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

Abstract

To effectively alleviate lack of exercise and stress in cats. [Solution] The system comprises an unmanned aerial vehicle that flies by autopilot, a camera mounted on the unmanned aerial vehicle, and a holding unit mounted on the unmanned aerial vehicle that holds the target object 602. Based on the image captured by the camera, a flying robot 101 flies around the target object, the cat 601, to attract the cat's attention and, specifically for cats 601 that need exercise, to create an opportunity for the cat 601 to move. This effectively alleviates the cat's lack of exercise and stress.

Description

Technical Field

[0001] This invention relates to a flying robot that supports maintaining the health of pets, a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] In recent years, the number of companies introducing telecommuting as part of work-style reform has been increasing. Triggered by the accompanying increase in home time, the number of people starting to keep pets has been increasing. As recommended by the Ministry of the Environment, indoor breeding of typical pets such as cats is recommended for reasons such as "no risk of being involved in traffic accidents", "low risk of contracting infectious diseases", and "less neighborhood trouble".

[0003] On the other hand, in the case of indoor breeding, since the range of movement of cats is limited, cats tend to suffer from lack of exercise. Lack of exercise in cats causes obesity and stress, leading to various diseases. In addition, due to the increase in the home time of the owner, noises indoors increase, etc., reducing the safe and calming places for only cats, which can cause stress for cats and lead to diseases such as cystitis.

[0004] As a technology for eliminating lack of exercise and stress in cats, specifically, conventionally, for example, a pet attractant such as a wing is attached to the tip of a handle rod provided with two springs along the length direction via a wire, and the user grips and swings the handle rod to make the pet attractant move in a complex and varied manner, so that a pet such as a cat can be effectively teased (for example, refer to Patent Document 1 below).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] However, the conventional technologies mentioned above, while effective in exercising cats when the user, such as the owner, is interacting with the cat, have a problem in that their usage time is limited because constantly interacting with a cat during working hours, even when working from home, would interfere with work. This makes it difficult to effectively alleviate the cat's lack of exercise and stress.

[0007] Furthermore, the conventional technologies mentioned above had the problem of being unable to alleviate the stress on cats caused by owners being at home for long periods of time without interacting with their cats due to activities such as performing work, which reduces the number of safe and calming places for the cats to be alone.

[0008] This invention aims to provide a flying robot, a control program for the flying robot, and a control method for the flying robot that can effectively alleviate the lack of exercise and stress in cats, in order to solve the problems of the prior art described above.

[0009] Furthermore, in order to solve the problems of the prior art described above, this invention aims to provide a flying robot, a control program for the flying robot, and a control method for the flying robot that can effectively alleviate the lack of exercise and stress in cats without interfering with the activities of their cohabitants. [Means for solving the problem]

[0010] To solve the above-mentioned problems and achieve the objective, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by automatic piloting, a camera mounted on the unmanned aerial vehicle, and a holding unit mounted on the unmanned aerial vehicle that holds an object to be operated, wherein the unmanned aerial vehicle flies around an object based on an image captured by the camera.

[0011] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle flies around an object with vertical movement based on the image captured by the camera.

[0012] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle flies around an object when the same object is present in the same place for a predetermined period of time, based on an image taken by the camera.

[0013] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it comprises an operating unit that operates the object to be operated held by the holding unit, and the operating unit operates the object to be operated based on an image captured by the camera.

[0014] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the operating unit is operated when the unmanned aerial vehicle is flying around the object based on the image captured by the camera.

[0015] Furthermore, the flying robot according to this invention is characterized in that the operating unit rotates the object to be operated.

[0016] Furthermore, the flying robot according to this invention is characterized in that the operating unit causes the object to be operated to swing.

[0017] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the holding unit holds the operation target in a replaceable state.

[0018] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a string-like member.

[0019] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a rod-like member.

[0020] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a rod-like member to which the other end of a linear member with a wing or a member imitating a wing attached to one end is connected.

[0021] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a rod-like member to which the other end of a linear member with at least one of a yarn, a member imitating a yarn, or a fringe-like member attached to one end is connected.

[0022] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a rod-like member to which the other end of a linear member with a spherical member attached to one end is connected.

[0023] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the spherical member is formed using a material exhibiting a predetermined elasticity.

[0024] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the operation target is a rod-like member to which the other end of a linear member with a brush-like member attached to one end is connected.

[0025] Further, the flying robot according to this invention, in the above invention, is provided with a wireless communication interface mounted on the unmanned aircraft, and is characterized in that the unmanned aircraft and the camera receive remote control via the wireless communication interface.

[0026] Further, the flying robot according to this invention, in the above invention, is provided with a speaker mounted on the unmanned aircraft, and is characterized in that a predetermined voice is output from the speaker.

[0027] Further, the flying robot according to this invention, in the above invention, is characterized in that the predetermined voice is a recorded human voice.

[0028] Further, the flying robot according to this invention, in the above invention, is characterized in that the predetermined voice is a recorded animal sound or a synthetic sound imitating an animal sound.

[0029] Further, the flying robot according to this invention, in the above invention, is characterized in that based on an image captured by the camera, the predetermined voice is output from the speaker at a position a predetermined distance away from the object.

[0030] Further, the flying robot according to this invention, in the above invention, is characterized in that based on an image captured by the camera, the predetermined voice is output from the speaker within a predetermined range from the object.

[0031] Further, the flying robot according to this invention, in the above invention, is provided with a wireless communication interface mounted on the unmanned aircraft, and is characterized in that the speaker receives remote control via the wireless communication interface.

[0032] Further, the flying robot according to this invention, in the above invention, is characterized in that a voice transmitted from a predetermined terminal device is output via the wireless communication interface.

[0033] 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 based on the image captured by the camera, if the subject being photographed is in an abnormal state, it notifies a predetermined destination via the wireless communication interface that the subject being photographed is in an abnormal state.

[0034] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it comprises a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits the sound collected by the microphone to a predetermined destination via the wireless communication interface.

[0035] Furthermore, the flying robot according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone or a specific personal computer.

[0036] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the object while the light source is lit or flashing.

[0037] Furthermore, the control program for the flying robot according to this invention is characterized in that, based on the image captured by the camera, the computer of the flying robot, which is equipped with a camera and a holding unit for holding an object to be operated, and which is an unmanned aerial vehicle that is flown by automatic piloting, instructs the unmanned aerial vehicle to fly around the object.

[0038] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle flies around an object with vertical movement based on the image captured by the camera.

[0039] Furthermore, the control program for the flying robot according to this invention is characterized in that, based on the image captured by the camera, if the same object is present in the same location for a predetermined period of time, the unmanned aerial vehicle is made to fly around the object.

[0040] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot includes an operating unit that operates the object to be operated held by the holding unit, and the operating unit operates the object to be operated based on an image captured by the camera.

[0041] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it operates the operating unit when the unmanned aerial vehicle is flying around the object based on the image captured by the camera.

[0042] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the operating unit causes the object to be operated to rotate.

[0043] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the operating unit causes the target to swing.

[0044] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and the camera receive remote control via the wireless communication interface.

[0045] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a speaker mounted on the unmanned aerial vehicle and outputs a predetermined sound from the speaker.

[0046] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined voice is a recorded human voice.

[0047] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined sound is a recorded animal cry or a synthesized sound that imitates an animal cry.

[0048] Furthermore, the control program for the flying robot according to this invention, in the above invention, based on the image captured by the camera, at a position a predetermined distance away from the object, The system is characterized by outputting the predetermined sound from the speaker.

[0049] Furthermore, the control program for the flying robot according to this invention is characterized in that, based on the image captured by the camera, it outputs a predetermined sound from the speaker within a predetermined range from the object.

[0050] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the speaker receives remote control requests via the wireless communication interface.

[0051] Furthermore, the control program for the flying robot according to this invention is characterized in that it outputs audio transmitted from a predetermined terminal device via the wireless communication interface.

[0052] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and based on the image captured by the camera, if the subject being photographed is in an abnormal state, it notifies a predetermined destination via the wireless communication interface that the subject being photographed is in an abnormal state.

[0053] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot comprises a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits the sound collected by the microphone to a predetermined destination via the wireless communication interface.

[0054] Furthermore, the control program for the flying robot according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone or a specific personal computer.

[0055] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the object while the light source is lit or flashing.

[0056] Furthermore, the control method for a flying robot according to this invention is characterized in that the computer of the flying robot, which is equipped with a camera and a holding unit for holding an object to be operated, and which is flown by automatic piloting, instructs the unmanned aerial vehicle to fly around the object based on the image captured by the camera.

[0057] Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, the unmanned aerial vehicle is made to fly around an object with vertical movement based on the image captured by the camera.

[0058] Furthermore, the control method for a flying robot according to this invention is characterized in that, based on the image captured by the camera, if the same object is present in the same location for a predetermined period of time, the unmanned aerial vehicle is made to fly around the object.

[0059] Furthermore, the control method for a flying robot according to this invention is further characterized in that, in the above invention, the flying robot is equipped with an operating unit that operates the object to be operated held by the holding unit, and based on the image captured by the camera, the operating unit operates the object to be operated. It is characterized by the following.

[0060] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the operating unit is operated when the unmanned aerial vehicle is flying around the object based on the image captured by the camera.

