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

Abstract

Ensure that the specified sound is being produced. [Solution] The flying robot 700 comprises an unmanned aerial vehicle (drone) 101 that flies by autopilot, a microphone 203 mounted on the unmanned aerial vehicle 101, a camera 103 mounted on the unmanned aerial vehicle 101, and a projection device (projector) 701 mounted on the unmanned aerial vehicle 101. When a predetermined sound is picked up by the microphone 203, the robot recognizes a specific user based on the image captured by the camera 103, flies around the specific user, and projects an image corresponding to the predetermined sound in front of the specific user 600 using the projection device 701. Thus, the flying robot 700's actions and the projected image visually guide the user that a predetermined sound is being played. This ensures that even if a specific user has a hearing impairment, for example, the user can be reliably and clearly informed that a predetermined sound is being played.

Description

Technical Field

[0001] This invention relates to a flying robot that performs actions mimicking a pet, a control program for the flying robot, and a control method for the flying robot.

Background Art

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

[0003] Specifically, conventionally, for example, there has been a technology that enables sharing (joint attention) of a learning object and enables appropriate identification of the learning object by identifying a learning object, storing information on the identified learning object in an associative memory unit, and acting based on the newly detected object and the information on the learning object stored in the associative memory unit (see, for example, Patent Document 1 below).

Prior Art Documents

Patent Documents

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Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

[0005] However, animals possess their own will and do not necessarily act solely in response to their owner's actions; sometimes they disregard their owner's commands or move around freely even without their owner present. In contrast, the conventional technologies mentioned above uniformly operate in response to communication with the user and lack autonomy.

[0006] This invention aims to provide a flying robot, a control program for a flying robot, and a control method for a flying robot that can soothe the user's mind and give them a sense of satisfaction, in order to solve the problems of the prior art described above. [Means for solving the problem]

[0007] 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 autopilot and a camera mounted on the unmanned aerial vehicle, and is characterized by recognizing a specific user based on an image captured by the camera and flying around the specific user.

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

[0009] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the specific user is a person photographed by the camera within a specific range.

[0010] Furthermore, the flying robot according to this invention, in the above invention, the specific user The unmanned aerial vehicle is characterized in that, if at least some of the specific users approach the unmanned aerial vehicle while it is flying around them, it will fly away from those specific users.

[0011] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, if the specific user does not see the unmanned aerial vehicle while flying around the specific user, it will fly in a manner that approaches the specific user.

[0012] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it flies around the specific user a predetermined number of times and then flies away from the specific user.

[0013] 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 when predetermined information is acquired via the wireless communication interface, it flies around the specific user.

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

[0015] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined information is information indicating that there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment onward.

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

[0017] In addition, the flying robot according to this invention, in the above invention, is provided with a microphone mounted on the unmanned aircraft, and when a predetermined sound is collected by the microphone, it is characterized by flying around the specific user.

[0018] In addition, the flying robot according to this invention, in the above invention, is characterized in that the predetermined sound is a ringing tone for notifying that at least one of a phone call and an email is incoming on a telephone.

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

[0020] In addition, the flying robot according to this invention, in the above invention, is provided with a speaker mounted on the unmanned aircraft, and when a predetermined sound is collected by the microphone, it outputs sound from the speaker toward the specific user and flies around the specific user.

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

[0022] In addition, the control program of the flying robot according to this invention causes a computer provided in an unmanned aircraft equipped with a camera and flying by automatic control to execute a process of recognizing a specific user based on an image captured by the camera and flying around the recognized specific user.

[0023] In addition, the control program of the flying robot according to this invention, in the above invention, executes a process of flying away from the specific user when at least a part of the specific user approaches the unmanned aircraft during flight around the specific user.

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

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

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

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

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

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

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

[0031] The flying robot according to claim 24, characterized in that, when a predetermined sound is collected by the microphone, it circles around the recognized specific user in response to the predetermined sound, and then flies between the vicinity of the specific user and the source of the predetermined sound.

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

[0033] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is the ringing sound of a doorbell installed at the entrance of a building or premises for visitors to the building or premises to call the resident or manager of the building or premises.

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

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

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

[0037] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a projector mounted on the unmanned aerial vehicle, and when a predetermined sound is collected by the microphone, it projects an image corresponding to the predetermined sound from the projector in front of the recognized specific user.

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

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

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

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

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

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

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

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

[0046] Furthermore, the control method for a flying robot according to this invention is characterized in that a flying robot equipped with a camera and a wireless communication interface, which flies by autopilot, recognizes a specific user based on an image taken by the camera, and when it obtains information via the wireless communication interface indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the present, it flies between the vicinity of the recognized specific user and the source of a predetermined sound in response to the predetermined sound. [Effects of the Invention]

[0047] The flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of soothing the user's mind and giving the user a sense of satisfaction. [Brief explanation of the drawing]

[0048] [Figure 1A] This is an explanatory diagram (part 1) showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 1B] This is an explanatory diagram (part 2) showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 2] This is an explanatory diagram showing the hardware configuration of a flying robot according to Embodiment 1 of the present invention. [Figure 3] This is an explanatory diagram showing the functional configuration of the flying robot according to Embodiment 1 of this invention. [Figure 4A] This is an explanatory diagram (part 1) showing an example of a charging spot. [Figure 4B] This is an explanatory diagram (part 2) showing an example of a charging spot. [Figure 5] This flowchart shows an example of the processing procedure for a flying robot according to Embodiment 1 of this invention. [Figure 6A] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 6B] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 6C] This is an explanatory diagram (part 3) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 7] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of this invention. [Figure 8] This is an explanatory diagram showing the hardware configuration of a flying robot according to Embodiment 2 of the present invention. [Figure 9] This flowchart shows an example of the processing procedure for a flying robot according to Embodiment 2 of this invention. [Modes for carrying out the invention]

[0049] 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.

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

[0051] Drone 101 can, for example, employ a quadcopter equipped with four propellers 102. Drone 101 is not limited to quadcopters; it can employ various types of multirotors, such as a hexacopter with six propellers or an octocopter with eight propellers.

[0052] Furthermore, the flying robot 100 is equipped with a camera 103. As shown in Figures 1A and 1B, in the flying robot 100 which has an animal-like shape, the camera 103 can be installed, for example, in the part corresponding to the eye. Alternatively, the camera 103 may be installed on the underside of the housing of the drone 101.

[0053] Camera 103 captures images of the surroundings of the flying robot 100. The flying robot 100 recognizes a specific user, for example, based on the images captured by camera 103. Camera 103 can be implemented, for example, by a general-purpose digital camera.

[0054] A specific user could be, for example, a person who is photographed by camera 103 for a predetermined amount of time or a predetermined number of times, i.e., a person who has had a reasonable opportunity to come into contact with the flying robot 100. Alternatively, a specific user could be, for example, a person who is photographed within a specific range, i.e., a person who is likely to be photographed by camera 103 because they have a reasonable opportunity to be in a specific range such as their home, school grounds, or store. The specific range may be a predetermined range from the charging spot (see Figures 4A and 4B).

[0055] Alternatively, a specific user may be, for example, a person who is photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range. Such a person is considered to have a reasonable opportunity to be in a specific range, such as inside a home, on school grounds, or inside a store, and to have a reasonable opportunity to come into contact with the flying robot. Therefore, a specific user can be defined as a person who has had the opportunity to come into contact with the flying robot for a long period of time and at a high frequency within a specific range.

[0056] A specific user may be one person or multiple people. The number of people designated as specific users may be limited to a predetermined number or may be unlimited. By limiting the number of people designated as specific users to a predetermined number, the memory capacity (see Figure 2) can be reduced.

[0057] Furthermore, a specific user may be a person who has been photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range between the present time and a predetermined period prior to that time. This allows for operation that limits the number of people designated as specific users to a predetermined number, even if the flying robot 100 is transferred from a previously designated user to another person, or if the people entering the specific range change due to promotion to the next grade or graduation at a school or nursery school, the person who has had a reasonable opportunity to interact with the flying robot 100 most recently can be designated as a specific user, enabling operation that is appropriate to the current situation.

[0058] 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., a specific user can be accurately recognized even at night or in dimly lit rooms.

[0059] The flying robot 100 may have one camera 103 or multiple cameras 103. In the case of a flying robot 100 equipped with multiple cameras 103, it is not limited to one type of camera 103, but may be equipped with multiple different types of cameras 103.

