fall. This allows for control over the speed and direction of the descent (the position of the ground or other surface it collides with).

[0404] Even in this case, after detecting that the fall has stopped, if the aircraft does not collide with the falling object and the falling speed reaches a predetermined speed, the propulsion system to lift the aircraft can be initiated. This prevents damage or malfunction of the aircraft, just as in the case of free fall, and simulates the appearance of the aircraft bouncing.

[0405] Next, we will explain what triggers the flying robot 1000 to begin bouncing. The flying robot 1000 can receive instructions to stop the propulsion system used for flight while in flight, and can stop the propulsion system when it receives a predetermined instruction. This instruction may be given by the user via voice or gesture.

[0406] Furthermore, this instruction may be given via a network. More specifically, for example, if predetermined information is obtained via the wireless communication interface provided by the device, the device may be instructed to stop driving upon obtaining that information. Here, the predetermined information may be notification information output from a specific terminal device. Alternatively, the predetermined information may be information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time period from the present moment.

[0407] Next, we will describe the continuous bouncing (dribbling) motion performed by the flying robot 1000. The flying robot 1000 may be configured to stop its drive again after a predetermined time has elapsed since it started driving. This allows steps 1 to 4 shown in Figure 10 to be repeated. This stopping and starting of the drive can be repeated a predetermined number of times. In this way, the flying robot 1000 can bounce continuously, making it possible to simulate a basketball dribbling motion.

[0408] When the flying robot 1000 performs a dribbling maneuver, its drivetrain may be controlled so that it collides with the target at the same location each time. Specifically, the collision location can be memorized in advance, and the drivetrain can be controlled to make the robot float directly above that location, then allow it to fall naturally to cause a collision. The collision location can be determined using various sensors.

[0409] Furthermore, when the flying robot 1000 performs a dribbling motion, its drive system may be controlled so that it collides with different locations. Specifically, it may collide with multiple locations in sequence. Doing so can make the bouncing motion appear larger. It can also mimic the movements of jumping animals such as rabbits and kangaroos, increasing its cuteness as an electronic pet.

[0410] Furthermore, the robot may recognize a specific user 600 based on images captured by its own camera and control its drive so that the collision point is different, allowing it to follow the moving specific user 600. By repeating this continuous bouncing motion, it is possible to create the appearance of a cute pet that follows the user and becomes attached to them.

[0411] Furthermore, when the flying robot 1000 performs continuous bouncing motion, it may be configured to restart the drive after a predetermined time has elapsed without the robot colliding with anything, following the detection of a drive stop. The predetermined time is, as mentioned above, for example, about 0.1 to 0.3 seconds. In this way, it is possible to express a strange motion as if the ground were in the air, even though the robot is not actually colliding with (contacting) the ground.

[0412] Next, we will explain the trigger for initiating a bounce in the flying robot 1000 when it performs a bounce motion without stopping its drive. The flying robot 1000 can receive a drive instruction to drop itself while in flight, and can perform a drive to drop itself when it receives a predetermined instruction. This instruction may be a voice or gesture instruction from the user, or it may be an instruction given via a network.

[0413] More specifically, instructions given via the network may, similar to the case where the aircraft descends by free fall and collides with the ground, for example, by obtaining predetermined information via the aircraft's wireless communication interface, and then stopping the operation based on the acquisition of that information. Here, the predetermined information may be notification information output from a specific terminal device, similar to the case where the aircraft descends by free fall and collides with the ground. Alternatively, the predetermined information may be information indicating the possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment.

[0414] Next, a description will be given of a flying robot 1000 that performs continuous bouncing (dribbling) without stopping its drive. The flying robot 1000 may perform a drive to lift itself up, and then, after a predetermined time has elapsed, perform a drive to lower itself again. In this way, the robot can repeatedly descend (fall) and ascend (float). This fall control drive and float control drive can be repeated a predetermined number of times.

[0415] By doing this, the flying robot 1000 can bounce continuously, mimicking the motion of "dribbling" in basketball. Furthermore, unlike continuous bouncing due to free fall, it can be made to fall at an angle relative to free fall (horizontal fall), thus enabling the expression of different motions than continuous bouncing due to free fall.

[0416] With this type of drive control, when the flying robot 1000 performs a dribbling maneuver, the drive may be controlled so that the collision point of the robot remains the same. Specifically, the collision point of the robot is memorized in advance, and at least one of the levitation control drive and descent control drive is controlled so that the robot collides at that location. The collision point can be determined by various sensors.

[0417] Furthermore, when the flying robot 1000 performs a dribbling motion, its drive system may be controlled so that it collides with different locations. Specifically, it may collide with multiple locations in sequence. By doing so, it can mimic the movements of jumping animals such as rabbits and kangaroos, increasing its cuteness as an electronic pet.

[0418] Furthermore, the robot may recognize a specific user 600 based on images captured by its own camera and control its drive so that the collision point is different, allowing it to follow the moving specific user 600. By repeating this continuous bouncing motion, it is possible to create the appearance of a cute pet that follows the user and becomes attached to them.

[0419] Furthermore, when the flying robot 1000 performs a continuous bouncing motion, after a drive is performed to cause it to fall, if a predetermined time has elapsed without the robot colliding with anything, a drive to cause it to levitate may be performed. The predetermined time is, as mentioned above, for example, about 0.1 to 0.3 seconds. In this way, it is possible to express a strange motion as if the ground were in the air, even though the robot is not actually colliding with (contacting) the ground.

[0420] Furthermore, the flying robot 1000 may change its drive control after a collision based on the detected impact value of the collision with the ground or other surface. Specifically, for example, it may perform drive control to increase its lift-off speed depending on the magnitude of the detected impact value of the collision. Alternatively, it may increase its lift-off altitude depending on the magnitude of the detected impact value of the collision. By doing so, it is possible to create more natural movements that resemble the bouncing motion of a ball or the jumping motion of an animal.

[0421] Furthermore, the flying robot 1000 may change its post-collision drive control based on, in addition to or instead of, the detected impact value of the collision with the ground, etc., the detected altitude at which free fall began, the speed of free fall, the starting altitude when the drive control for free fall was performed, the fall speed when the drive control for free fall was performed, and the fall angle when the drive control for free fall was performed.

[0422] In this way, by changing the drive control after a collision, it is possible to more closely resemble the movements of balls, animals, etc. Furthermore, it is possible to express unusual movements that are far removed from the movements of balls, animals, etc.

[0423] Furthermore, by changing the direction of bouncing, that is, the direction and speed of ascent, it is possible to create unpredictable bounces similar to those of a rugby ball (oval-shaped ball). By performing such bouncing flight, one can practice catching a bouncing rugby ball by themselves. Also, a rugby ball catching game can be enjoyed by oneself or with others. Therefore, the flying robot 1000 may be shaped to resemble 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 Embodiment 3 of this invention will be described. Figures 11A and 11B are explanatory diagrams showing an example of the external appearance of a flying robot according to Embodiment 3 of the present invention. In Embodiment 3, the same parts as those in Embodiments 1 and 2 described above are indicated by the same reference numerals, and their descriptions are omitted.

[0425] Figure 11A is a view from the direction of arrow A in Figure 11B. As shown in Figures 11A and 11B, the flying robot 1000 is equipped with a spherical housing 1100 that encloses the unmanned aerial vehicle (drone) 1000a. In Figure 11A, some of the details have been omitted so that the drone 1000a located inside the spherical housing 1100 is visible. Therefore, the external appearance of the flying robot 1000 is spherical, or ball-shaped, as also shown in Figure 10.