[0061] Furthermore, the control method for a flying robot according to this invention is characterized in that the operating unit causes the object to be operated to rotate.

[0062] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the operating unit causes the object to be operated to swing.

[0063] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and the camera are made to accept remote control via the wireless communication interface.

[0064] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a speaker mounted on the unmanned aerial vehicle and outputs a predetermined sound from the speaker.

[0065] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded human voice.

[0066] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded animal cry or a synthesized sound that imitates an animal cry.

[0067] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, based on the image captured by the camera, the predetermined sound is output from the speaker at a position a predetermined distance away from the object.

[0068] Furthermore, the control method for a flying robot according to this invention is characterized in that, based on the image captured by the camera, the speaker outputs a predetermined sound within a predetermined range from the object.

[0069] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and the speaker receives remote control requests via the wireless communication interface.

[0070] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, it outputs audio transmitted from a predetermined terminal device via the wireless communication interface.

[0071] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a wireless communication interface mounted on the unmanned aerial vehicle, and based on the image captured by the camera, if the object being photographed is in an abnormal state, it notifies a predetermined destination via the wireless communication interface that the object being photographed is in an abnormal state.

[0072] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot comprises a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, and transmits the sound collected by the microphone to a predetermined destination via the wireless communication interface.

[0073] Furthermore, the control method for a flying robot according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone or a specific personal computer.

[0074] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the flying robot is equipped with a light source mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle flies around the object while the light source is lit or flashing. [Effects of the Invention]

[0075] The flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of effectively relieving the lack of exercise and stress in cats.

[0076] Furthermore, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of effectively relieving the lack of exercise and stress in cats without interfering with the activities of their cohabitants. [Brief explanation of the drawing]

[0077] [Figure 1] This is an explanatory diagram showing an example of the external appearance of a flying robot according to an embodiment of this invention. [Figure 2] This is an explanatory diagram showing an example of the hardware of a flying robot according to an embodiment of this invention. [Figure 3A] This is a diagram (part 1) illustrating the station's configuration. [Figure 3B] This is a diagram (part 2) illustrating the station's configuration. [Figure 4] This is an explanatory diagram showing the functional configuration of the flying robot according to this invention. [Figure 5] This flowchart shows the processing procedure of a flying robot according to an embodiment of this invention. [Figure 6] This is an explanatory diagram (part 1) showing an example of how the flying robot according to this embodiment of the invention can be used. [Figure 7] This is an explanatory diagram (part 2) showing an example of how the flying robot according to this embodiment of the invention can be used. [Figure 8] This is an explanatory diagram (part 3) showing an example of how the flying robot according to this embodiment of the invention can be used. [Figure 9] This is an explanatory diagram showing another embodiment of the flying robot 101 according to this invention. [Modes for carrying out the invention]

[0078] 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.

[0079] (An example of the appearance of a flying robot) First, an example of the appearance of a flying robot according to an embodiment of this invention will be described. Figure 1 is an explanatory diagram showing an example of the appearance of a flying robot according to an embodiment of this invention. As shown in Figure 1, the flying robot 101 is in the form of a drone (unmanned aerial vehicle).

[0080] Specifically, a drone can employ, for example, a quadcopter with four propellers. However, drones are not limited to quadcopters; they can also employ various types of multirotors, such as hexacopters with six propellers or octocopters with eight propellers.

[0081] The flying robot 101 is equipped with a camera 103. The camera 103 can be, for example, a general-purpose digital camera. The camera 103 may be mounted on the top (top during flight), bottom (bottom during flight), or side of the drone's housing. The lens of the camera 103 may be a standard lens, a wide-angle lens, or a fisheye lens. Using a fisheye lens allows for capturing a wide area.

[0082] Camera 103 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., it is possible to accurately recognize objects such as cats even at night or in dimly lit indoor environments.

[0083] The flying robot 101 may have one camera 103 or multiple cameras 103. If multiple cameras 103 are provided, they may be mounted so that each camera 103 photographs in a different direction. In a flying robot 101 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.

[0084] The camera 103 may be connected to the drone in a manner that allows for attitude adjustment. Specifically, the camera 103 can be connected to the bottom surface of the drone, for example, via a universal joint such as a ball joint. By connecting the camera 103 to the drone 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.

[0085] Furthermore, the flying robot 101 may be equipped with a drive mechanism to change the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone 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 adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 101, regardless of the drone's attitude. The camera 103 may also be equipped with a zoom function.

[0086] The flying robot 101 captures images of its surroundings using the camera 103. The flying robot 101 captures images within a predetermined range, for example. This predetermined range can be, for example, a pre-defined room. The predetermined range can be set, for example, by receiving a signal specifying the range from a terminal device such as a smartphone with a predetermined application installed.

[0087] The specified range can be specifically identified, for example, by standard regional mesh (GPS data). More specifically, the specified range can be identified, for example, by first-order mesh, second-order mesh, third-order mesh, etc. Also, the specified range is For example, the area may be further subdivided into 1 / 2 area meshes, 1 / 4 area meshes, 1 / 8 area meshes, etc., by using a standard area mesh to define the area. By defining a predetermined range using a standard area mesh, the area in which the flying robot 101 will fly can be precisely restricted based on positional information obtained using a GPS sensor (see Figure 2).

[0088] The flying robot 101 recognizes an object based on the image captured by the camera 103. The object could be, for example, a cat in a designated room (within the same house). The cat can be identified by image recognition using the image captured by the camera 103. In image recognition, image preprocessing such as noise reduction and background removal, and feature extraction are performed to determine whether or not a cat is present in the image captured by the camera 103. The flying robot 101 may store information about the captured image in a memory (see Figure 2) provided by the flying robot 101.

[0089] The target object can be specified using an image captured by camera 103. Specifically, for example, an image taken while the flying robot 101 is set to a predetermined mode can be analyzed, and a cat included in that image can be specified as the target object. The image used to specify the target object is not limited to a still image; it may also be a video.

[0090] The subject is not limited to cats; it can be any animal, such as dogs, hamsters, rabbits, guinea pigs, or turtles. Furthermore, the subject is not limited to animals kept indoors; it may also be animals kept outdoors, such as dogs, goats, or pigs, in a garden or other outdoor area. Preferably, the subject is an animal that reacts to external stimuli.

[0091] The flying robot 101 is equipped with a holding unit 104 for holding an object to be operated (see reference numeral 602 in Figure 6). The holding unit 104 holds the object to be operated in a replaceable, i.e., detachable manner. Figure 1 shows the flying robot 101 in a state where it is not holding an object to be operated. The object to be operated is a component that attracts the interest or attention of an object, and specifically, it can be realized by, for example, a string-like member or a rod-like member that a cat is likely to react to.

[0092] A rod-shaped member can be realized, for example, by the handle of a so-called "cat toy," which has a fringe-like member such as a bundle of hair or a feather attached to the tip. Alternatively, a rod-shaped member can be realized, for example, by the rod-shaped member of a so-called "fishing rod," which has a feather or a feather-like member attached to one end, and the other end connected to a linear member such as fishing line.

[0093] The handle of the cat toy or the fishing line of the fishing rod may have at least one of the following components attached to it: a feather, yarn, a yarn-like component, or a fringe-like component. Alternatively, a spherical component such as a ball or a ball of fluff may be attached to the handle of the cat toy or the fishing line of the fishing rod. The spherical component may be made from a material that exhibits a certain degree of elasticity, like a superball. This allows the spherical component to bounce on the floor.

[0094] The holding part 104 holds a part of the object to be manipulated, such as a cat toy or the handle of a fishing rod. The holding part 104 holds the object to be manipulated in a replaceable state. Specifically, the holding part 104 can be realized, for example, by a clip-shaped member that holds a part of the object to be manipulated by clamping it. Alternatively, the holding part 104 may be realized, for example, by a cap-shaped or cylindrical member that holds the end of the object to be manipulated by inserting it.

[0095] The holding part 104 is provided, for example, on the underside of the drone's housing (the underside during flight). This is possible. Alternatively, the holding part 104 may be provided, for example, on the side of the drone's housing. The holding part 104 may also be provided on the upper side (upper side during flight) of the drone's housing. The holding part 104 may also be used to permanently hold the object to be operated in a state where it cannot be replaced, that is, to hold one type of object to be operated in a fixed position.

[0096] The flying robot 101 includes an operating unit (see reference numeral 407 in Figure 4) that operates an object to be operated held by the holding unit 104. The operating unit rotates the object to be operated, for example. The operating unit rotates the object to be operated so that it traces a circle centered on the holding position of the object by the holding unit 104. Alternatively, the operating unit may rotate the object to be operated so that it traces a circle centered on the central part of the flying robot 101.

[0097] Furthermore, the operating unit may, for example, cause the object to be operated to swing. The operating unit may, for example, cause the object to swing in the left-right direction. Alternatively, the operating unit may, for example, cause the object to swing in the up-down direction.

[0098] Alternatively, the operating unit may rotate and swing the object being operated. For example, the operating unit may swing the object being operated from side to side while rotating it in a circle centered on the central part of the flying robot 101.