[0060] The camera 103 may be connected to the drone 101 in a manner that allows for attitude adjustment. Specifically, the camera 103 can be connected to the bottom surface of the drone 101, for example, via a universal joint such as a ball joint. By connecting the camera 103 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom for adjusting the attitude of the camera 103 can be ensured.

[0061] Furthermore, the flying robot 100 may be equipped with a drive mechanism to change the attitude of the camera 103 relative to the drone 101. This allows the attitude of the camera 103 relative to the drone 101 to be adjusted without human intervention. The drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 103 relative to the drone 101 adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 100, regardless of the attitude of the drone 101. The camera 103 may also be equipped with a zoom function.

[0062] The flying robot 100 is equipped with a power receiving coil for wireless power transfer (contactless power transmission) within the housing of the drone 101. Wireless power transfer is a technology that receives power to a battery (see Figure 2) without using charging contacts, and is also called contactless power transfer or wireless power transfer.

[0063] The power receiving coil is located inside the outer surface of the drone 101's casing. This prevents deterioration and malfunction of the flying robot 100 due to water droplets such as beverages or raindrops. The flying robot 100 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0064] Furthermore, as shown in Figures 1A and 1B, in the case of an animal-shaped flying robot 100, for example, an LED lamp 104 may be provided in the part corresponding to the eye. The LED lamp 104 can be provided, for example, in the part corresponding to the eyeball, or, if the lens of the camera 103 is in the part corresponding to the eyeball, to surround the lens. In such a flying robot 100, the tail, ears, wings, feet (legs, limbs), horns, tusks, whiskers, etc., may be provided as those of birds and mammals. It may also include a member 105 corresponding to a distinctive part.

[0065] The component 105, which corresponds to a characteristic part of a bird or mammal, is not limited to a component that corresponds to a component of a bird or mammal that actually exists in modern times, but may also correspond to a component of an extinct animal such as a dinosaur, or a component of a mythical creature such as a dragon or a unicorn. Furthermore, these components may be movable and equipped with a drive mechanism such as a motor to operate them. This allows the flying robot 100 to mimic actions such as wagging its tail or moving its ears.

[0066] The flying robot 100 may also be equipped with a solar cell 106 that generates electricity from ambient light such as sunlight. The solar cell 106 is installed, for example, on the upper surface of the drone 101's casing. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. Furthermore, by providing the solar cell 106, charging can be performed during flight, thus extending the flight time per charge.

[0067] (Hardware configuration of the flying robot 100) Next, the hardware configuration of the flying robot 100 will be described. Figure 2 is an explanatory diagram showing the hardware configuration of the flying robot 100 according to Embodiment 1 of this invention. As shown in Figure 2, the hardware of the flying robot 100 consists of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, a communication I / F 208, an LED lamp 104, a solar cell 106, and the like. The various parts 103, 104, 106, 201-208 of the flying robot 100 are connected by a bus 200.

[0068] Battery 201 supplies power to operate the various parts of the flying robot 100. Battery 201 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. Battery 201 implemented as a secondary battery may be detachable from the drone 101.

[0069] 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 the number of propellers 102, each propeller 102 can be rotated independently, allowing the flying robot 100 to move forward, backward, or turn left or right.

[0070] If the flying robot 100 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motors that make up the drive mechanism. This allows the flying robot 100 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide area.

[0071] Camera 103 is equipped with an image sensor and captures images by having the image sensor receive light that has passed through the photographic lens. Camera 103 also outputs the captured image, that is, image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0072] Camera 103 may capture still images or may capture video. Video includes the continuous playback of still images captured at predetermined time intervals. Image information is compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)). It's okay to have it.

[0073] Microphone 203 collects sounds from the surrounding area of ​​the flying robot 100. Microphone 203 converts the sound input as analog data into an electrical signal. Specifically, microphone 203 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0074] The speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. The speaker 204 may also have an output terminal that outputs an audio signal, and an external speaker 204 may be connected to this output terminal to generate sound.

[0075] The GPS sensor 205 determines the current position of the flying robot 100. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 100 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may also include a filter to remove unwanted components and amplifiers such as an LNA (Low Noise Amplifier) ​​and a power amplifier PA (Power Amplifier).

[0076] The current position of the flying robot 100 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distance to each of the four GPS satellites and performs positioning by calculating the position where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the flying robot 100 based on radio waves received from GPS satellites, the current position of the flying robot 100 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo.

[0077] The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. Obstacles are objects that hinder the flight of the flying robot 100, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 100 is flown outdoors, all objects that hinder the flight of the flying robot 100, such as vehicles, other flying robots 100, trees, and buildings, are considered obstacles.

[0078] The object sensor 206 can be specifically implemented by non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The object sensor 206 can be implemented by at least one of the non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The flying robot 100 may be equipped with multiple types of non-contact sensors as the object sensor 206. In addition, the flying robot 100 may detect the presence or absence of obstacles within a predetermined range from the flying robot 100 based on images captured by the camera 103.

[0079] Solar cell 106 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In solar cell 106, when light energy from ambient light such as sunlight is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 106, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, and the generated electricity can be extracted via wires connected to these electrodes.

[0080] The control circuit 207 drives and controls various parts of the flying robot 100. The control circuit 207 can be implemented using a microcontroller consisting of a CPU, memory, etc. Specifically, the control circuit 207 can be implemented using, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

[0081] The CPU controls the entire flying robot 100 by executing programs stored in memory. The memory stores various types of information, such as programs executed by the CPU, information about various conditions related to the operation of the flying robot 100, and information about images captured by the camera 103.

[0082] The memory can be implemented in various ways, such as by IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the flying robot 100 via a card slot provided on the flying robot 100. The memory card can function as an IC card, such as an SD (Secure Digital) memory card. The memory may also function as an external USB memory device.

[0083] The control circuit 207 includes a charging circuit that charges the battery 201 with power generated by the solar cell 106. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 106.

[0084] 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).

[0085] The IMU consists of sensors necessary for the drone 101 to acquire external information, and is comprised of, for example, a gyroscope, accelerometer, barometer, ultrasonic sensor, and magnetic compass. The GPS sensor 205 mentioned above is also included in the IMU.

[0086] The gyro sensor detects the change in the angle of the drone 101. The gyro sensor detects the change in the angle of the drone 101 by, for example, measuring the angular velocity using the Coriolis force. The gyro sensor enables the drone 101 to fly stably.

[0087] The accelerometer detects the change in the drone 101's speed. The gyroscope and accelerometer allow for the calculation of changes in both the drone 101's tilt and its speed, enabling the drone 101 to continue flying even while tilted.

[0088] The barometric pressure sensor detects the altitude of the drone 101. The barometric pressure sensor detects the altitude of the drone 101, for example, by detecting changes in atmospheric pressure. By measuring the altitude of the drone 101 using the barometric pressure sensor, the altitude of the drone 101 can be maintained.

[0089] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone 101. The ultrasonic sensor is, for example, mounted on the underside of the drone 101 and uses the reflection of ultrasonic waves emitted downwards from the drone 101 to detect objects located below the drone 101. The distance from the object is detected. This enables stable tracking of the drone 101 on the ground (floor, ground, etc.) and landing. When an ultrasonic sensor is used as the object sensor 206, the drone 101 may emit ultrasonic waves in all directions, and the ultrasonic sensor may function as both an object sensor 206 and as part of the IMU.

[0090] The magnetic compass sensor detects which direction (north, south, east, or west) the drone 101 is facing. Since the flying robot 100 is affected by magnetic fields depending on the location where it is flown, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location for operational reasons.

[0091] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 202 and outputs control signals to the ESC to control the rotation direction and speed of the propeller (propeller motor 202). The ESC controls the rotation of motor 202 based on the control signals output from the flight controller. During the flight of the flying robot 100, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 100 and recursively outputs control signals to motor 202.

[0092] Specifically, the flight controller prevents the flying robot 100 from rotating by, for example, outputting a control signal that controls adjacent propellers to rotate in opposite directions. It also moves the flying robot 100 forward by, for example, controlling the propeller in the direction of travel to rotate slower than the propeller in the direction of travel rearward. Furthermore, it makes the flying robot 100 turn to the right by, for example, controlling the propeller on the right side of the direction of travel to rotate slower than the propeller on the left side of the direction of travel.