[0426] Although not shown in the diagram, the drone 1000a may have a hemispherical housing that covers only the underside, 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 rubber, sponge, urethane, etc. This allows the impact to be mitigated when the machine collides with the ground, etc., preventing damage or malfunction of the machine. In addition, when the machine collides with the ground, etc., it can bounce due to the rebound force.

[0428] Furthermore, although not shown in the illustration, the housing 1100 may have multiple holes. Alternatively, the housing 1100 may be constructed of a mesh structure. This allows for airflow within the housing, enabling the aircraft to fly using its propellers.

[0429] Furthermore, the flying robot 1000 (casing 1100) is not limited to a spherical shape. For example, it may be shaped like an animal or insect. It may also be shaped like an airplane, fighter jet, spaceship, a pet-type robot like "Doraemon," or a combat-type robot like "Mobile Suit Gundam." It may also be shaped like a character from an anime or movie. In that case, it is advisable to provide shock-absorbing and bouncing materials on the collision surface (for example, the bottom). Additionally, faces or patterns may be drawn on the surface of the casing 1100.

[0430] Furthermore, an organic EL or other display may be provided on the surface of the 1100's casing, and a face or other image may be displayed on it. The expression may also be changed according to the state of flight. More specifically, it may have a surprised expression while falling, a pained expression immediately after a collision, and a relieved (happy) expression when bouncing and floating upwards. This would create a greater sense of familiarity as a pet than simply making the flying robot 1000 bounce.

[0431] The display may show images, videos, or text to convey messages to the user. The images and videos may include advertisements.

[0432] As shown in Figure 11B, the drone 1000a can specifically employ, for example, a quadcopter equipped with four propellers 1101a to 1101d around its periphery. The drone 1000a is not limited to a quadcopter; it can employ various types of multirotors, such as a hexacopter with six propellers or an octocopter with eight propellers.

[0433] The drone 1000a can maintain its attitude and perform actions such as ascending, descending, and horizontal movement by independently controlling the rotation direction and rotation speed of each of its multiple propellers (propellers 1101a to d).

[0434] Furthermore, unmanned aerial vehicles are not limited to drones 1000a equipped with propellers. They may also be propelled by means other than propellers.

[0435] Furthermore, the drone 1000a is equipped with a camera 1102. The camera 1102 can be implemented, for example, by a general-purpose digital camera. As shown in Figure 11B, it may be mounted on the upper side of the housing of the drone 1000a. Although not shown in the illustration, in the case of a drone 1000a shaped like an animal or insect, for example, the lens of the camera 1102 can be placed in the part corresponding to the eye. Alternatively, the camera 1102 may be mounted on the lower (ventral) side of the housing of the drone 1000a.

[0436] The drone 1000a captures images of its surroundings using the camera 1102. The drone 1000a may be configured to recognize other drones and their operators based on the images captured by the camera 1102.

[0437] Camera 1102 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., the user can be accurately recognized even at night or in dimly lit rooms.

[0438] The camera 1102 equipped on the drone 1000a may be one unit or multiple units. In a drone 1000a equipped with multiple cameras 1102, not all cameras 1102 are limited to one type, but may be equipped with multiple different types of cameras 1102.

[0439] The camera 1102 may be connected to the drone 1000a in a manner that allows for attitude adjustment. Specifically, the camera 1102 may be mounted on the upper side of the drone 1000a, for example, as shown in Figure 11B. Alternatively, although not shown in the figures, the camera 1102 may be connected to the bottom 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 for adjusting the attitude of the camera 1102 can be ensured.

[0440] Furthermore, the drone 1000a may be equipped 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 can be configured, for example, with a motor or a gear train. By making the attitude of the camera 1102 relative to the drone 1000a adjustable without human intervention, the shooting direction can be arbitrarily adjusted while the drone 1000a is in flight, regardless of the attitude of the drone 1000a. The camera 1102 may also be equipped with a zoom function.

[0441] The drone 1000a may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology that receives power to a battery without using charging contacts, and is also called contactless power supply or wireless power supply.

[0442] The drone 1000a is also equipped with a speaker 1103. (The diagram is omitted, but it is not functional.) In the case of a drone with an object-like shape, for example, a speaker 1103 may be provided in the area corresponding to the mouth.

[0443] Furthermore, if a collision is detected, the speaker 1103 may be configured to output a predetermined sound. The sound output from the speaker 1103 may be a sound that mimics the sound made when an animal jumps (for example, "hop, hop" or "boing, boing").

[0444] Furthermore, the sound output from speaker 1103 may be a sound that mimics the sound made when an object such as a ball bounces (for example, "pop, pop," "thump, thump," or "boom, boom").

[0445] Furthermore, the volume and type of sound may be changed based on the detected impact value of the collision. Specifically, the sound should be made louder when the impact value is large (strong collision). This allows for a sound effect to represent the state of the impact (bouncing). Specifically, the type of sound may be changed, for example, to "boing, boing" when the impact value is small, and to "boing, boing" when the impact value is large.

[0446] Furthermore, the drone 1000a is equipped with an LED lamp 1104, which is an example of a light-emitting part. Although not shown in the illustration, in the case of a drone with an animal-like shape, for example, the LED lamp 1104 may be provided in the part corresponding to the eye. If the lens of the camera 1102 is in the part corresponding to the eyeball, the LED lamp 1104 may be provided so as to surround the lens.

[0447] Furthermore, the LED lamp 1104 may be configured to output light when a collision is detected. More specifically, for example, the size, color, and emission pattern of the light may be changed based on the impact value of the collision. This allows the collision (bouncing) situation to be simulated with light.

[0448] The drone 1000a may also be equipped with a solar cell (solar cell, see Figure 2) that generates electricity from ambient light such as sunlight. The solar cell may be installed, for example, on the upper surface of the drone 1000a's casing. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by equipping the drone with a solar cell, it is possible to charge it during flight, thus extending the flight time per charge.

[0449] Furthermore, although not shown in the diagram, drone 1000a may be equipped with a projector. The configuration of the projector is the same as that of projector 701 described above, so details are omitted.

[0450] As a 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. Also, by using a laser projector, it is possible to start up and begin projecting images quickly. Furthermore, a laser projector can ensure a high degree of freedom in the projection direction, and images can be projected not only onto walls but also onto the ground and floor.

[0451] A projector projects an image onto a location illuminated by light emitted from a projector light source, guided through an optical system along a predetermined path, and projected onto the outside of the projector via a projection lens. The projector adjusts 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 projection position. This may be done. The distance between the projector and the position on which the image is projected can be determined, for example, using a distance sensor. Various known sensors can be used as distance sensors, such as laser distance sensors, ultrasonic sensors, and infrared sensors.

[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 manner that allows for attitude adjustment.

[0453] In this case, the flying robot 1000 may be equipped with a drive mechanism (for example, a motor or gear train) 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 composed of, for example, a motor or a gear train. By making the attitude of the projector relative to the drone 1000a adjustable, the image can be projected at an optimal angle depending on the location where the image is to be projected.

[0454] Thus, the Flying Robot 1000 is equipped with a projector, allowing it to project images and videos while bouncing, enabling unprecedented and innovative projection of images and videos.

[0455] Furthermore, the hardware configuration of the flying robot 1000 is the same as that of the flying robot in Embodiment 1 described above (Figure 2) or the hardware of the flying robot in Embodiment 2 described above (Figure 8), so a detailed explanation will be omitted. Furthermore, the functional configuration of the flying robot 1000 is the same as that of the flying robot in Embodiment 1 described above (Figure 3), so a detailed explanation will be omitted.