[0099] The operating part can specifically consist of, for example, a motor mounted on the drone (see reference numeral 202 in Figure 2), or a gear train or universal joint connecting the motor to the holding part. Alternatively, the operating part may specifically consist of, for example, a mechanism in which a crank or link is connected to the motor, such as a slot-crank mechanism. Furthermore, the operating part may specifically consist of, for example, a motor or a crank connected to the motor.

[0100] The flying robot 101 may not have any moving parts and may operate the target object through flight movements. In this case, the flying robot 101 can, for example, swing (move) the target object in the left-right or up-down direction by adjusting its flight attitude and flight direction while flying.

[0101] The flying robot 101 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 (see reference numeral 201 in Figure 2) without using charging contacts, and is also called contactless power supply or wireless power supply.

[0102] The power receiving coil is located inside the outer surface of the housing of the flying robot 101. This prevents deterioration and failure of the power receiving coil due to water droplets, hand oils, etc. The flying robot 101 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0103] The flying robot 101 may further include a light source 105. The light source 105 can be implemented, for example, by an LED lamp. The light source 105 can be installed, for example, on the underside of the drone's housing (the underside during flight). Alternatively, the light source 105 may be installed, for example, on the side of the drone's housing. The light source 105 may also be installed, for example, on the upper side of the drone's housing (the upper side during flight).

[0104] The light source 105 may be a single unit or multiple units. If multiple light sources 105 are provided, each light source 105 may be located in a different place. Specifically, the light sources 105 may be located, for example, on the underside of the drone's housing (the underside during flight) and on the side of the drone's housing.

[0105] When multiple light sources 105, which are realized by LED lamps, are provided, each LED lamp may independently emit light that can switch between multiple colors. This makes it possible to mix multiple colors of light and emit light that is dimmed to attract the attention of cats. Alternatively, when multiple light sources 105, which are realized by LED lamps, multiple LED lamps, each emitting light of a different color, may be arranged side by side. Specifically, for example, an LED lamp emitting green light may be placed next to an LED lamp emitting red light.

[0106] The light source 105 may be a laser in place of an LED lamp, or in addition to an LED lamp. When the light source 105 is implemented using a laser, it is preferable to place the laser on the side or top (top during flight) of the drone's housing. This makes it less likely for the laser light to enter the cat's eyes, thus ensuring the cat's safety.

[0107] The flying robot 101 may also be equipped with a solar cell (solar cell, see reference numeral 210 in Figure 2) that generates electricity from ambient light such as sunlight. The solar cell is installed, for example, on the upper surface of the housing of the flying robot 101. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by providing a solar cell, charging can be performed during flight, thus extending the flight time per charge.

[0108] (Hardware configuration of flying robot 101) Next, the hardware configuration of the flying robot 101 will be described. Figure 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 according to an embodiment of this invention. As shown in Figure 2, the hardware of the flying robot 101 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, an acceleration sensor 208, a communication I / F 209, a light source 105, a solar cell 210, and the like. The various parts 103, 104, 105, 201-210 of the flying robot 101 are connected by a bus 200.

[0109] Battery 201 supplies power to operate the various parts of the flying robot 101. 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.

[0110] 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 101 to move forward, backward, or turn left or right.

[0111] The flying robot 101 is equipped with a motor 202 for the moving parts, separate from the motor 202 that rotates the propeller 102. The motor 202 for the moving parts is controlled by a control circuit 207 so that it rotates independently of the rotation of the propeller 102.

[0112] If the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motor 202 that constitutes the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide area.

[0113] Camera 103 is equipped with an image sensor and captures images by causing the image sensor to 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.

[0114] Camera 103 may capture still images or video. Video includes a series 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)).

[0115] Microphone 203 collects sounds from the surrounding area of ​​the flying robot 101. 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.

[0116] Speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. Speaker 204 may also have an output terminal that outputs an audio signal, and an external speaker may be connected to this output terminal to generate sound. Speaker 204 may also be a so-called directional speaker that generates sound in only one direction.

[0117] The GPS sensor 205 determines the current position of the flying robot 101. 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 101 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).

[0118] The current position of the flying robot 101 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 101 based on radio waves received from GPS satellites, the current position of the flying robot 101 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0119] The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. Obstacles are objects that hinder the flight of the flying robot 101, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 101 is flown outdoors, all objects that hinder the flight of the flying robot 101, such as vehicles, other flying robots 101, trees, and buildings, are considered obstacles.

[0120] 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 101 may be equipped with multiple types of non-contact sensors as the object sensor 206. In addition, the flying robot 101 may detect the presence or absence of obstacles within a predetermined range from the flying robot 101 based on images captured by the camera 103.

[0121] The accelerometer 208 detects gravity, vibrations, and other movements and shocks acting on the flying robot 101. For example, the accelerometer 208 can be a frequency-varying accelerometer such as a quartz accelerometer, which has low noise and high stability. Alternatively, the accelerometer may be a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer.

[0122] The solar cell 210 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In the solar cell 210, when light energy from sunlight or other external light is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 210, electrodes are connected to the P-type and N-type silicon semiconductors, and the generated electricity can be extracted via wires connected to these electrodes.

[0123] The control circuit 207 drives and controls various parts of the flying robot 101. The control circuit 207 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the flying robot 101 according to this embodiment of the invention, information about a specific person, and information pre-input by the user of the flying robot 101. Specifically, the control circuit 207 can be implemented by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0124] The CPU controls the entire flying robot 101 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 101, and information about images captured by the camera 103.

[0125] The memory can be implemented in various ways, such as by an 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 101 via a card slot provided on the flying robot 101. 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.

[0126] The control circuit 207 also includes a charging circuit that charges the battery 201 with power generated by the solar cell 210, and a remaining charge measurement circuit that measures the remaining charge of the battery 201. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 210. 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.

[0127] 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).

[0128] The IMU (Inertial Measurement Unit) consists of sensors necessary for a drone to acquire external information, such as an accelerometer 208, a gyroscope, a barometric pressure sensor, an ultrasonic sensor, and a magnetic compass. The GPS sensor 205 mentioned above is also included in the IMU.

[0129] The accelerometer 208 detects changes in the drone's speed. The gyroscope and accelerometer 208 allow for the calculation of changes in both the drone's tilt and its speed, enabling the drone to continue flying even when tilted.

[0130] A gyroscope sensor detects changes in the drone's angle. For example, it detects changes in the drone's angle by measuring angular velocity using the Coriolis force. A gyroscope sensor allows for stable flight of the drone.

[0131] A barometric pressure sensor detects the drone's altitude. For example, the barometric pressure sensor detects the drone's altitude by detecting changes in atmospheric pressure. By measuring the drone's altitude using the barometric pressure sensor, the drone's altitude can be maintained.

[0132] The ultrasonic sensor detects the distance from an object located below the drone (such as the floor or an obstacle). For example, the ultrasonic sensor is mounted on the underside of the drone and uses the reflection of ultrasonic waves emitted downwards to detect the distance from an object located below the drone.

[0133] This enables stable tracking of the drone on the ground (floor, ground, etc.) and its return to the station (see Figures 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, the ultrasonic waves are emitted in all directions of the drone, and the ultrasonic sensor may function as both an object sensor 206 and as part of the IMU.

[0134] The magnetic compass sensor detects which direction (north, south, east, or west) the drone is facing. Since the flying robot 101 is affected by magnetic fields depending on the location where it flies, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location.

[0135] 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 101, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 101 and recursively outputs control signals to motor 202.

[0136] Specifically, the flight controller prevents the flying robot 101 from rotating by outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. Also, for example, it controls the forward propeller 102 in the direction of travel to rotate the rear propeller in the direction of travel. The flying robot 101 is moved forward by controlling the rotation of the propeller 102 to be slower than that of the propeller 102. Alternatively, the flying robot 101 can be turned to the right by controlling the rotation of the propeller 102 on the right side of the direction of travel to be slower than that of the propeller 102 on the left side of the direction of travel.

[0137] The communication interface 209 is a wireless communication interface that connects the flying robot 101 to network N via a communication line. It controls the interface between network N and the inside of the flying robot 101, 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).

[0138] The communication interface 209 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 209 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution)) or PHS (Personal Handy-phone System). Communication via the communication interface 209 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 described above may store information obtained through communication via the communication interface 209.

[0139] The light source 105 is controlled by the control circuit 207 and lights up, turns off, or blinks in conjunction with the flight movements of the flying robot 101. The light source 105 may also provide information about the status of the flying robot 101. Specifically, for example, it may blink in a predetermined pattern when the remaining charge falls below a predetermined threshold. If the light source 105 is implemented using an LED lamp, the LED lamp is not limited to one color but may emit multiple colors.

[0140] The flying robot 101 may also be equipped with input devices such as keys or buttons for giving input instructions to the flying robot 101, and a power switch for switching the power of the flying robot 101 on or off, although these are not shown in the diagram.

[0141] The input device may be used to set the predetermined range described above. Specifically, for example, when a predetermined input instruction is received for the flying robot 101 via the input device, the location (location information) where the input instruction was received can be identified using a GPS sensor 205 or the like, and the area within a predetermined range from the identified location can be set as the predetermined range. The input device may be implemented by a connection terminal or the like to which other information processing devices can be connected.

[0142] (Station configuration) Next, the station configuration will be described. Figures 3A and 3B are explanatory diagrams showing the station configuration. Figure 3A shows an example of the station's external appearance. Figure 3B shows the AA cross-section in Figure 3A.