[0093] Furthermore, the control circuit 207 includes a remaining charge measurement circuit for measuring the remaining charge of the battery 201. The remaining charge measurement circuit measures the remaining charge of the battery 201 using various known methods, such as the impedance track method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method.

[0094] The communication interface 208 is a wireless communication interface that connects the flying robot 100 and network N via a communication line. It controls the interface between network N and the inside of the flying robot 100, and controls the input of data from and output of data to external devices connected via network N. Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0095] Communication I / F208 is a wireless interface, for example, Wi-Fi (registered trademark). Communication I / F208 also uses a mobile phone network (for example, LTE (Long Term)). It may also be a wireless communication interface such as Evolution or PHS (Personal Handy-phone System).

[0096] Communication via the communication interface 208 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory may store information acquired through communication via the communication interface 208. The memory may also store information pre-entered by the user of the flying robot 100.

[0097] The LED lamp 104 located in the area corresponding to the eye is controlled by the control circuit 207. The LED lamp 104 lights up, turns off, and blinks in conjunction with the flight movements of the flying robot 100. The LED lamp 104 may also indicate the status of the flying robot 100. Specifically, for example, it may blink in a predetermined pattern when the remaining battery charge falls below a predetermined threshold. The LED lamp 104 is not limited to one color; it may emit multiple colors.

[0098] The flying robot 100 may also be equipped with input / output devices such as keys or buttons for giving input instructions to the flying robot 100, a power switch for switching the power of the flying robot 100 on and off, and LED lamps located in positions other than the eyes, although these are not shown in the figures. The input / output devices may be implemented by connection terminals to which other information processing devices can be connected.

[0099] (Functional configuration of the flying robot 100) Next, the functional configuration of the flying robot 100 will be described. Figure 3 is an explanatory diagram showing the functional configuration of the flying robot 100 according to Embodiment 1 of the present invention. As shown in Figure 3, the functions of the flying robot 100 are realized by a storage unit 301, a detection unit 302, an imaging unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307.

[0100] The memory unit 301 stores various information, including various programs related to control by the control unit 307 and thresholds used for executing the programs. The memory unit 301 also stores image information captured by the imaging unit 303 and information acquired by the acquisition unit 304. The memory unit 301 may also store information related to battery charging spots. Specifically, the memory unit 301302 can be realized by, for example, the memory in the control circuit 207 shown in Figure 2.

[0101] The detection unit 302 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. Specifically, the detection unit 302 can perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, the detection unit 302 may also perform its function using, for example, the camera 103 shown in Figure 2 instead of the object sensor 206, or in addition to the object sensor 206.

[0102] The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 100 moves. By using the moving stereo method, it is possible to detect the presence or absence of obstacles within a predetermined range from the flying robot 100 using a monocular camera.

[0103] The imaging unit 303 captures images of the area surrounding the flying robot 100. Specifically, the imaging unit 303 can perform its function using, for example, the camera 103 shown in Figure 2. The storage unit 301 stores image information related to the images captured by the imaging unit 303.

[0104] Furthermore, in addition to image information, the memory unit 301 may also store information relating to the location where the image was taken, associating it with the image information. Information relating to the location where the image was taken can be identified, for example, using the GPS sensor 205.

[0105] The acquisition unit 304 acquires external information of the flying robot 100. Specifically, the acquisition unit 304 acquires images of the surroundings of the flying robot 100, for example. In this case, the acquisition unit 304 specifically uses, for example, the camera 103 shown in Figure 2 to perform its function. This can be achieved. The memory unit 301 stores at least information from the information acquired by the acquisition unit 304, which includes information about the person in the captured image or the characteristics of that person.

[0106] Furthermore, the acquisition unit 304 may, for example, acquire predetermined information from an external device via a network N. In this case, the acquisition unit 304 can specifically implement its function using, for example, the communication interface 208 shown in Figure 2.

[0107] In this case, the acquisition unit 304 acquires, for example, notification information output from a specific terminal device as predetermined information. The specific terminal device is, for example, a terminal device that has previously stored identification information in the storage unit 301, and can be specifically implemented by a smartphone owned by a specific user.

[0108] In this case, the acquisition unit 304 may acquire, for example, information indicating that there is a possibility of an event occurring within a predetermined time period from the present moment that could affect a specific user, such as a disaster. The predetermined information may, for example, be information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment. The acquisition unit 304 acquires such predetermined information by communicating, for example, continuously or at predetermined intervals, via the network N.

[0109] Furthermore, the acquisition unit 304 may acquire various types of information, such as music, news, and sales information for goods that match the preferences of a particular user, as predetermined information. In this case, the acquisition unit 304 can specifically implement its function using, for example, the camera 103 and microphone 203 shown in Figure 2. Music, news, and sales information for goods that match the preferences of a particular user can be determined based on, for example, audio collected around the particular user by the microphone 203, items that the particular user frequently uses, or items that frequently come into the particular user's field of vision.

[0110] Items that frequently come into a particular user's field of vision include, for example, television programs such as movies, news, and variety shows, and hobby-related items such as gardening supplies and tableware. These can be determined based on images captured by the camera unit 303, similar to items that a particular user frequently uses. The storage unit 301 can store at least information related to a particular user's preferences from the information acquired by the acquisition unit 304.

[0111] Furthermore, the acquisition unit 304 may acquire, for example, the voice of a specific user. The voice of a specific user can be determined based on, for example, the sound collected by the microphone 203, or the sound collected by the microphone 203 and images captured by the camera at the same time. In this case, the acquisition unit 304 can specifically realize its function using, for example, the camera 103 and microphone 203 shown in Figure 2. The storage unit 301 can store information related to the voice of a specific user from the information acquired by the acquisition unit 304.

[0112] Furthermore, the acquisition unit 304 may, for example, acquire information learned by another flying robot 100 as predetermined information. This allows multiple other flying robots 100 to share information obtained through the learning of a single flying robot 100, enabling the flying robots 100 to perform actions that better match the preferences of a particular user.

[0113] The drive unit 305 controls the flight of the drone 101. Specifically, the drive unit 305 can perform its function using, for example, the drone 101 shown in Figure 1. More specifically, the drive unit 305 controls, for example, the propeller 102 shown in Figure 1 and the control shown in Figure 2. The functions can be realized by the flight controller, ESC, BEC (UBEC), motor 202, object sensor 206, etc. in circuit 207.

[0114] The output unit 306 operates in conjunction with the flight movements of the flying robot 100. Furthermore, the output unit 306 operates according to the state of the flying robot 100. For example, the output unit 306 operates in conjunction with the flying robot 100's flight movements around a specific user, or according to the remaining battery level while the flying robot 100 is flying around a specific user.

[0115] Specifically, the output unit 306 can, for example, light up or blink an LED lamp 104 located in the part corresponding to the eye when the flying robot 100 is flying around a specific user. In this case, the output unit 306 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2.

[0116] Furthermore, the output unit 306 may output sound from the speaker 204 when the flying robot 100 is flying around a specific user. The sound output by the output unit 306 may be, for example, a sound that imitates an animal's cry, a voice speaking to a specific user, or music. In this case, the output unit 306 can specifically realize its function using, for example, the speaker 204 shown in Figure 2.

[0117] Furthermore, the output unit 306 may, in response to information being acquired indicating that an event that could potentially affect a specific user may occur, such as a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes, output an audio message informing the user that such an event may occur when the flying robot 100 approaches the vicinity of the specific user, or it may illuminate or flash the LED lamp 104 in a specific pattern or color.

[0118] The control unit 307 controls the entire flying robot 100. Specifically, the control unit 307 can perform its functions, for example, by the control circuit 207 shown in Figure 2. More specifically, the control unit 307 can perform its functions, for example, by executing a program stored in memory or the like using the CPU in the control circuit 207 shown in Figure 2.

[0119] The control unit 307 flies the drone 101, for example, by controlling the drive unit 305. Specifically, the control unit 307 starts the drone 101 flying when the battery is fully charged. The control unit 307 also starts the drone flying when it detects a call from a specific user, for example. Furthermore, the control unit 307 starts the drone flying when it obtains predetermined information, for example, based on information acquired via the communication interface 208.

[0120] Furthermore, the control unit 307 recognizes a specific user based on an image captured by the imaging unit 303, for example. In recognizing a specific user, the control unit 307 makes it easier to extract a person by, for example, removing noise and distortion from the image captured by the imaging unit 303, emphasizing the outlines of objects contained in the image, and adjusting the brightness and hue of the image.