[0456] The control unit, which is a functional component of the flying robot 1000, more specifically flies the flying robot 1000 in such a way as to circle the flying robot 1000 above the head of a specific user 600, hover the flying robot 1000 in front of a specific user 600, or move the flying robot 1000 closer to or further away from a specific user 600 as if playfully interacting with the user 600.

[0457] Furthermore, if the control unit of the flying robot 1000 detects that a specific user 600 has seen the flying robot 1000, it may instruct the flying robot 1000 to fly away from the specific user 600 and return to the charging spot. In this way, by having the flying robot 1000 patrol the area around its nest to check the situation and then return to the nest, mimicking a "territorial behavior" where the charging spot is treated as a nest, it is possible to give the impression to people in the vicinity, including the specific user 600, that the flying robot 1000 is a living creature with its own will.

[0458] Furthermore, as mentioned above, the control unit of the flying robot 1000 can make itself bounce, and can also give the impression of being a living organism with its own will.

[0459] (An example of the processing procedure for the Flying Robot 1000) Next, we will explain an example of the processing procedure for the flying robot 1000.

[0460] Figure 12 is a flowchart showing an example of the processing procedure for a flying robot according to Embodiment 3 of this invention. Specifically, Figure 12 shows the procedure for performing bound flight processing by free fall.

[0461] In the flowchart of Figure 12, first, it is determined whether the drive for the flight of the flying robot 1000 is stopped or not (step S1201). Specifically, for example, whether the drive is stopped or not is determined by whether the power supplied to the motor 202 is stopped (or whether the supplied power is below a predetermined value). If the drive is running, i.e., the drive is not stopped (step S1201: No), then nothing is done and the process ends.

[0462] On the other hand, if the drive system for the flying robot 1000 is stopped (step S1201: Yes), then it is determined whether or not a collision occurred (step S1202). That is, because the drive system is stopped, the flying robot 1000 will fall naturally due to its own weight. Then, the flying robot 1000 will reach the ground or the like (crash), and a collision will occur there. Therefore, it is determined whether or not a collision occurred based on the detection results of an acceleration sensor or the like.

[0463] Here, the system waits for a collision to occur, and if a collision occurs (step S1202: Yes), it starts the drive that was stopped (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 vehicle was detected as stopped (step S1203). The predetermined time is, as mentioned above, for example, about 0.1 to 0.3 seconds. This time can be measured by a timer provided in the control circuit.

[0465] If too much time passes after the drive system is stopped, the falling speed will become too fast, resulting in a greater impact when the flying robot 1000 hits the ground. This could cause damage to the flying robot 1000, such as breakage or malfunction. Alternatively, if the impact is not detected correctly, the flying robot 1000 may malfunction and be unable to take off (fly).

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

[0467] Then, after going through steps S1201 and S1202, if a predetermined time has elapsed in step S1203 (step S1203: Yes), the process proceeds to step S1204, where the previously stopped drive is started (step S1204), and the series of processes is completed. As a result, the flying robot 1000 can float up and resume flight under automatic control.

[0468] In this way, the flying robot 1000 can perform bouncing flight by free fall.

[0469] Figure 13 is a flowchart illustrating an example of another processing procedure for the flying robot of Embodiment 3 according to this invention. Specifically, Figure 13 shows the procedure for a dribble-bouncing flight process that mimics basketball dribbling, using free fall.

[0470] In the flowchart of Figure 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 is terminated. 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). An instruction could be, for example, a bound instruction. If there is no instruction (step S1302: No), the process returns to step S1301. On the other hand, if an instruction has been given (step S1302: Yes), the drive for flight is stopped (step S1303).

[0471] Next, 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), it outputs sound or light (illuminates) in accordance with the collision. It may also do both (step S1305).

[0472] Then, the drive for flight is initiated (step S1306). Also, the counter in the control circuit 207 is set to +1 (step S1307).

[0473] Next, it is determined whether the counter has reached a predetermined number (step S1308). This predetermined number indicates the number of bounces. Therefore, if the predetermined number is '1', there is one bounce; if the predetermined number is '5', there are five bounces.

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

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

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

[0477] In this way, the flying robot 1000 can perform continuous dribbling and bouncing flight through free fall.

[0478] Figure 14 is a flowchart illustrating an example of another processing procedure for the flying robot of Embodiment 3 according to this invention. Specifically, Figure 14 shows a procedure for bound flight processing that does not rely on free fall.

[0479] In the flowchart of Figure 14, first, it is determined whether the flying robot 1000 is falling (descending) or not (step S1401). Specifically, for example, it is determined whether it is falling or not by whether the altitude is decreasing as detected by the altitude sensor, or by whether it is moving towards the ground as detected by the acceleration sensor. Alternatively, it may be determined whether it is falling (descending) or not based on the driving status. If it 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), then it is determined whether or not a collision occurred (step S1402). That is, because the flying robot 1000 is falling (descending), it will reach the ground or the like (crash) after a predetermined time has elapsed. A collision will then occur. Therefore, it is determined whether or not a collision occurred.

[0481] Here, the system waits for a collision to occur, and if a collision occurs (step S1402: Yes), it starts propelling the aircraft upward (ascending) (step S1405), and the series of processes ends. ru.

[0482] In step S1402, if there is no collision (step S1402: No), the system detects the fall (descent) and then determines whether the aircraft's speed (falling speed) has reached a predetermined speed (step S1403).

[0483] If the falling (descending) speed becomes too fast, the impact when the flying robot 1000 hits the ground will be too great, potentially causing damage such as breakage or malfunction to the flying robot 1000.

[0484] Therefore, in order to avoid the risks associated with such damage, it is advisable to consider the falling speed of the flying robot 1000 and the damage that would occur if it were to collide with the ground or other objects at that speed, set a falling speed at which there is a risk of malfunction or other problems, and set that falling speed as a predetermined speed.

[0485] In step S1403, if the predetermined speed is reached (step S1403: Yes), the levitation drive is started (step S1405), and the series of processes is terminated. On the other hand, if the predetermined speed is not reached (step S1403: No), the next step is to determine whether a predetermined time has elapsed (step S1404). The predetermined time is, as mentioned above, 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 fall time is too long, it can be inferred that the impact was not detected correctly. If the impact is not detected correctly, the flying robot 1000 may malfunction and be unable to float (fly).

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

[0488] Then, after steps S1401 and S1402, if a predetermined time has elapsed in step S1403 (step S1403: Yes), the lift-up drive is initiated (step S1405), and the series of processes ends. As a result, the flying robot 1000 lifts off and resumes flight under automatic control.

[0489] In this way, the flying robot 1000 can perform bouncing flight without relying on free fall.

[0490] Figure 15 is a flowchart showing an example of another processing procedure for the flying robot of Embodiment 3 according to this invention. Specifically, Figure 15 shows a procedure for continuous dribble-bounce flight processing that does not rely on free fall.

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

[0492] Then, it is determined whether or not a collision occurred (step S1504). If a collision occurred, Waiting for a collision to occur (Step S1504: No), if a collision occurs (Step S1504: Yes), output sound or light (emit light) in accordance with the collision. Alternatively, both may be output (Step S1505).

[0493] Then, the levitation drive is initiated (step S1506). Also, the counter in the control circuit 207 is set to +1 (step S1507).

[0494] Next, it is determined whether the counter has reached a predetermined number (step S1508). This predetermined number indicates the number of bounces. Therefore, if the predetermined number is '2', there are 2 bounces, and if the predetermined number is '5', there are 5 bounces.

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

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

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

[0498] In this way, the flying robot 1000 can perform dribble-bouncing flight without relying on free fall.