[0143] As shown in Figures 3A and 3B, the station 301 has an exterior part 302 that is roughly box-shaped with one side open. The station 301 is installed with the open part of the exterior part 302 facing a predetermined range, i.e., towards an object such as a cat. It is preferable that the station 301 is installed at a height that is difficult for humans to reach. This prevents vandalism to the station 301 and the flying robot 101.

[0144] Station 301 includes a battery 303 and a power transmission coil 30 for wireless power transfer. It is equipped with 4. The battery 303 is preferably a high-capacity battery, such as one installed in an electric vehicle. Specifically, the battery 303 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery, lead-acid battery, or nickel-metal hydride battery. The battery 303 may also be a primary battery. The battery 303 may be detachable from the outer casing 302, or it may be a separate body from the outer casing 302.

[0145] The power transmission coil 304 is connected to the battery 303 and enclosed in a cover made of ABS resin or silicone rubber, which is waterproofed. This allows the station 301 to supply power to the battery 201 via wireless power transmission.

[0146] Furthermore, station 301 may also include a solar cell 305 that generates electricity from ambient light such as sunlight, and a charging circuit that charges a battery 303 with the electricity generated by the solar cell 305. The solar cell 305 is located on the top surface of the exterior part 302 of station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the electricity generated by the solar cell 305. Station 301 may also be connected to a commercial power source or a generator without the solar cell 305 or battery 303.

[0147] The station 301 may be configured by providing a window made of transparent acrylic or the like in a part of the exterior 302, and by providing a curtain-like partition on the open side of the exterior 302. In a station 301 with such a configuration, by setting the window so that it faces a predetermined range, i.e., towards an object such as a cat, it is possible to photograph the predetermined range through the window while reducing the intrusion of dust into the inside of the station 301 and suppressing deterioration of the flying robot 101.

[0148] By installing such a station 301 indoors as described above, the flying robot 101 can be charged by itself as needed, preventing it from running out of battery. The predetermined range described above may be set based on the installation location of the station 301. Specifically, for example, the station 301 may be equipped with a wireless communication function, the communication distance between the station 301 and the flying robot 101 may be set, and the range in which communication with the station 301 is possible may be set as the predetermined range.

[0149] More specifically, communication between Station 301 and the flying robot 101 will use, for example, Bluetooth®. By using Bluetooth, which is designed for one-to-one communication, power consumption for communication can be reduced compared to wireless communication methods such as Wi-Fi, both in terms of communication speed and communication range.

[0150] By enabling communication between station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to station 301. Only when the flying robot 101 has returned to station 301, the power transmission coil 304 can be energized to generate a magnetic field and supply power to the battery 201. This reduces the consumption of the battery 303.

[0151] Station 301 may be equipped with a wireless communication router, such as a mobile Wi-Fi router. This allows Station 301 to function as a communication spot, and the flying robot 101 can communicate via Station 301. Furthermore, multiple flying robots 101 can be utilized by installing just one Station 301.

[0152] Furthermore, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold set in advance for battery 303, a notification may be sent to a portable telephone or other device owned by a specific person, such as an administrator, indicating that battery 303 needs to be charged or replaced. This reduces the burden on the administrator in managing station 301 while ensuring that the functionality of station 301 is reliably maintained.

[0153] (Functional configuration of the flying robot 101) Next, the functional configuration of the flying robot 101 will be described. Figure 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to this invention. As shown in Figure 4, the functions of the flying robot 101 are realized by a storage unit 401, a detection unit 402, an imaging unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, an operation unit 407, and a control unit 408.

[0154] The memory unit 401 stores various information, including various programs related to control by the control unit 408 (including the control program for the flying robot 101 according to this embodiment of the invention) and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information related to the features of cats used for pattern recognition (image recognition) to recognize cats.

[0155] Furthermore, the memory unit 401 may store image information captured by the imaging unit 403, information acquired by the acquisition unit 404, and so on. The memory unit 401 may also store information related to battery charging spots, and so on. Specifically, the memory unit 401 can realize its function, for example, through the memory in the control circuit 207 shown in Figure 2.

[0156] The detection unit 402 is controlled by the control unit 408 and detects signals output from a terminal device, such as a smartphone with a predetermined application installed. The detection unit 402 may also detect that a predetermined input instruction has been received from the flying robot 101, for example, by a user of the flying robot 101, via an input device such as a key or button. Specifically, the detection unit 402 can implement its function by, for example, the communication I / F 209 (or input device) shown in Figure 2.

[0157] Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206.

[0158] 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 101 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 101 using a monocular camera.

[0159] The imaging unit 403 is controlled by the control unit 408 and captures images within a predetermined range. For example, the imaging unit 403 captures images of a room. If there are multiple rooms, all rooms in the house may be the target of imaging, or only a specific room may be the target of imaging. The imaging unit 403, Specifically, this function can be realized, for example, by a camera 103 shown in Figures 1 and 2.

[0160] The storage unit 401 described above may store image information relating to images captured by the imaging unit 403. In addition to image information, the storage unit 401 may also store information relating to the location and time the image was taken. Information relating to the location and time the image was taken can be identified, for example, using the GPS sensor 205 shown in Figure 2.

[0161] The acquisition unit 404 acquires external information from the flying robot 101. Specifically, the acquisition unit 404 acquires predetermined information from an external device, for example, via the network N. Specifically, the acquisition unit 404 can realize its function by, for example, the communication I / F 209 shown in Figure 2.

[0162] Specifically, the acquisition unit 404 acquires information learned by another flying robot 101, for example. This allows multiple flying robots 101 to share information obtained through the learning of a single flying robot 101. Specifically, it allows the flying robots 101 to share information such as what actions will elicit a lively response from a cat, enabling them to perform more appropriate actions.

[0163] The acquisition unit 404 may acquire information about the surroundings of the flying robot 101 using various sensors provided by the flying robot 101, such as a GPS sensor 205, an object sensor 206, and an acceleration sensor 208. In this case, the acquisition unit 404 can specifically achieve its function using various sensors, such as the GPS sensor 205, object sensor 206, and acceleration sensor 208 shown in Figure 2.

[0164] The drive unit 405 is controlled by the control unit 408 and controls the flight of the flying robot 101. Specifically, the drive unit 405 can perform its functions using components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2.

[0165] The output unit 406 is controlled by the control unit 408 to emit a predetermined sound from the speaker 204. The predetermined sound can be, for example, a recorded human voice, a recorded animal sound or a synthesized sound that imitates an animal sound, or an alarm sound such as "beep beep". In this case, the output unit 406 can specifically realize its function using, for example, the speaker 204 shown in Figure 2.

[0166] Furthermore, the output unit 406 is controlled by the control unit 408 to turn on or blink the light source 105. In this case, the output unit 406 can specifically realize its function using a light source 105 such as an LED lamp or laser as shown in Figures 1 and 2.

[0167] The operating unit 407 is controlled by the control unit 408 to operate the object to be operated, which is held by the holding unit 104, which is realized by a clip-like member or the like. Specifically, the operating unit 407 can perform its function by, for example, the motor 202 for the operating unit 407 shown in Figure 2. The operating unit 407 rotates or swings the object to be operated.

[0168] The control unit 408 controls the entire flying robot 101. Specifically, the control unit 408 controls the entire flying robot 101. For example, this function can be realized by the control circuit 207 shown in Figure 2. More specifically, the control unit 408 can realize its function by executing a program stored in memory or the like, for example, by the CPU in the control circuit 207 shown in Figure 2.

[0169] The control unit 408 makes the flying robot 101 fly, for example by controlling the drive unit 405. The control unit 408 also takes pictures, for example by controlling the drive of the imaging unit 403. Furthermore, the control unit 408 recognizes the target object, a cat, based on the image taken by the imaging unit 403. Recognition of the target object (cat) is performed, for example, by determining whether or not the image taken by the imaging unit 403 contains a cat.

[0170] The control unit 408 may be equipped with AI (Artificial Intelligence) functionality and may learn multiple types of objects (cats), such as short-haired cats, long-haired cats, cats with upright ears, cats with folded ears, walking cats, and sleeping cats. The control unit 408 may also be equipped with specialized artificial intelligence that is specifically designed for recognizing cats. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can enable the flying robot 101 to fly smoothly.

[0171] When recognizing an object, the control unit 408 makes it easier to extract the object (cat) contained in the image by, for example, removing noise and distortion from the image captured by the imaging unit 403, emphasizing the outlines of objects contained in the image, and adjusting the brightness and color of the image. In addition, if the lens of the camera 103 is a wide-angle lens, image distortion correction may also be performed.

[0172] Furthermore, when recognizing an object, the control unit 408 extracts features such as the shape of the face and body, and the position of the eyes and whiskers, on a pixel-by-pixel basis, and determines whether or not the object (cat) is included in the image captured by the imaging unit 403 based on various information such as the color and brightness assigned to the pixels.

[0173] When recognizing an object, the control unit 408 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or it may recognize the object based on an image that has been distortion-corrected to be similar to an image obtained with a standard lens.

[0174] When recognizing an object, the control unit 408 may, for example, learn (machine learning) the characteristics of the recognized cat and store the learning results in the memory unit 401. The characteristics of the cat may include, for example, the size of the cat, what actions the flying robot 101 performs to elicit a lively response, what time of day elicits a good response, and what kind of object (such as a cat toy, fishing rod, or string) elicits a lively movement.