[0121] Furthermore, when recognizing a specific user, the control unit 307 extracts features such as eyes, mouth, and nose from the image captured by the imaging unit 303, at the pixel level, which is the smallest element constituting the image, and recognizes the person captured in the image based on various information such as color and brightness assigned to the pixels.

[0122] Furthermore, when recognizing a specific user, the control unit 307, for example, may perform the following actions regarding the extracted person. The extracted information is stored in the memory unit 301. The extracted information about a person includes, for example, at least one of the cumulative time the person was photographed and the cumulative number of times the person was photographed. The extracted information about a person may also include, for example, both the cumulative time the person was photographed and the cumulative number of times the person was photographed.

[0123] Furthermore, when recognizing a specific user, the control unit 307 determines, for example, whether the person recognized from the image taken by the imaging unit 303 is a person who has been photographed by the imaging unit 303 for a predetermined amount of time or a predetermined number of times, based on the image taken by the imaging unit 303 and the extracted person information stored in the storage unit 301. If the person extracted from the image taken by the imaging unit 303 is a person who has been photographed for a predetermined amount of time or a predetermined number of times, the control unit 307 recognizes that the person recognized from the image is a specific user.

[0124] The control unit 307 may recognize a specific user by determining whether or not the person being photographed by the imaging unit 303 is within a specific range. Specifically, for example, it can recognize a person who has a reasonable opportunity to be in a specific range, such as inside a home, on school grounds, or inside a store, as a specific user.

[0125] The control unit 307 may further recognize a specific user by determining whether a person recognized from an image captured by the imaging unit 303 within a specific range is a person who has been photographed by the imaging unit 303 for a predetermined time or a predetermined number of times or longer. Specifically, for example, if a person recognized from an image captured by the imaging unit 303 within a specific range such as inside a home, on school grounds, or inside a store is a person who has been photographed for a predetermined time or a predetermined number of times or longer, the control unit 307 recognizes the person recognized from the image as a specific user.

[0126] Furthermore, the control unit 307, for example, when it recognizes a specific user, controls the drive unit 305 to make the flying robot 100 fly around that specific user. Specifically, the control unit 307 makes the flying robot 100 fly at a position close enough to the specific user that the user cannot touch the flying robot 100 even if they reach out their hand.

[0127] More specifically, the control unit 307 flies the flying robot 100 in such a way as to circle it above a specific user's head, hover it in front of a specific user, or move it closer to or further away from a specific user as if playfully interacting with them. If the control unit 307 detects that a specific user has seen the flying robot 100, it may fly the flying robot 100 away from that user and return to the charging spot. In this way, the flying robot 100 mimics "territorial behavior," where it patrols the area around its nest to assess the situation and then returns to it, treating the charging spot as a nest. This gives the impression to people in the vicinity, including a specific user, that the flying robot 100 is a living creature with its own will.

[0128] The control unit 307 may simply control the drive unit 305 to make the flying robot 100 fly around a specific user, or it may link the drive unit 305 and the output unit 306 to make the flying robot 100 fly around a specific user while simultaneously illuminating (flashing) the LED lamp 104 or outputting sound from the speaker 204.

[0129] (An example of what a charging station looks like) Next, we will describe an example of the appearance of a charging station. Figures 4A and 4B show the appearance of a charging station. This is an explanatory diagram showing an example of a pot. Figure 4A shows an example of the appearance of a charging spot. Figure 4B shows the AA cross-section in Figure 4A. As shown in Figures 4A and 4B, the charging spot 400 comprises a charging pad 401 and an outer casing 402.

[0130] The charging pad 401 is equipped with a power transmission coil 401a. The power transmission coil 401a is enclosed in a cover 401b made of ABS resin or silicone rubber. A power cable 401c, which has a power outlet plug at its end, is connected to the charging pad 401 (power transmission coil 401a). By connecting the power outlet plug at the end of the power cable 401c to a commercial power source and supplying electricity to the power transmission coil 401a, a magnetic field can be generated in the power transmission coil 401a.

[0131] The charging pad 401 may have a terminal to which a charging cable can be connected, such as a female USB terminal, instead of the power cable 401c. In this case, a power cable with a male USB terminal or an adapter for converting between commercial power and USB power can be used to supply electricity to the power transmission coil 401a, thereby generating a magnetic field in the power transmission coil 401a. This allows the use of a power cable of any length depending on the installation location of the charging spot 400.

[0132] The exterior part 402 has an appearance that mimics, for example, the nest of a bird or animal, and is installed to cover the charging pad 401. The exterior part 402 has an opening that allows the flying robot 100 to take off from and land on the charging pad 401. The exterior part 402 may have a shape that has an opening above the charging spot 400, as shown in Figures 4A and 4B, or it may have a cave-like shape that covers directly above the charging spot 400 and has openings on the sides. If the exterior part 402 has an opening above the charging pad 401, the flying robot 100 approaches the charging pad 401 from above and takes off to the top of the charging pad 401. If the exterior part 402 has a cave-like shape, the flying robot 100 approaches the charging pad 401 from the top side and takes off to the top side of the charging pad 401.

[0133] The charging spot 400 may be equipped with a wireless router such as a Wi-Fi router. This allows the charging spot 400 to function as a communication spot, and the flying robot 100 can communicate via the charging spot 400. By connecting the charging spot 400 to an internet line brought into a home, and having the flying robot 100 communicate via the charging spot 400, it is possible to use multiple flying robots 100 with just one charging spot 400.

[0134] (An example of the processing procedure for flying robot 100) Next, an example of the processing procedure for the flying robot 100 will be described. Figure 5 is a flowchart showing an example of the processing procedure for the flying robot 100 of Embodiment 1 according to the present invention. In the flowchart of Figure 5, first, it is determined whether or not to start flying (step S501). In step S501, for example, it is determined to start flying when the battery is fully charged, based on the remaining battery level. Alternatively, in step S501, for example, it may be determined to start flying when a specific user's voice is detected based on the voice collected via the microphone 203. Alternatively, in step S501, for example, it may be determined to start flying when predetermined information is obtained based on the information acquired via the communication I / F 208.

[0135] In step S501, the system waits until it is determined to begin flight (step S501: No). On the other hand, if it is determined in step S501 to begin flight (step S501: Yes), the system begins flight (step S502). For example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles. The predetermined range can be any range, including specific areas such as inside a house, on school grounds, or inside a store.

[0136] Next, it is determined whether a specific user has been detected based on the images taken by the camera during the flight (step S503). In step S503, for example, it is possible to determine whether a specific user has been detected by determining whether the person extracted by performing predetermined image processing as described above is the same person who has been photographed by the shooting unit 303 for a predetermined time or a predetermined number of times or longer. Alternatively, in step S503, for example, it may be determined whether a specific user has been detected by determining whether the person recognized from the images taken by the shooting unit 303 within a specific range is the same person who has been photographed by the shooting unit 303 for a predetermined time or a predetermined number of times or longer, as described above.

[0137] If a specific user is not detected in step S503 (step S503: No), the process proceeds to step S505. On the other hand, if a specific user is detected in step S503 (step S503: Yes), the execution of a predetermined process is started (step S504). In step S504, for example, the execution of a process arbitrarily selected from a set of pre-configured processes is started.

[0138] The process to be initiated in step S504 can be selected based on, for example, the remaining battery level, the current position of the flying robot, or a specific user detected in step S503:Yes. Alternatively, in step S504, the process of returning to the charging spot 400 after circling a specific user any number of times may be initiated.

[0139] Specifically, in step S504, the system starts executing processes such as approaching a specific user, turning on or flashing the LED lamps 104 located in the area corresponding to the eyes, or outputting sounds that mimic animal noises. This makes it possible to achieve actions that mimic the endearing behavior of living creatures such as pets.

[0140] Furthermore, if a specific user is moving, a process to track that specific user may be started in step S504. The process to be started in step S504 may be one or multiple processes. If multiple processes are to be started, they may be started simultaneously or at different times.

[0141] Furthermore, in step S504, for example, music that matches the preferences of a particular user may be output, or news may be announced. Also, in step S504, for example, based on a profile of a particular user such as past behavior and preferences, information such as the action patterns of a flying robot 100 used by another user whose behavior and preferences are similar to those of the particular user may be acquired via the network N, and a process to be executed based on the acquired information may be determined.