[0499] As described above, the flying robot 1000 of Embodiment 3 of this invention is equipped with an unmanned aerial vehicle (drone 1000a) that flies by automatic piloting, and is characterized in that it detects when the drive used for flight has stopped while the drone 1000a is in flight, detects when it has collided with something after detecting that the drive has stopped, and starts the drive when a collision is detected. This allows the flying robot 1000 to perform a bouncing motion. This bouncing motion can attract the user's attention in some way, soothe the user's heart with the cuteness of its movement, and give the user a sense of satisfaction.

[0500] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that, after detecting a stop in operation, it starts operation after a predetermined time has elapsed without the robot colliding with anything. This makes it possible to avoid malfunctions (such as failure to restart operation) that may occur if the flying robot 1000 fails to correctly detect a collision.

[0501] Furthermore, the third embodiment of the present invention, the flying robot 1000, is equipped with an autonomously piloted drone 1000a, and is characterized by detecting when the drone 1000a is falling during flight, detecting a collision after detecting the fall, and performing a drive to lift the drone 1000 when a collision is detected. This allows the flying robot 1000 to perform a bouncing motion without relying on free fall. In addition, the movement of the flying robot 1000 during the fall and the collision position can be freely controlled, and further new movements can be added to the bouncing motion.

[0502] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that, after detecting the cessation of the fall, it starts driving when the speed of the fall reaches a predetermined speed without the robot itself colliding with anything. This makes it possible to reduce the damage that the flying robot 1000 would sustain in the event of a collision.

[0503] Furthermore, the third embodiment of the present invention, the flying robot 1000, is equipped with an autonomously piloted drone 1000a, and while the drone 1000a is in flight, it receives an instruction to stop the drive used for flight, stops the drive when the instruction is received, detects that the drone has collided with something after the drive has stopped, and starts the drive when a collision is detected. This provides a trigger for the flying robot 1000 to transition to a bouncing motion.

[0504] Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that it stops its operation when it acquires predetermined information via a wireless communication interface 208 provided on the robot. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that the predetermined information is notification information output from a specific terminal device. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present. This makes it possible to draw the user's attention to the fact that predetermined information has been received.

[0505] Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that it stops driving again after a predetermined time has elapsed since the start of driving. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that it repeats the stopping and starting of driving a predetermined number of times. This makes it possible to make the flying robot 1000 perform continuous bouncing movements.

[0506] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by controlling its drive so that the collision points are the same. This makes it possible to simulate the action of bouncing a ball.

[0507] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by controlling the drive so that the collision points are different. This makes the continuous bouncing motion appear larger.

[0508] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by recognizing a specific user 600 based on an image captured by a camera on the robot itself, and controlling its drive so that the collision point is different, so as to follow the moving specific user 600. This makes it possible to simulate the action of following the user, and can further enhance the sense of attachment to the flying robot 1000 as a pet.

[0509] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that, after detecting a stop in operation, it starts operation after a predetermined time has elapsed without the robot colliding with anything. This not only avoids malfunction of the flying robot 1000, but also enables it to perform unusual actions that are unthinkable with a normal ball, such as dribbling in the air.

[0510] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is equipped with a drone 1000a that flies by autopilot, and while the drone 1000a is in flight, it receives a command to drive down itself, and when the command is received it performs the drive, and after the drive is performed The system is characterized by detecting when its own aircraft has collided with something, and, upon detecting a collision, performing a drive to lift the aircraft off the ground. This allows the flying robot 1000 to perform continuous bouncing motions without relying on free fall.

[0511] Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that it performs a drive to drop itself when it acquires predetermined information via a wireless communication interface 208 provided on the robot. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that the predetermined information is notification information output from a specific terminal device. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment. This makes it possible to draw the user's attention to the fact that predetermined information has been received.

[0512] Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that, after performing a drive to lift itself up, it performs a drive to drop itself again after a predetermined time has elapsed. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized in that it repeats the drive to drop itself and the drive to lift itself up a predetermined number of times. This makes it possible to perform a continuous bouncing motion on the flying robot 1000.

[0513] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by controlling at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision points are the same. This makes it possible to simulate the action of bouncing a ball.

[0514] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by controlling at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision points are different. This makes the continuous bouncing motion appear larger.

[0515] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention recognizes a specific user 600 based on an image captured by a camera on the robot, and controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision points are different, in order to follow the moving specific user 600. This makes it possible to simulate the action of following the user, and can further enhance the sense of attachment to the flying robot 1000 as a pet.

[0516] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that, after the robot is driven to fall, if the falling speed reaches a predetermined speed without the robot colliding with anything, it is driven to levitate. This not only avoids the risk of damage such as malfunction or breakage of the flying robot 1000, but also enables it to perform unusual actions that are unthinkable with a normal ball, such as dribbling in the air.

[0517] Furthermore, the third embodiment of the present invention, the flying robot 1000, is characterized by having a spherical housing that covers the unmanned aerial vehicle. This allows the flying robot 1000 to mitigate the impact of collisions. The flying robot 1000 can also be used as a spherical pet. The flying robot 1000 can also be used as a toy that resembles a ball.

[0518] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is located on the underside of the unmanned aerial vehicle. It is characterized by having a hemispherical casing that covers only the upper part. This allows the flying robot 1000 to mitigate the impact of collisions. In addition, the design of the upper part of the unmanned aerial vehicle can be freely applied.

[0519] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that its housing is made of an elastic material.

[0520] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that the housing has a plurality of holes. This ensures ventilation for flight using propellers.

[0521] Furthermore, the third embodiment of the flying robot 1000 according to this invention is characterized in that its housing is made of a mesh structure. This ensures ventilation for propeller-driven flight and also mitigates the impact in the event of a collision.

[0522] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that, when a collision is detected, it outputs a predetermined sound from a speaker provided on the robot.

[0523] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized in that the sound output from the speaker is a sound that mimics the sound made when an animal jumps.

[0524] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is characterized by changing at least one of the volume and type of sound based on the detected impact value of a collision. This expands the range of effects that can be produced by the bouncing motion, thereby making it more enjoyable for the user.

[0525] Furthermore, the flying robot 1000 of Embodiment 3 according to this invention is equipped with a light-emitting unit and is characterized by emitting light from the light-emitting unit when a collision is detected. In addition, the flying robot 1000 of Embodiment 3 according to this invention is characterized by changing at least one of the size, color, and pattern of the light based on the detected impact value of the collision. This expands the range of effects that can be achieved through bouncing, thereby providing greater enjoyment to the user.

[0526] Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized by changing the drive control after a collision based on the detected impact value of the collision. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized by increasing the lift speed of the robot in accordance with the magnitude of the detected impact value of the collision. Furthermore, the flying robot 1000 of Embodiment 3 of this invention is characterized by increasing the lift altitude of the robot in accordance with the magnitude of the detected impact value of the collision. This makes it possible to achieve more realistic bouncing movements. In addition, it is possible to achieve unexpected and mysterious movements that are not generally conceivable, thereby making the user more entertained.

[0527] The control method for the flying robot described in this embodiment 3 can be implemented by executing a pre-prepared program on a computer such as a personal computer or workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, or SSD, and is executed when read from the recording medium by the computer. Furthermore, this program may be transmitted via a medium that can be distributed over a network such as the internet.

[0528] The following are additional notes regarding Embodiment 3.

[0529] (Note 1) Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. A flying robot characterized by starting the drive when the aforementioned collision is detected.

[0530] (Note 2) The flying robot according to Appendix 1, characterized in that, after detecting the aforementioned drive stop, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

[0531] (Note 3) Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. A flying robot characterized by performing a drive to lift itself off the ground when it detects the aforementioned collision.