[0175] In this case, the control unit 408 may, for example, drive and control the imaging unit 403 to take images only under conditions where there is a high probability that the cat will respond favorably. Alternatively, in this case, the control unit 408 may, for example, take images continuously under conditions where there is a high probability that the cat will respond favorably, and take images intermittently with time intervals of 5 or 10 minutes between images under conditions where there is a low probability that the cat will respond favorably.

[0176] Intermittent filming involves, for example, filming for one minute, then stopping for five minutes, and then filming again for one minute. Whether the conditions are likely to elicit a positive response from the cat depends on factors such as the current day of the week and time, which are pre-set. The determination may also be made based on whether or not the specified conditions are met. Alternatively, whether or not a condition is likely to elicit a positive response from a cat may be determined, for example, by whether or not the number of elements that meet the pre-set conditions exceeds a predetermined threshold.

[0177] When the control unit 408 recognizes an object (cat), it controls the drive unit 405 to make the flying robot 101 fly around the cat. The control unit 408 may also control the operation unit 407 to operate the object held by the holding unit 104 during flight. The control unit 408 may also control the output unit 406 to make the light source 105 emit light during flight. Furthermore, the control unit 408 may control the operation unit 407 to operate the object held by the holding unit 104 only when the flying robot 101 is flying around the cat.

[0178] When the control unit 408 recognizes an object (cat), it may, for example, fly within a predetermined range at a speed below the set speed. Alternatively, when the control unit 408 recognizes an object (cat), it may hover or move up and down at any position within the predetermined range. Any position within the predetermined range can, for example, be within the cat's field of vision. This effectively attracts the cat's attention.

[0179] The flying robot 101, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to photograph cats within a predetermined range. This allows the robot to photograph cats without blind spots, regardless of environmental factors such as the camera's position, the cat's posture, the cat's size, or the cat's fur color.

[0180] Furthermore, the flying robot 101, which is equipped with a camera 103, can autonomously fly to a position where it can reliably photograph the cat. This allows the drone to fly based on images captured by a stationary camera, which, compared to searching for a cat based on randomly taken images, avoids losing sight of the target cat and ensures that the drone flies in a way that reliably attracts the cat's attention.

[0181] The inventor named the flying robot 101, which operates in a way that allows cats that tend to become sedentary and stressed due to being kept indoors to get fun and effective full-body exercise, and effectively relieve the lack of exercise and stress in such cats, "Dorojara" or "Nekojara Drone".

[0182] Furthermore, the control unit 408 may, for example, control the output unit 406 to output an audio message to notify those nearby if it determines, based on the image captured by the camera 103, that the cat is experiencing some kind of health problem, such as having a seizure or vomiting. This allows a cohabitant of a cat experiencing a health problem to quickly notify others of the cat's abnormality, even if they are in a different room from the cat.

[0183] Furthermore, for example, if the output unit 406 is implemented using the speaker 204 shown in Figure 2, the control unit 408 may, for example, determine, based on the image captured by the camera 103, that the cat is experiencing some kind of health problem, such as having a seizure or vomiting. In this case, the control unit 408 may control the drive unit 405 and the imaging unit 403 to locate a cohabitant in the room and control the output unit 406 to output an audio message to that cohabitant informing them that something is wrong with the cat. This allows a cohabitant of a cat experiencing health problems to be quickly notified of the cat's abnormality, even if they are in a different room from the cat.

[0184] Furthermore, for example, if the output unit 406 is realized by the light source 105 shown in Figures 1 and 2, the control unit 408 will, if it determines that there is some kind of health problem for the cat, turn off the output unit 406. The light source (such as an LED lamp) 105 may be turned on or blinked by controlling it. Furthermore, even if there is no health problem for the cat, the light source (such as an LED lamp) 105 may be turned on or blinked by controlling the output unit 406. By blinking the light source 105 in this way, the visibility of the flying robot 101 to the cat and its cohabitants is increased, and the presence of the flying robot 101 can be made known to the cat and its cohabitants from a distance.

[0185] (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 5 is a flowchart showing the processing procedure of the flying robot 101 according to an embodiment of this invention. In the flowchart of Figure 5, first, it is determined whether or not to start taking pictures (step S501).

[0186] In step S501, for example, it is decided to start shooting if a predetermined amount of time has elapsed since the last flight involving shooting. Alternatively, in step S501, for example, it is decided to start shooting if a predetermined amount of time has elapsed since the last operation of the target device by the operation unit 407. If it is not decided to start shooting in step S501 (step S501: No), the system remains in standby mode.

[0187] In step S501, if it is determined that shooting should begin (step S501: Yes), the motor 202 of the propeller 102 is rotated to begin flight (step S502), and shooting with the camera 103 begins (step S503). Then, based on the captured image, image recognition is performed to determine whether or not a cat has been recognized in the image (step S504). In step S504, if a cat has not been recognized (step S504: No), the process proceeds to step S501.

[0188] In step S504, if a cat is recognized (step S504: Yes), it is determined whether the recognized cat is in the same place for a predetermined time (step S505). In step S505, if it is determined that the recognized cat is not in the same place for a predetermined time, i.e., has moved (step S505: No), the process proceeds to step S509.

[0189] In step S505, for example, if the recognized location of the cat is the same for a predetermined time based on each image taken at predetermined intervals, it is determined that the cat is in the same place for a predetermined time. Alternatively, if photography is being taken continuously from station 301, in step S505, for example, if the cat's location is the same for a predetermined time consecutively, it is determined that the cat is in the same place for a predetermined time.

[0190] Whether or not the cats are in the same location can be determined by whether they are within a predetermined range, such as "within a radius of 30 cm." This allows us to determine that a cat that has only slightly changed its posture or position, such as by turning over in its sleep, is in the same place for a predetermined period of time.

[0191] In step S505, if it is determined that the cat is in the same place for a predetermined time (step S505: Yes), the unit moves (flies) to the vicinity of the cat (step S506), drives the motor 202 of the operating unit 407 (step S507), and operates the target of the operation. In step S506, the unit moves to a distance that is in front of the cat's field of vision but out of the cat's reach. If the cat has an open field of vision in front of it, in step S506, the unit may move to a position as far away as possible within the cat's field of vision.

[0192] In step S507, cat toys, feathers or ribbons attached to the end of fishing rods, etc. By operating the control device within the cat's field of vision, the cat's attention can be attracted to the device. This allows cats that have been sleeping in the same place to move closer to the control device, effectively alleviating the cat's lack of exercise and stress.

[0193] If a cat shows interest in the controllable object or the flying robot 101 and approaches the flying robot 101, the flying robot 101 may move away from the cat while operating the controllable object. The flying robot 101 may also move up and down. Furthermore, the flying robot 101 may move up and down while operating the controllable object. This increases the amount of exercise the cat gets by chasing the controllable object, and can more effectively alleviate the cat's lack of exercise and stress.

[0194] If the flying robot 101 is equipped with a laser as a light source 105, in step S507, in addition to or instead of moving the object to be operated, the laser light may be shone onto the wall. It has been widely known that cats are interested in light shone on walls or floors and will follow the light, and by moving the position of such light with the flying robot 101, it is possible to effectively alleviate the cat's lack of exercise and stress without interfering with the activities of other people living with the cat.

[0195] Then, it is determined whether the cat has performed a predetermined amount of exercise (step S508). In step S508, for example, it is determined, based on the image captured by camera 103, whether the cat has continuously chased the target or the flying robot 101 for a predetermined time.

[0196] In this case, as is the habit of cats, when targeting prey, they lower their posture while stationary and prepare to pounce on the prey. Therefore, the state of continuous pursuit for a predetermined period of time includes not only cases where the cat is constantly and continuously chasing the target or flying robot 101, but also periods of stopping for several seconds to tens of seconds in between.

[0197] Alternatively, in step S508, for example, based on the image captured by camera 103, it is determined whether the cat chasing the target or the flying robot 101 has made a predetermined number of jumps or more.

[0198] In step S508, the flying robot 101 proceeds to step S507 until it determines that the cat has performed a predetermined amount of exercise (step S508: No), and while moving, it drives the motor 202 for the operation unit 407 to operate the target. On the other hand, in step S508, if the cat has performed a predetermined amount of exercise (step S508: Yes), it returns to station 301 (step S509) and waits until the next shooting session begins.

[0199] (An example of how the flying robot 101 can be used) Next, an example of how the flying robot 101 can be used will be described. Figures 6 to 8 are explanatory diagrams showing an example of how the flying robot 101 according to this embodiment of the invention can be used.

[0200] The flying robot 101 and station 301 are placed within a predetermined range, for example, in a room where the target object, a cat, is kept. The room may be a single room in a house, or it may be the entire house. The predetermined range in which the flying robot 101 flies may also be a predetermined site that includes the outdoors.

[0201] The number of flying robots 101 and the number of stations 301 do not have to be the same. Specifically, for example, if the entire interior of a house with multiple rooms is to be designated as the flight range for the flying robots 101, then a station 301 may be placed in each room, and the stations It is also possible to deploy fewer flying robots 101 than the number of units 301. This ensures that the flying robots 101 can be reliably charged regardless of which room they are located in.