[0142] Next, it is determined whether the remaining battery level has fallen below a preset first threshold (step S505). The first threshold can be set, for example, to the amount of battery power required for the flying robot 100 to return to the charging spot 400 from the position furthest from the charging spot 400 within a predetermined range in which the flying robot 100 can fly.

[0143] In step S505, if the battery level is not below the first threshold (step S505: No), the process proceeds to step S503, where it runs while detecting a specific user. On the other hand, in step S505, if the battery level falls below the first threshold (step S505: Yes), it is determined whether the process started in step S504 is running (step S506). In step S506, if the process is not running (step S506: No), the process proceeds to step S511.

[0144] On the other hand, in step S506, if the process is running (step S506: Yes), a warning is output (step S507). In step S507, for example, an LED lamp 104 located in the eye area may be lit or flashed in a specific color such as red, or a warning sound may be output from the speaker 204. Alternatively, in step S507, an audio message may be output to inform a specific user of the status of the flying robot 100 in words, such as "the battery is running low" or "I'm hungry." Alternatively, in step S507, for example, a flight motion that mimics a wobbly, unsteady movement may be performed.

[0145] Next, it is determined in step S506:Yes whether the process that was determined to be running has been completed (step S508). If the process has been completed (step S508:Yes), the process proceeds to step S511. If the process has not been completed in step S508 (step S508:No), it is determined whether the remaining battery level has fallen below a pre-set second threshold (step S509). The second threshold is set to a smaller amount than the first threshold and can be set to the amount of battery required for the flying robot 100 to fly to the charging spot 400. The second threshold can be set based on, for example, the current position of the flying robot 100 or the position of the charging spot 400.

[0146] In step S509, if the battery level is not below the second threshold (step S509: No), the process proceeds to step S508 to determine whether the process determined to be running in step S506: Yes has completed. On the other hand, in step S509, if the battery level falls below the second threshold (step S509: Yes), the running process is forcibly terminated (step S510), the process of returning to the charging spot 400 is executed (step S511), and the series of processes is terminated.

[0147] In step S510, if multiple processes are running, all running processes are terminated. In step S511, the Return To Home (RTH) failsafe function of the drone 101 is activated, allowing the drone to return to the charging spot 400. While RTH is activated, obstacles are avoided based on images captured by the camera 103 and detection results from the object sensor 206.

[0148] In the above-described embodiment 1, a warning is issued when the battery level falls below a first threshold, and a return process is performed when it falls below a second threshold lower than the first threshold. However, the invention is not limited to this. Instead of, or in addition to, the determination based on the battery level, a warning may be issued or the running process may be forcibly terminated and a return process performed based on the elapsed time since the start of flight.

[0149] The time from the start of flight in step S502 until the first threshold or the second threshold is reached varies depending on the remaining battery charge at the time the flight starts in step S502. Therefore, depending on the remaining battery charge at the time the flight starts, step In S504, you may decide on the type and number of processes to start executing.

[0150] (An example of how the flying robot 100 can be used) Next, an example of how the flying robot 100 of Embodiment 1 can be used will be described. Figures 6A, 6B, and 6C are explanatory diagrams showing an example of how the flying robot 100 can be used.

[0151] The flying robot 100 can, for example, start flying at any time, and upon recognizing a specific user 600, approach the user 600 and fly around the user 600 (see Figure 6A). Then, for example, after circling the user 600 a number of times, or when the user 600 takes their eyes off the flying robot 100, it returns to the charging spot 400.

[0152] In this way, by having the flying robot 100 operate independently of the will of a specific user 600, it is possible to give the user 600 the feeling that the flying robot 100 has come from its nest of its own volition and has returned to its nest without any apparent reason. Furthermore, by having the flying robot 100 operate independently of the user's will, it is possible to give the user 600 the feeling that the boring flying robot 100 has come and gone without any purpose and is flying around without any purpose.

[0153] Furthermore, by having the flying robot 100 perform unpredictable actions independent of the specific user 600's will, the user 600 can be made to feel as if the flying robot 100 is acting of its own volition, seeking out and trying to communicate with the user 600 of its own volition. This creates a situation similar to owning a pet, and by cherishing the flying robot 100, the user 600 can alleviate feelings of loneliness and isolation, and reduce stress. It can also provide the user 600 with a sense of mental fulfillment and calmness.

[0154] Furthermore, in response to the unpredictable movements of the flying robot 100, which are unrelated to the will of the specific user 600, the specific user 600 can be made to consider the intentions behind the flying robot 100's movements. This allows the specific user 600 to feel as if they are interacting with a living, sentient being rather than an inorganic, inorganic robot. And this can alleviate feelings of loneliness and isolation, reduce stress, increase mental satisfaction, and calm the emotions of the specific user 600.

[0155] The flying robot 100 may execute a different process in response to a specific action performed by a specific user 600. Specifically, for example, if a specific user 600 takes some action toward the flying robot 100, such as bringing their hand closer to it, the flying robot 100 may fly away from that specific user 600 (see Figure 6B). In this way, by deliberately performing an action contrary to the wishes of the specific user 600, the flying robot 100 can give the user 600 the feeling that the flying robot 100 is acting like a capricious cat, not trying to please the user 600.

[0156] Alternatively, for example, if the aircraft circles around a specific user 600 but the user 600 remains unresponsive (e.g., by not turning its face towards the flying robot 100), the aircraft may fly closer to the user 600 (Figure 6C). (See reference). By performing such actions, the flying robot 100 can give the user 600 the feeling that the flying robot 100 is approaching (interacting with) the user because it wants attention.

[0157] In this way, the flying robot 100 monitors a specific user 600, performs a predetermined action for the specific user 600 based on the results of the monitoring, and then performs the next action based on the specific user 600's response to that action. This allows the specific user 600 to feel as if they are interacting with a living creature, such as a pet, that has a life and a heart, rather than an inorganic, impersonal robot.

[0158] The flying robot 100 does not necessarily have to perform the same action in response to the same action of a specific user 600. For example, if the previous time the flying robot 100 moved closer to the specific user 600 in response to the user 600 bringing their hand closer, the next time the specific user 600 performs the same action, the flying robot 100 may fly away from the specific user 600. In this way, the intention of the flying robot 100's actions may not be clearly understood by the specific user 600. This can mimic the inexplicable nature that often occurs in interactions between living beings.

[0159] Certain users 600 can enjoy the actions of the flying robot 100 even if the intention behind its movements is not clearly understood, and can enjoy the inexplicable nature that often arises in interactions between living beings. In this way, by recreating relationships with living beings such as pets, certain users 600 can enjoy the very act of considering the intention behind the actions of the flying robot 100, for which the correct answer is unknown (or even whether there is a correct answer at all).

[0160] Furthermore, if the flying robot 100 is equipped with a night vision camera or infrared camera, it can capture clear images of its surroundings even at night without using an auxiliary light source for imaging. This allows it to emit a loud sound or contact external parties, such as security companies, via the communication I / F208 if it detects a person (such as a thief) in the dark.

[0161] In the above-described embodiment 1, a flying robot 100 that provides comfort to a user (a specific user 600) was described, but the use of the flying robot 100 is not limited to this. The flying robot 100 can be used, for example, as a fighting simulator to support the simulation of actual combat or matches in martial arts such as boxing or karate.

[0162] The flying robot 100, used as a fighting simulator, specifically flies to guide users to suitable locations for practicing strikes in combat sports such as boxing and karate. In this case, users can practice (so-called sparring) that simulates actual combat or matches by striking at the flying robot 100.

[0163] During sparring, the timing of strikes may be guided by the illumination or flashing of LED lights, adjustment of light color, or output of sound. Specifically, during sparring, for example, the location to strike with the hand (fist) can be indicated by illuminating the LED light red, and the location to strike (kick) with the foot can be indicated by illuminating the LED light green. In addition, during sparring, information on the movements of famous athletes can be acquired via network N, and based on this information, flight movements that mimic the movements of famous athletes may be performed. You may do that.

[0164] Furthermore, the flying robot 100 can be used, for example, as a flying conductor to conduct performances in orchestras or wind ensembles. Specifically, the flying robot 100 used as a flying conductor can perform flight movements that mimic the movement of the tip of a conductor's baton. It may also be positioned to fly near the relevant part (instrument) when parts switch during a performance. This ensures reliable support for the performance of each part.