[0532] (Note 4) The flying robot according to Appendix 3, characterized in that, after detecting the cessation of the fall, the robot initiates the drive when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

[0533] (Note 5) Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. A flying robot characterized by starting the drive when the aforementioned collision is detected.

[0534] (Note 6) The flying robot according to Appendix 5, characterized in that it stops its drive when it acquires predetermined information via a wireless communication interface provided on its own machine.

[0535] (Note 7) The flying robot according to Appendix 6, characterized in that the predetermined information is notification information output from a specific terminal device.

[0536] (Note 8) The flying robot described in Appendix 6 is characterized in that the aforementioned predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward.

[0537] (Note 9) A flying robot according to any one of the appendices 5 to 8, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

[0538] (Note 10) The flying robot according to Appendix 9, characterized in that the stopping and starting of the drive is repeated a predetermined number of times.

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

[0540] (Note 12) The flying robot according to Appendix 10, characterized in that the drive is controlled so that the collision position is different.

[0541] (Note 13) Based on images captured by the aircraft's camera, it recognizes a specific user. The flying robot according to Appendix 12, characterized in that the drive is controlled so that the collision point is different in order to follow the specific user who is moving.

[0542] (Note 14) A flying robot according to any one of appendices 5 to 13, characterized in that, after detection of the aforementioned drive stop, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

[0543] (Note 15) Equipped with an unmanned aerial vehicle that flies under autopilot, While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. A flying robot characterized by performing a drive to lift itself off the ground when it detects the aforementioned collision.

[0544] (Note 16) The flying robot described in Appendix 15, characterized in that it performs a drive to drop itself when it acquires predetermined information via a wireless communication interface provided on its own body.

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

[0546] (Note 18) The flying robot described in Appendix 16 is characterized in that the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward.

[0547] (Note 19) A flying robot as described in any one of appendices 15 to 18, characterized in that, after performing a drive to lift itself into the air, it performs a drive to drop itself again after a predetermined time has elapsed.

[0548] (Note 20) It is characterized by repeatedly performing actions to cause the player's ship to fall and actions to cause the ship to float a predetermined number of times. The flying robot described in Appendix 19.

[0549] (Note 21) The flying robot according to Appendix 20, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision points are the same.

[0550] (Note 22) The flying robot according to Appendix 20, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision locations are different.

[0551] (Note 23) Based on images captured by the aircraft's camera, it recognizes a specific user. The flying robot according to Appendix 22, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision location is different in order to follow the specific user who is moving.

[0552] (Note 24) A flying robot as described in any one of the appendices 15 to 23, characterized in that, after the mechanism for causing the robot to fall is performed, if the speed of the fall reaches a predetermined speed without collision, the mechanism for causing the robot to levitate is performed.

[0553] (Note 25) A flying robot according to any one of the appendices 1 to 24, characterized by having a spherical housing that covers the aforementioned unmanned aerial vehicle.

[0554] (Note 26) The flying robot according to any one of the appendices 1 to 24, characterized by having a hemispherical housing that covers only the lower side of the aforementioned unmanned aerial vehicle.

[0555] (Note 27) The flying robot according to appendix 25 or 26, characterized in that the housing is made of an elastic member.

[0556] (Note 28) The aforementioned housing is characterized by having a plurality of holes, as described in any one of appendices 25 to 27.

[0557] (Note 29) The aforementioned housing is characterized by being constructed of a mesh structure, as described in any one of the appendices 25 to 27.

[0558] (Note 30) A flying robot according to any one of the appendices 1 to 29, characterized in that when it detects the aforementioned collision, it outputs a predetermined sound from a speaker it is equipped with.

[0559] (Note 31) The sound output from the aforementioned speaker is a sound that imitates the sound made when an animal jumps. The flying robot described in Appendix 30, characterized by the features described herein.

[0560] (Note 32) The flying robot according to Appendix 30, characterized in that the sound output from the speaker is a sound that mimics the sound made when an object bounces.

[0561] (Note 33) The flying robot according to any one of appendices 30 to 32, characterized in that it changes at least one of the volume and type of the sound based on the detected impact value of the collision.

[0562] (Note 34) Equipped with a light-emitting part, A flying robot according to any one of the appendices 1 to 31, characterized in that it outputs light from the light-emitting unit when it detects the aforementioned collision.

[0563] (Note 35) Based on the detected impact value of the collision, at least one of the light magnitude, color, and emission pattern is determined. The flying robot according to Appendix 34, characterized by the modification of the above.

[0564] (Note 36) A flying robot according to any one of the appendices 1, 3, 5-13, 15-23, or 25-35, characterized in that it changes the drive control after a collision based on the detected impact value of the collision.

[0565] (Note 37) The flying robot according to Appendix 36, characterized in that it increases its own levitation speed in accordance with the magnitude of the detected impact value of the collision.

[0566] (Note 38) The flying robot according to Appendix 36 or 37, characterized in that it increases its own buoyancy altitude in accordance with the magnitude of the detected impact value of the collision.

[0567] (Note 39) A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. When the collision is detected, the drive is started. A control program for a flying robot, characterized by its ability to execute processes.

[0568] (Note 40) A control program for a flying robot according to Appendix 39, characterized in that, after detecting the aforementioned cessation of drive, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

[0569] (Note 41) A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A control program for a flying robot, characterized by its ability to execute processes.

[0570] (Note 42) A control program for a flying robot according to Appendix 41, characterized in that, after detecting the cessation of the fall, the robot starts the drive when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

[0571] (Note 43) A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. When the collision is detected, the drive is started. A control program for a flying robot, characterized by its ability to execute processes.

[0572] (Note 44) A control program for a flying robot according to Appendix 43, characterized in that it stops the drive when it acquires predetermined information via a wireless communication interface provided by the robot.

[0573] (Note 45) The control program for a flying robot according to Appendix 44, characterized in that the predetermined information is notification information output from a specific terminal device.

[0574] (Note 46) The control program for a flying robot as described in Appendix 44, 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 period from the present moment onward.

[0575] (Note 47) A control program for a flying robot according to any one of the appendices 43 to 46, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

[0576] (Note 48) A control program for a flying robot according to Appendix 47, characterized by repeatedly stopping the drive and starting the drive a predetermined number of times.

[0577] (Note 49) A control program for a flying robot according to Appendix 48, characterized in that the drive is controlled so that the collision position is the same.

[0578] (Note 50) A control program for a flying robot according to Appendix 48, characterized in that the drive is controlled so that the collision position is different.

[0579] (Note 51) Based on images captured by the aircraft's camera, it recognizes a specific user. A control program for a flying robot according to Appendix 50, characterized in that the drive is controlled so that the collision location is different in order to follow the specific user who is moving.

[0580] (Note 52) A control program for a flying robot according to any one of the appendices 43 to 51, characterized in that, after detection of the aforementioned drive stop, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

[0581] (Note 53) A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A control program for a flying robot, characterized by its ability to execute processes.

[0582] (Note 54) A control program for a flying robot as described in Appendix 53, characterized in that when predetermined information is acquired via a wireless communication interface provided by the robot, it performs a drive to cause the robot to fall.

[0583] (Note 55) The control program for a flying robot according to Appendix 54, characterized in that the predetermined information is notification information output from a specific terminal device.

[0584] (Note 56) The control program for a flying robot as described in Appendix 54, 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 period from the present moment onward.

[0585] (Note 57) A control program for a flying robot as described in any one of appendices 53 to 56, characterized in that after performing a drive to lift the robot into the air, a drive to drop the robot is performed again after a predetermined time has elapsed.