[0202] The flying robot 101 according to this embodiment of the invention, for example, uses a camera 103 to photograph a predetermined area, such as a room, and determines whether or not the photographed image includes a cat 601. The indoor photography with the camera 103 may be performed in conjunction with periodic indoor flights, or it may be performed while the flying robot 101 is charging at the station 301.

[0203] Figure 6 shows an example where the flying robot 101 is charging at station 301. In this case, it is preferable to position station 301 to photograph places where cats stay for extended periods, such as a cat tower or cat bed (a human bed may also be used). If the camera 103 uses a wide-angle lens or a fisheye lens, it is preferable to position station 301 in a location where the entire room can be photographed.

[0204] The flying robot 101 begins flying when the location of the cat 601 being photographed remains the same for a predetermined period of time, such as two hours, and flies to a position where the target device 602 is within the cat 601's field of view. As described above, whether or not the location of the cat 601 remains the same can be determined by whether or not it is within a predetermined range, such as "within a radius of 30 cm," so that even if the cat 601 has only changed its posture or position slightly, such as by turning over in its sleep, it can be determined that it has been in the same place for a predetermined period of time.

[0205] Then, the flying robot 101 performs actions such as shaking the target 602 around the cat 601. If the flying robot 101 determines, based on the image captured by the camera 103, that the cat 601 does not wake up (has a weak reaction) even when the target 602 is shaken, it may output a predetermined sound from the speaker 204. Also, if the cat 601 has noticed the flying robot 101 but shows no interest in the target 602, the light source (laser) 105 may be turned on. Figure 7 shows the state in which the cat 601 has noticed the flying robot 101 (and the target 602) as a result of shaking the target 602 or outputting a predetermined sound from the speaker 204.

[0206] When the cat 601 notices the flying robot 101 and tries to play with the target 602, the flying robot 101 moves and flies so that the cat 601 follows the target 602. At this time, the flying robot 101 may move with vertical movement, or it may move to fly at a position just above the cat 601, where it is just about to touch the target 602, based on the image taken by the camera 103. Figure 8 shows the state in which the cat 601 is flying to follow the target 602 while the target 602 is being rocked.

[0207] Alternatively, if station 301 is positioned to photograph the entire room, the flying robot 101 may charge and wait at station 301, determine whether a cat 601 is present in the image captured by camera 103, and if a cat 601 is included in the captured image, fly to approach the cat 601. In this case, station 301 is positioned to photograph places where cats 601 tend to stay for extended periods, such as a cat tower or a bed. The cat 601 recognized as the target may be a specific cat designated in advance, or it may be any cat in the room.

[0208] As the flying robot 101 flies around the cat 601, it holds and holds an object 602 such as a string, a cat toy handle, or a fishing rod with feathers attached to the end. The flying robot 101 flies while rotating or oscillating the target object 602. The flying robot 101 may operate the target object 602 using the operating unit 407, or it may operate the target object 602 by adjusting the flight pattern. Specifically, for example, the target object 602 can be operated by moving horizontally or by flying while changing altitude with vertical movement.

[0209] The flying robot 101 flies in such a way that the cat 601 gets a full-body workout by having the cat 601 play with the control object 602 held by the flying robot 101. For example, the flying robot 101 periodically flies around a room and takes pictures of the room, and if the cat 601 is included in the captured images, it flies closer to the cat 601 and makes the control object 602 operate around the cat 601.

[0210] In this way, the flying robot 101 operates the target 602 while confirming the movements of the cat 601 based on the images captured by the camera 103. By performing complex movements according to the posture and position of the cat 601, it can attract the cat 601's interest and attention. In this way, by performing complex movements, the robot can keep the cat 601 from getting bored and exercise, effectively relieving the cat 601's lack of exercise and stress.

[0211] Furthermore, the flying robot 101 can perform health checks on cats based on images captured by the camera 103. Specifically, based on the images captured by the camera 103, it can determine, for example, the speed of their movements, the brightness of their eyes, and whether they are lame. In addition, by communicating with another flying robot 101 via the communication I / F 209, it can compare the cat 601 with a cat of the same age.

[0212] The flying robot 101 may be equipped with a storage compartment for storing catnip, cat food, or the like. The storage compartment can be realized, for example, by a mesh pocket-shaped member. This allows the robot to fly with catnip, cat food, or the like stored in the compartment.

[0213] By placing catnip or cat food in the containment compartment and flying the cat toy, the cat's sense of smell is stimulated in addition to its sight and hearing, making it more attractive to the cat. By stimulating the cat's various senses and attracting its attention, the cat toy promotes exercise and more effectively alleviates the cat's lack of exercise and stress.

[0214] In the embodiments described above, a flying robot 101 using a general-purpose drone was described, but the shape of the flying robot 101 according to this invention is not limited to this. The shape of the flying robot 101 according to this invention may be, for example, a shape that imitates a bird or insect that a cat is interested in.

[0215] Figure 9 is an explanatory diagram showing another embodiment of the flying robot 101 according to the present invention. Figure 9 shows a flying robot 101 that mimics a bird. As illustrated in Figure 9, the flying robot 101 that mimics a bird or insect may be equipped with, for example, members 901 that mimic parts of birds or insects, such as wings and tails. Furthermore, the members 901 that mimic parts of birds or insects may each be movable.

[0216] Specifically, for example, the components 901 such as the beak, head, wings, and tail may be moved independently by motors, gear trains, or linkage mechanisms. This allows the flying robot 101 to mimic actions such as wagging its tail or moving its wings.

[0217] Furthermore, the flying robot 101 is not limited to being shaped like a bird such as a hawk. The flying robot 101 may be shaped like an extinct animal such as a dinosaur, a mythical creature such as a dragon or a unicorn, or an insect, and may be equipped with components such as a beak, head, wings, tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc.

[0218] Furthermore, in the case of a flying robot 101 that is shaped like an animal, for example, the lens of a camera 103 may be provided in the part corresponding to the eye. Also, in the case of a flying robot 101 that is shaped like an animal, for example, a light source (such as an LED lamp or laser) 105 may be provided in the part corresponding to the eye. If the lens of the camera 103 is in the part corresponding to the eyeball, the light source 105 may be provided so as to surround the lens.

[0219] As described above, the flying robot 101 according to this embodiment of the present invention comprises an unmanned aerial vehicle that flies by automatic piloting, a camera 103 mounted on the unmanned aerial vehicle, and a holding unit 104 mounted on the unmanned aerial vehicle that holds the object to be operated 602, and is characterized in that the unmanned aerial vehicle flies around the cat 601, which is the target object, based on the image taken by the camera 103.

[0220] According to the flying robot 101 of this embodiment of the present invention, by flying around a cat 601 identified based on an image taken by a camera 103 in a manner contrary to the will of the cat 601, the robot can attract the attention of the cat 601 and, specifically targeting cats 601 that need exercise, can create an opportunity for the cat 601 to move.

[0221] Because the flying robot 101 moves (flies) based on images captured by the camera 103, it can perform complex movements that correspond to the posture and position of the cat 601, rather than monotonous movements. This can keep the cat 601's attention for an extended period and effectively alleviate the cat's lack of exercise and stress.

[0222] In particular, by identifying a cat 601 that is likely to attract attention based on images captured by camera 103, it is possible to attract the attention of cat 601 and create an opportunity for cat 601 to move without requiring any effort from the owner or other cohabitants of cat 601. This effectively alleviates cat 601's lack of exercise and stress without interfering with the activities of the cohabitants of cat 601.

[0223] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the unmanned aerial vehicle flies around an object with vertical movement based on images captured by the camera 103.

[0224] According to the flying robot 101 of this embodiment of the invention, its varied movements effectively attract the attention of the cat 601 and reliably create an opportunity for the cat 601 to move. This effectively alleviates the cat 601's lack of exercise and stress.

[0225] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the unmanned aerial vehicle flies around an object when the same object is present in the same location for a predetermined period of time, based on an image captured by the camera 103.

[0226] According to the flying robot 101 of this embodiment of the invention, based on images captured by the camera 103, it can fly around a cat 601 that is sleeping a lot and has little exercise. This allows the robot to specifically target cats 601 that need exercise and create opportunities for them to move, effectively alleviating the cat's lack of exercise and stress.

[0227] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the operating unit 407407, which operates the target object 602 held by the holding unit 104, operates the target object 602 based on an image captured by the camera 103.

[0228] According to the flying robot 101 of this embodiment of the invention, in addition to the movement of the flying robot 101 itself, the attention of the cat 601 can be effectively attracted by moving the target object 602, such as a fishing rod with a cat toy or feathers attached. This effectively alleviates the cat 601's lack of exercise and stress.

[0229] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that it operates the operating unit 407 when the unmanned aerial vehicle is flying around an object based on an image captured by the camera 103.

[0230] According to the flying robot 101 of this embodiment of the invention, in addition to the flying robot 101 itself, by moving an object to be manipulated 602, such as a fishing rod with a cat toy or feathers attached, around the cat 601, unnecessary power consumption can be suppressed and the cat 601's attention can be effectively attracted. As a result, it can fly for a longer period of time and effectively alleviate the cat 601's lack of exercise and stress.

[0231] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the operating unit 407 rotates the target object 602 or swings the target object 602.