[0165] Furthermore, the flying robot 100 can be used, for example, as a flying performer in karaoke, to provide interjections in time with the song's progression or to fly as if dancing along to the music. When used as a flying performer, the flying robot 100 may also output the karaoke music from the speaker 204. This allows users to enjoy karaoke in any location, even in places where it is difficult to secure a power source, such as outdoors.

[0166] As described above, the flying robot 100 according to this embodiment of the present invention comprises an autonomously piloted drone (unmanned aerial vehicle) 101 and a camera 103 mounted on the drone 101, and is characterized in that it recognizes a specific user 600 based on an image taken by the camera 103 and flies around the specific user 600.

[0167] According to the first embodiment of this invention, the flying robot 100 can automatically fly around a specific user 600 recognized based on images captured by the camera 103, thereby recognizing the specific user 600 as its owner and performing actions similar to those of an animal pet, such as requesting communication from the owner. This can soothe the emotions of the specific user 600 and give them a sense of satisfaction.

[0168] Furthermore, the flying robot 100 can maintain a clean environment, eliminating hygiene problems compared to keeping live animals. Additionally, the flying robot 100 eliminates the problem of animal allergies, allowing users 600 to experience communication with a pet regardless of their individual constitution.

[0169] Furthermore, according to the flying robot 100, in addition to not causing hygiene or animal allergy problems, it can be used in places such as hospitals and nursing homes because it flies through the air and does not come into contact with bacteria, viruses, or dirt from floors and other surfaces. This allows for the expectation of therapeutic effects on users of hospitals and nursing homes.

[0170] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by recognizing a person who has been photographed by the camera 103 for a predetermined time or a predetermined number of times as a specific user 600.

[0171] According to the first embodiment of this invention, the flying robot 100 can mimic the behavior of a pet by automatically flying around a specific user 600 who has had a reasonable opportunity to interact with the flying robot 100, thereby becoming accustomed to the user through interaction. This allows the specific user 600 to maintain an interest in the flying robot over a long period of time, soothe the user's mind, and give the user 600 a sense of satisfaction.

[0172] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by recognizing a person photographed by the camera 103 within a specific range as a specific user 600.

[0173] According to Embodiment 1 of this invention, the flying robot 100 can perform pet-like actions by automatically flying around a specific user 600 who is likely to be photographed by a camera because they have a reasonable chance of being in a specific area such as inside a home, on school grounds, or inside a store. This allows the robot to become accustomed to the specific user 600 who has had a reasonable amount of contact with it within that area. As a result, the specific user 600 can develop an interest in, a sense of closeness to, and affection for the flying robot 100 over a long period of time, providing comfort and a sense of satisfaction to the specific user 600.

[0174] A flying robot 100 that performs such actions will behave differently depending on whether it is interacting with a specific user 600 who has had a reasonable opportunity to interact with the flying robot 100 at home, or with a friend of that specific user 600 who has had a reasonable opportunity to interact with the flying robot 100 outside of home. This makes it easier for the specific user 600 to feel a sense of familiarity and affection for the flying robot, and more reliably soothes the specific user 600's heart and gives them a sense of satisfaction.

[0175] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, while flying around a specific user, if at least a portion of the specific user approaches the unmanned aerial vehicle, it will fly away from the specific user.

[0176] According to the first embodiment of this invention, the flying robot 100 can be made to perform actions similar to those often seen in indoor dogs and cats, such as "approaching the owner (specific user 600) but wanting to avoid being touched," giving the impression that the flying robot 100 is a living creature with its own will.

[0177] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, while flying around a specific user, if the specific user does not see the unmanned aerial vehicle, it will fly in a manner that approaches the specific user.

[0178] According to the first embodiment of this invention, the flying robot 100 can be made to perform affectionate behaviors often seen in pets with a needy personality, such as "pestering their owner (specific user 600) because they aren't paying attention to them," giving the impression that the flying robot 100 is a living creature with its own will.

[0179] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized by flying around a specific user a predetermined number of times and then flying away from that specific user.

[0180] According to the first embodiment of this invention, the flying robot 100 can be made to perform actions similar to those commonly seen in indoor dogs and cats, such as "coming to check on the owner's actions," giving the impression that the flying robot 100 is a living creature with its own will.

[0181] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a communication I / F 208 mounted on the drone 101, and when predetermined information is acquired via the communication I / F 208, In addition, it is characterized by flying around a specific user 600.

[0182] According to the first embodiment of this invention, the flying robot 100 can automatically fly around a specific user 600 when it acquires predetermined information via the communication I / F 208, thereby transmitting useful information to the specific user 600 even if the user 600 is not aware of it.

[0183] Furthermore, according to the first embodiment of this invention, the flying robot 100 can communicate with another flying robot 100 via the communication I / F 208, thereby sharing information obtained through the learning of the other flying robot 100. This allows the flying robot 100 to perform actions that better match the preferences of a specific user 600.

[0184] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, upon receiving notification information output from a specific terminal device via a communication I / F 208, it flies around a specific user 600.

[0185] According to the first embodiment of this invention, the flying robot 100 can, for example, use a smartphone owned by a specific user 600 as a specific terminal device. When the flying robot 100 receives notification information output from the smartphone that has received an incoming call, it can automatically fly around the specific user 600. This allows the user to quickly know that a notification has been received on their smartphone, even if they do not carry their smartphone with them at all times or if their smartphone is set to silent mode.

[0186] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that, for example, if it obtains information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change may occur within a predetermined time from the present moment, it will fly around a specific user 600.

[0187] According to the first embodiment of this invention, the flying robot 100 can quickly learn that a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes may occur within a predetermined time period from the present moment, even without the user 600 consciously collecting information. This allows them to live with peace of mind.

[0188] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a speaker 204 mounted on the drone 101, and is characterized by outputting sound from the speaker 204 toward a specific user 600 and flying around the vicinity of the specific user 600.

[0189] According to the first embodiment of this invention, the flying robot 100 can fly automatically around a specific user 600 and output sound from the speaker 204, thereby mimicking the behavior of a pet, requesting communication with the specific user 600 by making sounds like barking, treating the user 600 as its owner. This makes it possible to more reliably attract the attention of the specific user 600, soothe the user's mind, and give the user 600 a sense of satisfaction.

[0190] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a microphone 203 mounted on the drone 101, and is characterized in that when a predetermined sound is picked up by the microphone 203, it flies around a specific user 600.

[0191] According to the first embodiment of this invention, the flying robot 100 allows a specific user 60 When a predetermined sound is collected, such as the voice of 0, the sound of a doorbell installed at the entrance or gate of a house, or an incoming call on a smartphone, the device can fly automatically around a specific user 600, and in response to the predetermined sound, it can respond to communication with the specific user 600 or inform the specific user 600 of the arrival of a third party or an incoming call on their smartphone.

[0192] Furthermore, the flying robot 100 of Embodiment 1 according to this invention can, when it hears the voice of a specific user 600, fly around that user 600 by autopilot, making the user 600 feel as though the robot came when they called, thus making them happy and allowing them to experience communication with their pet.

[0193] This not only soothes the hearts of 600 specific users, but also allows for the transmission of necessary information to those 600 users when needed. In particular, by transmitting necessary information to hearing-impaired users when needed, it is possible to support the lives of those users more easily and inexpensively compared to receiving assistance from hearing dogs, which are difficult to obtain and require significant care.

[0194] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a speaker 204 mounted on the drone 101, and when a predetermined sound is picked up by the microphone 203, it outputs the sound from the speaker 204 toward a specific user 600 and flies around the vicinity of the specific user 600.

[0195] According to the first embodiment of this invention, when predetermined sounds such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or an incoming call on a smartphone are collected, the robot flies around the specific user 600 on autopilot and outputs sound from the speaker 204. This allows the robot to mimic the actions of a pet, such as barking to the specific user 600 as its owner and requesting communication, or to inform the specific user 600, who may not be aware of the doorbell sound or incoming call on their smartphone, of the arrival of a third party or an incoming call on their smartphone.

[0196] This makes it possible to more reliably attract the attention of specific users 600, soothe their hearts, give them a sense of fulfillment, and convey necessary information to them when needed. In turn, it can enrich the psychological state and lives of specific users 600.

[0197] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that the sound output from the speaker 204 is a sound that imitates the sound of an animal.

[0198] According to the first embodiment of this invention, the flying robot 100 can more reliably attract the attention of a specific user 600 by outputting sounds that mimic animal noises. This gives the specific user 600 a strong sense of communicating with a pet, soothes their heart, and gives them a sense of satisfaction.