[0586] (Note 58) A control program for a flying robot as described in Appendix 57, characterized by repeatedly performing a drive to drop the robot and a drive to raise the robot a predetermined number of times.

[0587] (Note 59) A control program for a flying robot according to Appendix 58, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision locations are the same.

[0588] (Note 60) A control program for a flying robot according to Appendix 58, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision locations are different.

[0589] (Note 61) Based on images captured by the aircraft's camera, it recognizes a specific user. A control program for a flying robot according to Appendix 60, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision location is different in order to follow the specific user who is moving.

[0590] (Note 62) A control program for a flying robot as described in any one of the appendices 53 to 61, characterized in that, after the robot is driven to fall, if the falling speed reaches a predetermined speed without collision, the robot is driven to levitate.

[0591] (Note 63) A control program for a flying robot according to any one of appendices 39, 41, 43-51, or 53-61, characterized in that it changes the drive control after a collision based on the detected impact value of the collision.

[0592] (Note 64) A control program for a flying robot according to Appendix 63, characterized in that it increases the aircraft's levitation speed in accordance with the magnitude of the detected impact value of the collision.

[0593] (Note 65) A control program for a flying robot according to appendix 63 or 64, characterized in that it increases the aircraft's buoyancy altitude in accordance with the magnitude of the detected impact value of the collision.

[0594] (Note 66) A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. When the collision is detected, the drive is started. A method for controlling a flying robot, characterized by performing a process.

[0595] (Note 67) A control method for a flying robot according to Appendix 66, characterized in that, after detection of the aforementioned drive stop, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0596] (Note 68) A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A method for controlling a flying robot, characterized by performing a process.

[0597] (Note 69) A control method for a flying robot according to Appendix 68, characterized in that, after detecting the cessation of the fall, the robot starts the drive when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

[0598] (Note 70) A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. When the collision is detected, the drive is started. A method for controlling a flying robot, characterized by performing a process.

[0599] (Note 71) A control method for a flying robot according to Appendix 70, characterized in that the robot stops its drive when it acquires predetermined information via a wireless communication interface provided by the robot.

[0600] (Note 72) The method for controlling a flying robot according to Appendix 71, characterized in that the predetermined information is notification information output from a specific terminal device.

[0601] (Note 73) The method for controlling a flying robot as described in Appendix 72, 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 period from the present moment onward.

[0602] (Note 74) A method for controlling a flying robot according to any one of the appendices 70 to 73, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

[0603] (Note 75) A control method for a flying robot according to Appendix 74, characterized by repeatedly stopping the drive and starting the drive a predetermined number of times.

[0604] (Note 76) A control method for a flying robot according to Appendix 75, characterized in that the drive is controlled so that the collision position is the same.

[0605] (Note 77) A control method for a flying robot according to Appendix 75, characterized in that the drive is controlled so that the collision position is different.

[0606] (Note 78) Based on images captured by the aircraft's camera, it recognizes a specific user. A control method for a flying robot according to Appendix 77, characterized in that the drive is controlled so that the collision location is different in order to follow the specific user who is moving.

[0607] (Note 79) A control method for a flying robot according to any one of the appendices 70 to 78, characterized in that, after detection of the aforementioned drive stop, the drive is started when a predetermined time has elapsed without the robot colliding with anything.

[0608] (Note 80) A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A method for controlling a flying robot, characterized by performing a process.

[0609] (Note 81) A control method for a flying robot according to Appendix 80, characterized in that when predetermined information is obtained via a wireless communication interface provided by the robot, the robot is driven to fall.

[0610] (Note 82) The method for controlling a flying robot according to Appendix 81, characterized in that the predetermined information is notification information output from a specific terminal device.

[0611] (Note 83) The method for controlling a flying robot according to Appendix 81, 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 period from the present moment onward.

[0612] (Note 84) A control method for a flying robot as described in any one of appendices 80 to 83, characterized in that after performing a drive to lift the robot into the air, a drive to drop the robot is performed again after a predetermined time has elapsed.

[0613] (Note 85) A control method for a flying robot as described in Appendix 84, characterized by repeatedly performing a drive to make the robot fall and a drive to make the robot float a predetermined number of times.

[0614] (Note 86) A control method for a flying robot according to Appendix 85, characterized in that at least one of the drives that cause the robot to fall and the drives that cause the robot to float is controlled so that the collision positions are the same.

[0615] (Note 87) A control method for a flying robot according to Appendix 85, characterized in that at least one of the drives that cause the robot to fall and the drives that cause the robot to float is controlled so that the collision locations are different.

[0616] (Note 88) Based on images captured by the aircraft's camera, it recognizes a specific user. A control method for a flying robot according to Appendix 87, characterized in that, in order to follow the moving specific user, the collision point is different, and at least one of the drives that causes the robot to fall and the drives that cause the robot to float are controlled.

[0617] (Note 89) A control method for a flying robot according to any one of the appendices 80 to 88, characterized in that, after the robot is driven to fall, if the falling speed reaches a predetermined speed without collision, the robot is driven to levitate.

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

[0619] (Note 91) A control method for a flying robot according to Appendix 90, characterized in that the robot's levitation speed is increased according to the magnitude of the detected impact value of the collision.

[0620] (Note 92) A control method for a flying robot according to Appendix 90 or 91, characterized in that the robot's buoyancy altitude is increased in accordance with the magnitude of the detected impact value of the collision. [Industrial applicability]

[0621] As described above, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention are useful to users seeking a pet-type robot, and are particularly suitable for users who desire easy care. [Explanation of symbols]

[0622] 100 Flying Robots 101 Drones 103 Camera 104 LED lamps 106 solar cells 201 Battery 202 Motor 203 Mike 204 Speakers 205 GPS Sensors 206 Object Sensor 207 Control Circuit 208 Communication I / F 301 Storage section 302 Detection unit 303 Photography Department 304 Acquisition Department 305 Drive Unit 306 Output section 307 Control Unit 400 charging spots 401a Transmission Coil 401b cover 401c power cable 402 Exterior part 600 specific users 600 700 Flying Robots 701 Projector 701a Projection Lens 1000 Flying Robots 1000a Drone (Unmanned Aerial Vehicle) 1100 (Spherical) Casing 1101a~d Propeller 1102 Camera 1103 Speaker 1104 LED Lamp

Claims

1. Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. A flying robot characterized by starting the drive when the aforementioned collision is detected.

2. The flying robot according to claim 1, characterized in that, after detecting the aforementioned drive stop, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

3. Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. A flying robot characterized by performing a drive to lift itself off the ground when it detects the aforementioned collision.

4. The flying robot according to claim 3, characterized in that, after detecting the cessation of the fall, the robot starts the drive when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

5. Equipped with an unmanned aerial vehicle that flies under autopilot, During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. A flying robot characterized by starting the drive when the aforementioned collision is detected.

6. The flying robot according to claim 5, characterized in that it stops the drive when it acquires predetermined information via a wireless communication interface provided on the robot.

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

8. The flying robot according to claim 6, characterized in that the predetermined 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 predetermined time period from the present moment onward.

9. The flying robot according to any one of 5 to 8, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

10. The flying robot according to claim 9, characterized in that the stopping and starting of the drive are repeated a predetermined number of times.

11. The flying robot according to claim 10, characterized in that the drive is controlled so that the collision position is the same.

12. The flying robot according to claim 10, characterized in that the drive is controlled so that the collision position is different.

13. Based on images captured by the aircraft's camera, it recognizes a specific user. The collision location is different to follow the moving specific user. The flying robot according to claim 12, characterized in that the drive is controlled in such a manner.