[0232] According to the flying robot 101 of this embodiment of the invention, in addition to the movement of the flying robot 101 itself, the movement of the target 602 can be altered by the operating unit 407, thereby effectively attracting the attention of the cat 601. This effectively alleviates the cat 601's lack of exercise and stress.

[0233] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the holding unit 104 holds the target to be operated 602 in a replaceable state.

[0234] According to the flying robot 101 of this embodiment of the invention, a control object 602 that has deteriorated due to the cat 601 scratching and biting it can be replaced with a new control object 602, or a control object 602 that suits the cat 601's preferences can be appropriately attached. This prevents the cat 601 from getting bored and effectively alleviates the cat 601's lack of exercise and stress.

[0235] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that the object to be operated 602 is a string-like member or a rod-like member.

[0236] According to the flying robot 101 of this embodiment of the invention, the cat 601's attention can be effectively attracted by using an object 602 that is tailored to the cat 601's preferences. This effectively alleviates the cat 601's lack of exercise and stress.

[0237] The object to be operated 602 may be a rod-shaped member to which the other end of a linear member to which a feather or a feather-like member is attached at one end is connected; it may be a rod-shaped member to which the other end of a linear member to which at least one of yarn, a yarn-like member, or a fringe-like member is attached at one end is connected; it may be a rod-shaped member to which the other end of a linear member to which a spherical member is attached at one end is connected; or it may be a linear member to which a brush-like member is attached at one end It may also be a rod-shaped member with the other end connected.

[0238] When the object to be operated 602 is a rod-shaped member to which a linear member has a spherical member attached to one end and the other end is connected, it is preferable that the spherical member is formed using a material that exhibits a predetermined elasticity.

[0239] According to the flying robot 101 of this embodiment of the invention, by providing a wide variety of controllable objects 602, it is possible to use a controllable object 602 that suits the cat 601's preferences, thereby effectively attracting the cat's attention. This effectively alleviates the cat's lack of exercise and stress.

[0240] Furthermore, the flying robot 101 according to this embodiment of the invention is equipped with a communication I / F 209, which is a wireless communication interface mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle and camera 103 are characterized in that they accept remote control via the communication I / F 209.

[0241] According to the flying robot 101 of this embodiment of the present invention, for example, it can accept remote control from a cohabitant who is away from home, such as at their workplace, allowing the cohabitant, such as the owner, to check on the cat 601 while away from home.

[0242] This allows a cohabitant to take photos of cat 601 at any time, even when they are out, to check for any abnormalities in cat 601's health. In addition, by remotely controlling the flying robot 101, the cohabitant can encourage cat 601 to exercise at any time, effectively alleviating cat 601's lack of exercise and stress.

[0243] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized by outputting a predetermined sound from a speaker 204 mounted on an unmanned aerial vehicle. The predetermined sound is characterized by being a recorded human voice, a recorded animal sound, or a synthesized sound that imitates an animal sound.

[0244] According to the flying robot 101 of this embodiment, the attention of the cat 601 to the flying robot 101 can be effectively attracted by outputting sound from the speaker 204. In particular, the attention of the cat 601 to the flying robot 101 can be attracted even more effectively by outputting the voice of the owner or the voice of another cat 601 from the speaker 204.

[0245] This makes it easier for cat 601 to become aware of the presence of the flying robot 101 and the controlled object 602, even when the cat is sleeping, and effectively alleviates the cat's lack of exercise and stress.

[0246] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized by outputting a predetermined sound from the speaker 204 at a predetermined distance from the cat 601 based on an image captured by the camera 103.

[0247] According to the flying robot 101 of this embodiment of the invention, by outputting a predetermined sound from the speaker 204 at a predetermined distance from the cat 601, it is possible to effectively attract the attention of the sleeping cat 601 while avoiding unintentionally startling the cat 601. This prevents the sleeping cat 601 from becoming wary of and avoiding the flying robot 101 after being unintentionally startled, and effectively alleviates the cat 601's lack of exercise and stress.

[0248] In the flying robot 101 according to this embodiment of the invention, a predetermined sound may be output from the speaker 204 within a predetermined range from the cat 601 based on the image captured by the camera 103. In this case, it is preferable that the sound, such as an animal's cry, is output after the cat 601 notices the flying robot 101 and begins to play with the target 602.

[0249] This flying robot 101 can uplift the spirits of cat 601 and encourage it to move its body for longer periods. This effectively alleviates cat 601's lack of exercise and stress.

[0250] Furthermore, the flying robot 101 according to this embodiment of the invention is equipped with a communication I / F 209 mounted on an unmanned aerial vehicle, and the speaker 204 is characterized in that it accepts remote control via the communication I / F 209.

[0251] According to the flying robot 101 of this embodiment of the present invention, for example, it can be remotely controlled by a cohabitant who is away from home, such as at work, and the cohabitant, such as the owner, can make the cat 601 exercise at any time while away from home. This effectively alleviates the cat 601's lack of exercise and stress.

[0252] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized by outputting voice transmitted from a predetermined terminal device via a communication I / F 209. The predetermined terminal device can be, for example, a specific smartphone or personal computer belonging to a cohabitant of cat 601, such as the owner of cat 601.

[0253] According to the flying robot 101 of this embodiment of the invention, the voice of the owner or other person can be heard by the cat 601 in real time. This allows the owner or other person living with the cat to speak to the cat 601 at any time while away from home, and compared to outputting the same recorded voice at all times, it is possible to strongly attract the cat 601's attention and encourage it to exercise. This can effectively alleviate the cat 601's lack of exercise and stress.

[0254] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that, based on the image captured by the camera 103, if the subject being photographed is in an abnormal state, it notifies a predetermined destination of the abnormal state via a communication I / F 209 mounted on the unmanned aerial vehicle. The predetermined destination can be, for example, an email address set on a specific smartphone or a specific personal computer.

[0255] According to the flying robot 101 of this embodiment of the present invention, if the cat 601's condition is different from normal due to illness, injury, natural disaster, etc., it is possible to quickly and reliably notify a cohabitant of an emergency involving the cat 601 by notifying a predetermined recipient. This means that, for example, if the cat 601 suddenly becomes ill or its path is blocked by furniture that has fallen over due to an earthquake, etc., while the cohabitant is out, the cohabitant can be notified that there is something wrong with the situation the cat 601 is in.

[0256] Notifications to designated recipients may include images captured by camera 103. This allows for quick and accurate notification of emergencies involving cat 601, which does not speak human language, to other residents.

[0257] Furthermore, the flying robot 101 according to this embodiment of the invention transmits sound collected by the microphone 203 mounted on the unmanned aerial vehicle to the communication I / F 209 mounted on the unmanned aerial vehicle. It is characterized by sending to a predetermined recipient. The predetermined recipient can be, for example, an email address set up on a specific smartphone or a specific personal computer.

[0258] According to the flying robot 101 of this embodiment of the present invention, in addition to images of the cat 601, sounds from inside the room can be transmitted to a cohabitant who is away from home. This allows the cohabitant to have a more detailed understanding of the cat 601's condition while they are away.

[0259] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized by flying around an object while illuminating or flashing a light source 105 mounted on an unmanned aerial vehicle.

[0260] According to the flying robot 101 of this embodiment of the invention, it is possible to attract the attention of the cat 601 by emitting colorful light using LED lamps, or by shining a laser onto a wall. This allows the cat 601 to chase the flying robot 101 or the emitted light without getting bored, and effectively alleviates the cat 601's lack of exercise and stress.

[0261] The control method for the flying robot described in this embodiment 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, flexible disk, CD-ROM, DVD, or USB memory, 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. [Industrial applicability]

[0262] 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 for supporting the health maintenance of pets, and are particularly suitable for supporting the health maintenance of cats. [Explanation of symbols]

[0263] 101 Flying Robots 102 Propeller 103 Camera 104 Holding part 105 Light source 201 Battery 202 Motor 203 Mike 204 Speakers 205 GPS Sensors 206 Object Sensor 207 Control Circuit 208 Accelerometer 209 Communication I / F 210 solar cells Station 301 302 Exterior part 303 Battery 304 Transmission Coil 305 Solar Cells 401 Storage section 402 Detection Unit 403 Photography Department 404 Acquisition Department 405 Drive Unit 406 Output section 407 Operating section 408 Control Unit

Claims

1. Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, A holding unit mounted on the aforementioned unmanned aerial vehicle to hold the object to be operated, Equipped with, The aforementioned unmanned aerial vehicle is a flying robot characterized by flying around an object based on images captured by the aforementioned camera.

2. The flying robot according to claim 1, characterized in that the unmanned aerial vehicle flies around an object with vertical movement based on images captured by the camera.

3. The flying robot according to claim 1 or 2, characterized in that the unmanned aerial vehicle flies around an object when the same object is present in the same location for a predetermined period of time, based on images taken by the camera.

4. The unit comprises an operating unit that operates the object to be operated, which is held by the holding unit, The flying robot according to any one of claims 1 to 3, characterized in that the operating unit operates the target of operation based on an image captured by the camera.

5. The flying robot according to claim 4, characterized in that the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

6. The flying robot according to claim 4 or 5, characterized in that the operating unit rotates the object to be operated.

7. The flying robot according to claim 4 or 5, characterized in that the operating unit causes the object to be operated to swing.