[0199] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is characterized in that the predetermined voice is the voice of the specific user 600.

[0200] According to the first embodiment of this invention, when the voice of a specific user 600 is picked up by the microphone 203, the flying robot 100 automatically controls the area around the specific user 600. It flies vertically. This mimics the behavior of arriving in response to a call from a specific user 600, thereby comforting and satisfying that user 600. Furthermore, since it does not respond to calls from anyone other than the specific user 600, it fosters a sense of familiarity and affection towards the flying robot 100, further satisfying the specific user 600.

[0201] Thus, the flying robot 100 of Embodiment 1 of this invention is primarily designed to move autonomously like a pet and be cherished by people. By performing natural movements that mimic those of a pet and communicating with a specific user, it can reduce the user's stress and provide comfort. This can alleviate feelings of loneliness and isolation for people living alone or the elderly, for example, and contribute to a mentally fulfilling and peaceful life.

[0202] <Embodiment 2> Next, an example of a flying robot according to Embodiment 2 of the present invention will be described. The flying robot of Embodiment 2 operates to achieve a specific purpose. Specifically, the flying robot of Embodiment 2 operates to achieve a purpose similar to that of a hearing assistance dog, recognizing a person with a hearing impairment as a specific user, notifying the specific user of sounds necessary in their life, and guiding the specific user to the sound source.

[0203] Hearing assistance dogs have a shorter history compared to guide dogs for the blind, and the number of hearing assistance dogs is overwhelmingly insufficient compared to the number of people with hearing impairments. Furthermore, the training period required for a hearing assistance dog to be provided to a person with a hearing impairment is at least 1 year and 8 months, and the training cost is estimated to be around 1 million yen. Due to these factors, hearing assistance dogs are not adequately available to people with hearing impairments.

[0204] In light of the current situation, the flying robot of Embodiment 2 aims to enhance the motivation for independence and sense of security in daily life for people with hearing impairments who are unable to borrow a hearing assistance dog.

[0205] (An example of the appearance of a flying robot) Figure 7 is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of the present invention. In Embodiment 2, the same parts as in Embodiment 1 described above are indicated by the same reference numerals and their descriptions are omitted. As shown in Figure 7, the flying robot 700 is equipped with a camera 103 and a projector 701 mounted on a drone 101.

[0206] The projector 701 includes a projector light source, an optical system, a projection lens, etc. (all are not shown in the diagram). The projector 701 guides light emitted from the projector light source through the optical system to a predetermined path and projects an image onto the area where the light is irradiated by the projection lens 701a. The optical system consists of an integrator lens that enhances the uniformity of the illuminance of the light emitted from the projector light source, a polarization conversion element that converts (polarizes) the light emitted from the non-polarized light source to a predetermined polarization direction, a dichroic mirror that separates the light from the projector 701 into the three primary colors R, G, and B, a liquid crystal panel that displays images corresponding to each of the R, G, and B colors of light, and a dichroic prism that synthesizes the images of each color displayed by each liquid crystal panel (all are not shown in the diagram).

[0207] For example, a laser projector can be used as the projector 701, which employs a laser as the projector light source. By using a laser projector, the projector 701 can be made smaller. Specifically, a laser projector employs a mercury lamp as the projector light source. Because it can generate less heat than conventional projectors, it is possible to miniaturize and lighten the device by eliminating mechanisms such as cooling fans.

[0208] Furthermore, using a laser projector allows for quick startup and image projection. Additionally, using a laser projector allows for higher brightness of projected images while consuming less power than a mercury lamp projector.

[0209] Mercury lamp projectors are recommended to be used with the projection (optical axis) direction horizontal, thus limiting the freedom of projection direction. In contrast, laser projectors can be used with the optical axis tilted relative to the horizontal. Therefore, laser projectors can ensure a high degree of freedom in projection direction, allowing images to be projected not only onto walls but also onto the ground and floor.

[0210] The projector 701 is fixed to the drone 101 and moves along with the movement (flight) of the drone 101. The projector 701 may be connected to the drone 101 in a manner that allows for attitude adjustment. Specifically, for example, the projector 701 can be connected to the bottom surface of the drone 101 via a universal joint such as a ball joint. By connecting the projector 701 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom for adjusting the attitude of the projector 701 can be ensured.

[0211] In this case, the flying robot 700 may be equipped with a drive mechanism that changes the attitude of the projector 701 relative to the drone 101 in order to adjust the attitude of the projector 701 relative to the drone 101 without human intervention. The drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the projector 701 relative to the drone 101 adjustable, the image can be projected at an optimal angle depending on the location where the image is to be projected.

[0212] (Hardware configuration of the Flying Robot 700) Next, the hardware configuration of the flying robot 700 will be described. Figure 8 is an explanatory diagram showing the hardware configuration of the flying robot 700 according to Embodiment 2 of this invention. As shown in Figure 8, the hardware of the flying robot 700 consists of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, a communication I / F 208, an LED lamp 104, a solar cell 106, a projector 701, and the like.

[0213] As described above, the projector 701 guides light emitted from the projector light source through an optical system to a predetermined path and projects an image onto the area illuminated by the light by irradiating the area outside the projector 701 through the projection lens 701a. The projector 701 may also adjust the image quality of the projected image by adjusting the intensity of the light emitted from the projector light source according to the distance from the position on which the image is projected. The distance between the projector 701 and the position on which the image is projected can be determined, for example, using a distance sensor. Various known sensors such as laser distance sensors, ultrasonic sensors, and infrared sensors can be used as distance sensors.

[0214] (Functional configuration of the Flying Robot 700) Next, the functional configuration of the flying robot 700 will be described. The functions of the flying robot 700 of Embodiment 2 are the same as those of the flying robot 100 described above, and include a memory unit 301, a detection unit 302, an imaging unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit. This will be achieved by the 307th ward.

[0215] In the flying robot 700, the control unit 307, for example, when a predetermined sound is picked up by the microphone 203, controls the drive unit 305 to make the drone 101 fly, and in response to the predetermined sound, flies around a specific user 600 that has been recognized.

[0216] The specified sound could be, for example, a ringtone that notifies a telephone (landline, smartphone, etc.) that at least one of a phone call and / or email is coming in. Alternatively, the specified sound could be, for example, the ringtone of a doorbell installed at the entrance of a building or premises for visitors to call a resident or manager of the building or premises.

[0217] Furthermore, the specified sound can be, for example, a sound with a sound pressure above a predetermined threshold. Specifically, the specified sound can be, for example, a sound that is output at a high volume for the purpose of making known to an unspecified number of people, such as an alarm sound or siren. More specifically, it can be, for example, a sound with a sound pressure level of 70 dB or higher.

[0218] Furthermore, the predetermined sound may be, for example, a sound generated within a predetermined range from a specific user 600. Specifically, it can be a sound emitted by an alarm clock, kitchen timer, smartphone, or other device whose position relative to the specific user 600 may change frequently. In addition, the predetermined sound may be the sound of a boiling kettle, a gas leak detection buzzer, or an alarm that notifies the user that the refrigerator door is not closed properly or is ajar after use.

[0219] The predetermined voice may be a voice previously stored in the memory of the control circuit 207, or it may be a voice learned based on information acquired via the communication I / F 208. The predetermined voice may be the voice of a specific user 600. The predetermined voice may be a voice associated with changes in the natural environment, such as rainfall or lightning.

[0220] When the microphone 203 picks up a predetermined sound, the control unit 307 flies the drone 101 to guide a specific user 600 to the source of the sound. When the microphone 203 picks up a predetermined sound, the control unit 307 flies the drone 101, for example, between the vicinity of the recognized specific user 600 and the predetermined source of the sound. More specifically, for example, it repeatedly flies around the specific user 600 to attract the attention of the specific user 600, and then flies to the source of the sound.

[0221] The control unit 307 may fly the drone 101 in a flight pattern corresponding to a predetermined voice. Specifically, for example, when a phone call is received, the control unit 307 may fly the drone 101 in a zigzag pattern in front of a specific user 600. More specifically, for example, when a doorbell rings, the control unit 307 may fly the drone 101 around the specific user 600 before flying it to the source of the voice (the front door).