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

15. Equipped with an unmanned aerial vehicle that flies under autopilot, While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. A flying robot characterized by performing a drive to lift itself off the ground when it detects the aforementioned collision.

16. The flying robot according to claim 15, characterized in that it performs a drive to drop itself when it acquires predetermined information via a wireless communication interface provided on its own body.

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

18. The flying robot according to claim 16, characterized in that the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward.

19. The flying robot according to any one of claims 15 to 18, characterized in that after performing a drive to lift the robot into the air, it performs a drive to drop the robot again after a predetermined time has elapsed.

20. The flying robot according to claim 19, characterized in that it repeatedly performs a drive to drop the robot and a drive to raise the robot a predetermined number of times.

21. The flying robot according to claim 20, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision points are the same.

22. The flying robot according to claim 20, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision locations are different.

23. Based on images captured by the aircraft's camera, it recognizes a specific user. The flying robot according to claim 22, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision location is different in order to follow the specific user who is moving.

24. A flying robot according to any one of claims 15 to 23, characterized in that, after the mechanism for causing the robot to fall is performed, if the speed of the fall reaches a predetermined speed without the robot colliding with anything, the mechanism for causing the robot to levitate is performed.

25. The flying robot according to any one of claims 1 to 24, characterized in that it comprises a spherical housing that covers the aforementioned unmanned aerial vehicle.

26. The flying robot according to any one of claims 1 to 24, characterized in that it comprises a hemispherical housing that covers only the lower part of the unmanned aerial vehicle.

27. The flying robot according to claim 25 or 26, characterized in that the housing is made of an elastic member.

28. The flying robot according to any one of 25 to 27, characterized in that the housing has a plurality of holes.

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

30. The flying robot according to any one of claims 1 to 29, characterized in that when it detects the aforementioned collision, it outputs a predetermined sound from a speaker equipped on its own aircraft.

31. The flying robot according to claim 30, characterized in that the sound output from the speaker is a sound that mimics the sound made when an animal jumps.

32. The flying robot according to claim 30, characterized in that the sound output from the speaker is a sound that mimics the sound made when an object bounces.

33. The flying robot according to any one of 30 to 32, characterized in that it changes at least one of the volume and type of the sound based on the detected impact value of the collision.

34. Equipped with a light-emitting part, The flying robot according to any one of claims 1 to 31, characterized in that it outputs light from the light-emitting unit when it detects the aforementioned collision.

35. Based on the detected impact value of the collision, at least one of the light magnitude, color, and emission pattern is determined. The flying robot according to claim 34, characterized by the modification of the above.

36. The flying robot according to any one of claims 1, 3, 5-13, 15-23, or 25-35, characterized in that the drive control after the collision is changed based on the detected impact value of the collision.

37. The flying robot according to claim 36, characterized in that it increases its own levitation speed in accordance with the magnitude of the detected impact value of the collision.

38. The flying robot according to claim 36 or 37, characterized in that it increases the aircraft's buoyancy altitude in accordance with the magnitude of the detected impact value of the collision.

39. A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. When the collision is detected, the drive is started. A control program for a flying robot, characterized by its ability to execute processes.

40. The control program for a flying robot according to claim 39, characterized in that, after detecting the aforementioned drive stop, the robot starts the drive after a predetermined time has elapsed without the robot colliding with anything.

41. A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A control program for a flying robot, characterized by its ability to execute processes.

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 initiated when the speed of the fall reaches a predetermined speed without the robot colliding with anything.

43. A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. When the collision is detected, the drive is started. A control program for a flying robot, characterized by its ability to execute processes.

44. A control program for a flying robot according to claim 43, characterized in that it stops the drive when it acquires predetermined information via a wireless communication interface provided by the robot.

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

46. The control program for a flying robot according to claim 44, 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 period from the present moment onward.

47. A control program for a flying robot according to any one of 43 to 46, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

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

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

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

51. Based on images captured by the aircraft's camera, it recognizes a specific user. A control program for a flying robot according to claim 50, characterized in that the drive is controlled so that the collision location is different in order to follow the specific user who is moving.

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

53. A control program for a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer equipped with the aforementioned unmanned aerial vehicle, While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A control program for a flying robot, characterized by its ability to execute processes.

54. A control program for a flying robot according to claim 53, characterized in that when predetermined information is acquired via a wireless communication interface provided by the robot, it performs a drive to cause the robot to fall.

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

56. The control program for a flying robot according to claim 54, 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 period from the present moment onward.

57. A control program for a flying robot according to any one of 53 to 56, characterized in that after performing a drive to lift the robot into the air, if a predetermined time has elapsed, the program performs a drive to drop the robot again.

58. A control program for a flying robot according to claim 57, characterized in that it repeatedly performs a drive to make the robot fall and a drive to make the robot float a predetermined number of times.

59. The control program for a flying robot according to claim 58, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision positions are the same.

60. The control program for a flying robot according to claim 58, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision locations are different.

61. Based on images captured by the aircraft's camera, it recognizes a specific user. A control program for a flying robot according to claim 60, characterized in that it controls at least one of the drives that cause the robot to fall and the drives that cause the robot to float, so that the collision location is different in order to follow the specific user who is moving.

62. After the action to cause the player's ship to fall is initiated, the ship does not collide with anything, and the speed of that fall is A control program for a flying robot according to any one of 53 to 61, characterized in that it performs a drive to lift the robot when it reaches a predetermined speed.

63. A control program for a flying robot according to any one of 39, 41, 43-51, or 53-61, characterized in that it changes the drive control after the collision based on the detected impact value of the collision.

64. A control program for a flying robot according to 63, characterized in that the robot increases its lift-off speed in accordance with the magnitude of the impact value of the detected collision.

65. A control program for a flying robot according to 63 or 64, characterized in that the robot's buoyancy altitude is increased in accordance with the magnitude of the detected impact value of the collision.

66. A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, it is detected that the propulsion system used for flight has been stopped. After detecting the cessation of the aforementioned drive, the system detects that the aircraft has collided with another vehicle. A method for controlling a flying robot, characterized in that the drive is initiated when the aforementioned collision is detected.

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

68. A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, it was detected that the vehicle was falling. After detecting the aforementioned fall, the system detects that the aircraft has collided with another aircraft. A control method for a flying robot, characterized in that, upon detecting the aforementioned collision, it performs a drive to lift the robot into the air.

69. The control method for a flying robot according to 68, 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 anything.

70. A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle During the flight of the aforementioned unmanned aerial vehicle, an instruction to stop the propulsion system used for flight is received. When the aforementioned instruction is received, the drive is stopped, After the aforementioned drive is stopped, the system detects that a collision has occurred. When the collision is detected, the drive is started. A method for controlling a flying robot, characterized by performing a process.

71. A control method for a flying robot according to claim 70, characterized in that the drive is stopped when predetermined information is acquired via a wireless communication interface provided by the robot.

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

73. The aforementioned predetermined information is characterized by being information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward. A method for controlling the flying robot described in 72.

74. A method for controlling a flying robot according to any one of 70 to 73, characterized in that the drive is stopped again after a predetermined time has elapsed since the start of the drive.

75. The control method for a flying robot according to claim 74, characterized in that the stopping and starting of the drive is repeated a predetermined number of times.

76. The control method for a flying robot according to claim 75, characterized in that the drive is controlled so that the collision position is the same.

77. The control method for a flying robot according to claim 75, characterized in that the drive is controlled so that the collision position is different.

78. Based on images captured by the aircraft's camera, it recognizes a specific user. A method for controlling a flying robot according to claim 77, characterized in that the drive is controlled so that the collision location is different in order to follow the specific user who is moving.