8. The flying robot according to any one of claims 1 to 7, characterized in that the holding part holds the object to be operated in a replaceable state.

9. The flying robot according to any one of claims 1 to 8, characterized in that the object to be operated is a string-like member.

10. The flying robot according to any one of claims 1 to 8, characterized in that the object to be operated is a rod-shaped member.

11. The flying robot according to claim 10, characterized in that the object of operation is a rod-shaped member to which a linear member with a feather or a feather-like member attached to one end is connected at the other end.

12. The flying robot according to claim 10, characterized in that the object of operation is a rod-shaped member to which the other end of a linear member is connected, with at least one of the following attached to one end: yarn, a member resembling yarn, or a fringe-like member.

13. The flying robot according to claim 10, characterized in that the object to be operated is a rod-shaped member to which a linear member with a spherical member attached to one end is connected at the other end.

14. The spherical member is characterized by being formed using a material that exhibits a predetermined elasticity. The flying robot according to claim 13.

15. The flying robot according to claim 10, characterized in that the object to be operated is a rod-shaped member to which a brush-shaped member is attached at one end and the other end of a linear member is connected.

16. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of claims 1 to 15, characterized in that the unmanned aerial vehicle and the camera accept remote control via the wireless communication interface.

17. The aforementioned unmanned aerial vehicle is equipped with a speaker, The flying robot according to any one of claims 1 to 16, characterized in that it outputs a predetermined sound from the speaker.

18. The flying robot according to claim 17, characterized in that the predetermined voice is a recorded human voice.

19. The flying robot according to claim 17, characterized in that the predetermined sound is a recorded animal sound or a synthesized sound that imitates an animal sound.

20. The flying robot according to any one of 17 to 19, characterized in that it outputs a predetermined sound from the speaker at a predetermined distance from the object based on an image captured by the camera.

21. The flying robot according to any one of 17 to 19, characterized in that it outputs a predetermined sound from the speaker within a predetermined range from the object based on an image captured by the camera.

22. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of claims 17 to 21, characterized in that the speaker accepts remote control via the wireless communication interface.

23. The flying robot according to claim 22, characterized in that it outputs audio transmitted from a predetermined terminal device via the wireless communication interface.

24. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of claims 1 to 23, characterized in that, based on the image captured by the camera, if the object to be photographed is in an abnormal state, it notifies a predetermined destination via the wireless communication interface that the object to be photographed is in an abnormal state.

25. The wireless communication interface mounted on the aforementioned unmanned aerial vehicle, The microphone mounted on the aforementioned unmanned aerial vehicle, Equipped with, The flying robot according to any one of claims 1 to 24, characterized in that it transmits the sound collected by the microphone to a predetermined destination via the wireless communication interface.

26. The flying robot according to claim 24 or 25, characterized in that the predetermined destination is an email address set on a specific smartphone or a specific personal computer.

27. The aforementioned unmanned aerial vehicle is equipped with a light source, The flying robot according to any one of claims 1 to 26, characterized in that the unmanned aerial vehicle flies around the object while illuminating or flashing the light source.

28. The computer of a flying robot equipped with a camera and a holding unit for holding the object being operated, and which is an unmanned aerial vehicle that flies by autopilot, A control program for a flying robot, characterized by causing the unmanned aerial vehicle to fly around an object based on images captured by the aforementioned camera.

29. A control program for a flying robot according to claim 28, characterized in that it causes the unmanned aerial vehicle to fly around an object with vertical movement based on an image captured by the camera.

30. A control program for a flying robot according to claim 28 or 29, characterized in that, based on an image taken by the camera, if the same object is in the same place for a predetermined time, the unmanned aerial vehicle is made to fly around the object.

31. The aforementioned flying robot includes an operating unit that operates the object to be operated, which is held by the holding unit. A control program for a flying robot according to any one of 28 to 30, characterized in that the operating unit operates the target of operation based on an image captured by the camera.

32. A control program for a flying robot according to claim 31, characterized in that the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

33. The control program for a flying robot according to claim 31 or 32, characterized in that the operating unit rotates the object to be operated.

34. A control program for a flying robot according to claim 31 or 32, characterized in that the operating unit causes the object to be operated to swing.

35. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of 28 to 34, characterized in that the unmanned aerial vehicle and the camera are made to accept remote control via the wireless communication interface.

36. The aforementioned flying robot is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of 28 to 35, characterized in that it outputs a predetermined sound from the speaker.

37. The control program for a flying robot according to claim 36, characterized in that the predetermined voice is a recorded human voice.

38. The control program for a flying robot according to claim 36, characterized in that the predetermined sound is a recorded animal sound or a synthesized sound that imitates an animal sound.

39. Based on the image captured by the aforementioned camera, at a position a predetermined distance away from the object, A control program for a flying robot according to any one of 36 to 38, characterized in that it outputs the predetermined sound from the speaker.

40. A control program for a flying robot according to any one of 36 to 38, characterized in that, based on an image captured by the camera, the speaker outputs a predetermined sound within a predetermined range from the object.

41. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of 36 to 40, characterized in that the speaker is made to accept remote control via the wireless communication interface.

42. The control program for a flying robot according to claim 41, characterized in that it outputs audio transmitted from a predetermined terminal device via the wireless communication interface.

43. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of 28 to 42, characterized in that, based on an image taken by the camera, if the object to be photographed is in an abnormal state, the program notifies a predetermined destination via the wireless communication interface that the object to be photographed is in an abnormal state.

44. The aforementioned flying robot comprises a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, A control program for a flying robot according to any one of 28 to 43, characterized in that it transmits the sound collected by the microphone to a predetermined destination via the wireless communication interface.

45. The control program for a flying robot according to claim 43 or 44, characterized in that the predetermined recipient is an email address set on a specific smartphone or a specific personal computer.

46. The aforementioned flying robot is equipped with a light source mounted on the aforementioned unmanned aerial vehicle, The control program for a flying robot according to any one of 28 to 45, characterized in that the unmanned aerial vehicle flies around the object while illuminating or flashing the light source.

47. The computer of a flying robot equipped with a camera and a holding unit for holding the object being operated, and which is an unmanned aerial vehicle that flies by autopilot, A method for controlling a flying robot, characterized in that the unmanned aerial vehicle flies around an object based on images captured by the aforementioned camera.

48. A method for controlling a flying robot according to 47, characterized in that the unmanned aerial vehicle is made to fly around an object with vertical movement based on an image captured by the camera.

49. A method for controlling a flying robot according to 47 or 48, characterized in that, based on an image taken by the camera, if the same object is in the same place for a predetermined time, the unmanned aerial vehicle is made to fly around the object.

50. The aforementioned flying robot includes an operating unit that operates the object to be operated, which is held by the holding unit. A method for controlling a flying robot according to any one of 47 to 49, characterized in that the operating unit operates the target to be operated based on an image captured by the camera.

51. A method for controlling a flying robot according to claim 50, characterized in that the operating unit is operated when the unmanned aerial vehicle is flying around the object based on an image taken by the camera.

52. The method for controlling a flying robot according to claim 50 or 51, characterized in that the operating unit rotates the object to be operated.

53. The control method for a flying robot according to claim 50 or 51, characterized in that the operating unit causes the object to be operated to swing.

54. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of 47 to 53, characterized in that the unmanned aerial vehicle and the camera are made to accept remote control via the wireless communication interface.

55. The aforementioned flying robot is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of 47 to 54, characterized in that a predetermined sound is output from the speaker.

56. The method for controlling a flying robot according to claim 55, characterized in that the predetermined sound is a recorded human voice.

57. The method for controlling a flying robot according to claim 55, characterized in that the predetermined sound is a recorded animal sound or a synthesized sound that imitates an animal sound.

58. A method for controlling a flying robot according to any one of 55 to 57, characterized in that, based on an image captured by the camera, the speaker outputs the predetermined sound at a predetermined distance from the object.

59. A method for controlling a flying robot according to any one of 58 to 57, characterized in that, based on an image captured by the camera, the speaker outputs a predetermined sound within a predetermined range from the object.

60. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of 55 to 59, characterized in that the speaker is made to accept remote control via the wireless communication interface.

61. The method for controlling a flying robot according to claim 60, characterized in that it outputs audio transmitted from a predetermined terminal device via the wireless communication interface.

62. The aforementioned flying robot is equipped with a wireless communication interface mounted on the aforementioned unmanned aerial vehicle. 、 A method for controlling a flying robot according to any one of 47 to 61, characterized in that, based on an image taken by the camera, if the object to be photographed is in an abnormal state, the method notifies a predetermined destination via the wireless communication interface that the object to be photographed is in an abnormal state.

63. The aforementioned flying robot comprises a wireless communication interface mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, A method for controlling a flying robot according to any one of 47 to 62, characterized in that the sound collected by the microphone is transmitted to a predetermined destination via the wireless communication interface.

64. The method for controlling a flying robot according to 62 or 63, characterized in that the predetermined destination is an email address set on a specific smartphone or a specific personal computer.

65. The aforementioned flying robot is equipped with a light source mounted on the aforementioned unmanned aerial vehicle, The method for controlling a flying robot according to any one of 47 to 64, characterized in that the unmanned aerial vehicle flies around the object while illuminating or flashing the light source.

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