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

80. A method for controlling a flying robot equipped with an unmanned aerial vehicle that flies by autopilot, The computer installed in the aforementioned unmanned aerial vehicle While the aforementioned unmanned aerial vehicle is in flight, it receives a command to initiate a drive to cause the aircraft to fall. When the above instruction is received, the above drive is performed. After the aforementioned drive is performed, the system detects that the aircraft has collided with another vehicle. When the aforementioned collision is detected, the system will perform a drive to lift the aircraft. A method for controlling a flying robot, characterized by performing a process.

81. A control method for a flying robot according to claim 80, characterized in that when predetermined information is acquired via a wireless communication interface provided by the robot, the robot is driven to fall.

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

83. The method for controlling a flying robot according to claim 81, 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 period from the present moment onward.

84. A control method for a flying robot according to any one of 80 to 83, characterized in that after performing a drive to lift the robot into the air, a drive to drop the robot is performed again after a predetermined time has elapsed.

85. A control method for a flying robot according to claim 84, characterized in that it repeatedly performs a drive to make the robot fall and a drive to make the robot float a predetermined number of times.

86. The control method for a flying robot according to 85, characterized in that at least one of the drives that cause the robot to fall and the drives that cause the robot to float is controlled so that the collision positions are the same.

87. The control method for a flying robot according to 85, characterized in that at least one of the drives that cause the robot to fall and the drives that cause the robot to float are controlled so that the collision locations are different.

88. Based on images captured by the aircraft's camera, it recognizes a specific user. A control method for a flying robot according to 87, characterized in that at least one of the drives that cause the robot to fall and the drives that cause the robot to float are controlled so that the collision location is different in order to follow the specific user who is moving.

89. A control method for a flying robot according to any one of 80 to 88, characterized in that, after the robot is driven to fall, if the speed of the fall reaches a predetermined speed without collision, the robot is driven to levitate.

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

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

92. A method for controlling a flying robot according to claim 90 or 91, characterized in that the robot's buoyancy altitude is increased in accordance with the magnitude of the impact value of the detected collision.

93. Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing a specific user based on an image captured by the aforementioned camera and flying around that specific user.

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

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

96. The flying robot according to any one of 93 to 95, characterized in that, while flying around the aforementioned particular users, if at least some of the aforementioned particular users approach the unmanned aerial vehicle, the robot flies away from the aforementioned particular users.

97. The flying robot according to any one of 93 to 95, characterized in that, when flying around the aforementioned particular user, if the aforementioned particular user does not make eye contact with the unmanned aircraft, the robot flies to approach the aforementioned particular user.

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

99. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of 93 to 98, characterized in that it flies around the specific user when it has acquired predetermined information via the wireless communication interface.

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 predetermined information is information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden change in weather may occur within a predetermined time period from the present moment onward.

102. The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of claims 93 to 101, characterized in that it outputs sound from the speaker toward the specific user and flies around the specific user.

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

104. The flying robot according to claim 103, characterized in that the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

105. The predetermined voice is the voice of the specific user, as described in 103. A flying robot.

106. The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of 103 to 105, characterized in that when a predetermined sound is collected by the microphone, it outputs the sound from the speaker toward the specific user and flies around the specific user.

107. The flying robot according to claim 102 or 106, characterized in that the sound output from the speaker is a sound that imitates the sound of an animal.

108. The computer in the unmanned aerial vehicle, which is equipped with a camera and flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. To fly around the recognized specific user, A control program for a flying robot, characterized by its ability to execute processes.

109. If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A control program for a flying robot according to claim 108, characterized by causing it to execute a process.

110. If the unmanned aerial vehicle is flying around the aforementioned specific user and the user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the aforementioned specific user. Control program for flying robot according to 108, characterized by causing processing Ram.

111. After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A control program for a flying robot according to claim 108, characterized by causing it to execute a process.

112. A flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. To fly around the recognized specific user, A method for controlling a flying robot, characterized by the features described above.

113. If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A method for controlling a flying robot according to feature 112.

114. If the unmanned aerial vehicle is flying around the aforementioned specific user and the user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the aforementioned specific user. A method for controlling a flying robot according to feature 112.

115. After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A method for controlling a flying robot according to feature 112.

116. Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The microphone mounted on the aforementioned unmanned aerial vehicle, Equipped with, Based on the image captured by the aforementioned camera, a specific user is recognized. A flying robot characterized in that, when a predetermined sound is collected by the microphone, it flies between the vicinity of the recognized specific user and the source of the predetermined sound in accordance with the predetermined sound.

117. The flying robot according to claim 116, characterized in that when a predetermined sound is collected by the microphone, it circles around the recognized specific user in response to the predetermined sound, and then flies between the vicinity of the specific user and the source of the predetermined sound.

118. The flying robot according to claim 116 or 117, characterized in that the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

119. The flying robot according to claim 1164 or 117, characterized in that the predetermined sound is the ringing sound of a doorbell installed at the entrance of a building or premises for visitors to the building or premises to call the resident or manager of the building or premises.

120. The flying robot according to claim 116 or 117, characterized in that the predetermined sound is a sound with a sound pressure above a predetermined threshold.

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

122. The flying robot according to any one of 116 to 121, characterized in that it flies around the recognized specific user in a flight mode corresponding to the predetermined sound in response to the predetermined sound.

123. The aforementioned unmanned aerial vehicle is equipped with a projector, The flying robot according to any one of 116 to 122, 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.

124. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to claim 123, characterized in that it acquires image data relating to an image projected from the projector via the wireless communication interface.

125. The flying robot according to any one of 116 to 124, characterized in that when a predetermined sound is collected by the microphone, the projector projects characters corresponding to the predetermined sound in front of the recognized specific user.

126. A computer in a flying robot equipped with a camera and microphone and flying on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the aircraft is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, in accordance with the predetermined sound. A control program for a flying robot, characterized by its ability to execute processes.

127. A flying robot equipped with a camera and microphone, and featuring an unmanned aerial vehicle that flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the aircraft is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, in accordance with the predetermined sound. A method for controlling a flying robot, characterized by the features described above.

128. A computer in a flying robot equipped with a camera, microphone, and projector, which flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the device is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, and an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user. A control program for a flying robot, characterized by its ability to execute processes.

129. A flying robot equipped with a camera, microphone, and projector, and featuring an unmanned aerial vehicle that flies on autopilot, Based on the image captured by the aforementioned camera, a specific user is recognized. When a predetermined sound is picked up by the microphone, the device is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound, and an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user. A method for controlling a flying robot, characterized by the features described above.

130. Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, Equipped with, Based on the image captured by the aforementioned camera, a specific user is recognized. A flying robot characterized in that, upon receiving information via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time period from the present moment, it flies between the vicinity of a recognized specific user and the source of a predetermined voice in response to the predetermined voice.

131. A computer in a flying robot equipped with a camera and wireless communication interface, which flies autonomously, Based on the image captured by the aforementioned camera, a specific user is recognized. If information is obtained via the aforementioned wireless communication interface indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment, the aircraft will fly between the vicinity of the recognized specific user and the source of the predetermined voice, in response to the predetermined voice. A control program for a flying robot, characterized by its ability to execute processes.

132. A flying robot equipped with a camera and wireless communication interface, and featuring an unmanned aerial vehicle that flies autonomously, Based on the image captured by the aforementioned camera, a specific user is recognized. If information is obtained via the aforementioned wireless communication interface indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment, the aircraft will fly between the vicinity of the recognized specific user and the source of the predetermined voice, in response to the predetermined voice. A method for controlling a flying robot, characterized by the features described above.

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