[0222] The output unit 306 of the flying robot 700 operates in conjunction with the flight movements of the flying robot 700, depending on the state of the flying robot 700. For example, when a predetermined sound is picked up by the microphone 203, the output unit 306 projects an image from the projector 701 in conjunction with the operation of flying around a specific user 600 in response to the predetermined sound. It is preferable that the image is projected in front of the specific user 600.

[0223] Specifically, for example, if a phone call is received, the phone's image will be projected. In practice, for example, when the doorbell rings, an image of the entrance or gate, or an image representing a visitor, is projected. If a child is crying, an image of the crying child may be projected. The image data for the projected images can be obtained from the network N via the communication I / F208, for example.

[0224] The projected image may be an image captured by camera 103. In this case, the flying robot 700, for example, each time it detects a predetermined sound, captures an image of the source of the sound and projects the captured image. By projecting an image of an actual object in this way, the source of the sound can be reliably identified to a specific user 600. Furthermore, this allows for the projection of the appropriate image without having to store multiple image data.

[0225] Alternatively, the output unit 306 may, for example, project text from the projector 701 in conjunction with flying around a specific user 600 in response to a predetermined voice command. Specifically, it may project text (messages) such as "You have received an email" or "The doorbell is ringing" in front of the specific user 600. The position of the specific user 600 can be determined based on an image captured by the camera 103. In this case, the output unit 306 can specifically implement its function using, for example, the projector 701 shown in Figures 7 and 8.

[0226] Furthermore, the output unit 306 may, for example, light up or blink an LED lamp 104 in conjunction with the operation of flying around a specific user 600 in response to a predetermined voice. In this case, the output unit 306 can specifically realize this function using, for example, the LED lamp 104 shown in Figure 8.

[0227] When the LED lamp 104 is turned on (flashed) in response to a predetermined sound, a light color with a long wavelength, such as red or orange, which is easily noticeable to a specific user 600, may be used. The illuminance may also be adjusted to turn on (flashed) at a higher illuminance than normal. Furthermore, the LED lamp 104 may be turned on (flashed) so that the illuminance is higher during the day outdoors than at night, whether indoors or outdoors. In addition, light may be emitted from the projector 701 instead of the LED lamp 104.

[0228] (An example of the processing procedure for the Flying Robot 700) Next, an example of the processing procedure for the flying robot 700 will be described. Figure 9 is a flowchart showing an example of the processing procedure for the flying robot 700 according to Embodiment 2 of this invention. In the flowchart of Figure 9, first, sound is acquired via the microphone 203 (step S901), and the acquired sound is analyzed (step S902). In step S902, data representing the characteristics of the sound, such as the strength (loudness), frequency, and interval between sounds, is generated.

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

[0230] On the other hand, in step S903, if the acquired audio is a predetermined audio (step S903: Yes), the flight is started (step S904). In step S904, for example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles.

[0231] Next, based on the images captured by the camera 103 during flight, it is determined whether or not a specific user 600 has been detected (step S905). The specific user 600 detected in step S905 may be, for example, a person who has been photographed by the imaging unit 303 for a predetermined time or a predetermined number of times, as described above, or a person whose features (such as images or voices) have been pre-stored in memory. By designating a person whose features have been pre-stored in memory as a specific user 600, the relevant person can be recognized as a specific user 600 immediately after starting to use the flying robot 700.

[0232] In step S905, the aircraft continues flying until a specific user 600 is detected (step S503: No), depending on the remaining charge of the battery 201. If the remaining charge of the battery 201 drops to a threshold that allows it to return to the charging spot 400 without detecting a specific user 600, the aircraft performs a return process.

[0233] In step S905, if a specific user 600 is detected (step S905: Yes), the execution of a predetermined process is started (step S906). In step S906, for example, the aircraft repeatedly performs actions such as flying around the specific user 600 to attract the user's attention and flying back and forth between the specific user 600 and the source of the sound. In step S906, for example, text indicating that sound is being produced, the source of the sound, or the content (event) related to the sound that has been produced may be projected from the projector 701.

[0234] The process in step S906 continues until the specific user 600 notices the source (cause) of the sound (step S907: No). Alternatively, the process in step S906 may be performed within a range that allows the flying robot 700 to return to the charging spot 400, depending on the remaining charge of the battery 201. Specifically, for example, if the battery 201's charge level drops to a threshold that allows it to return to the charging spot 400 while the specific user 600 is unaware of the sound source, the return process is performed.

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

[0236] As described above, the flying robot 700 of Embodiment 2 of this invention comprises an autonomously piloted drone 101, a camera 103 mounted on the drone 101, and a microphone 203 mounted on the drone 101. The robot recognizes a specific user 600 based on an image captured by the camera 103, and when a predetermined sound is picked up by the microphone 203, it flies around the recognized specific user 600 in accordance with the predetermined sound.

[0237] According to the second embodiment of the present invention, when a predetermined sound is picked up by the microphone 203, the flying robot 700 can visually guide a specific user 600, who has been recognized based on an image captured by the camera 103, by flying around the user, thereby indicating that the predetermined sound is being played. This ensures that even if the specific user 600 has a hearing impairment, they are reliably informed that the predetermined sound is being played.

[0238] This can lead to situations where hearing impairment makes it difficult to understand one's surroundings. Furthermore, it can alleviate the fatigue and stress caused by constantly being conscious of one's surroundings. And because one becomes more aware of their surroundings even without consciously trying, it can reduce the fear of living without hearing, and increase the motivation for independence and a sense of security in daily life.

[0239] Furthermore, the flying robot 700 of Embodiment 2 of this invention is characterized by flying around a specific recognized user 600 in a flight mode corresponding to a predetermined sound in response to that predetermined sound.

[0240] According to the second embodiment of the present invention, the flying robot 700 can visually guide users through the type and content of sounds depending on their flight mode. This allows for quick and detailed guidance to users 600 who have hearing impairments, informing them that a predetermined sound is being played and describing its type and content. This improves the convenience of daily life for users 600 who have visual impairments.

[0241] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is equipped with a projector 701 mounted on the drone 101, and when a predetermined sound is collected by the microphone 203, it projects an image corresponding to the predetermined sound from the projector 701 in front of a recognized specific user 600.

[0242] According to the flying robot 700 of Embodiment 2 of this invention, when a predetermined sound is picked up by the microphone 203, the robot flies around a specific user 600 recognized based on an image captured by the camera 103, and projects an image corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600. This allows the flying robot 700's actions and the image to visually guide the user that a predetermined sound is being played. As a result, even if the specific user 600 has a hearing impairment, the presence of a predetermined sound can be reliably and clearly communicated.

[0243] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is characterized in that, when a predetermined sound is collected by the microphone 203, it projects characters corresponding to the predetermined sound from the projector 701 in front of a recognized specific user 600.

[0244] According to the flying robot 700 of Embodiment 2 of this invention, when a predetermined sound is picked up by the microphone 203, the robot flies around a specific user 600 recognized based on an image captured by the camera 103, and projects characters corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600. This allows the flying robot 700's movements and the characters to visually guide the user that the predetermined sound is being played. As a result, even if the specific user 600 has a hearing impairment, the presence of the predetermined sound can be reliably and clearly communicated.

[0245] 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, CD-ROM, MO, DVD, USB memory, or SSD, and is executed by being read from the recording medium by the computer. This program may also be transmitted via a network such as the Internet. [Industrial applicability]

[0246] As described above, the flying robot and the control program for the flying robot according to this invention The control method for flying robots is useful for users seeking pet-type robots, and is particularly suitable for users who desire easy care. [Explanation of Symbols]

[0247] 100,700 flying robots 101 Drones 103 Camera 104 LED lamps 106 solar cells 201 Battery 202 Motor 203 Mike 204 Speakers 205 GPS Sensors 206 Object Sensor 207 Control Circuit 208 Communication I / F 301 Storage section 302 Detection unit 303 Photography Department 304 Acquisition Department 305 Drive Unit 306 Output section 307 Control Unit 400 charging spots 401a Transmission Coil 401b cover 401c power cable 402 Exterior part 600 specific users 701 Projector 701a Projection Lens

Claims

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

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

3. The flying robot according to claim 1 or 2, characterized in that the aforementioned specific user is a person photographed by the camera within a specific range.

4. The flying robot according to any one of claims 1 to 3, characterized in that, while flying around the aforementioned particular users, if at least some of the aforementioned particular users approach the unmanned aerial vehicle, the robot flies away from the aforementioned particular users.

5. The flying robot according to any one of claims 1 to 3, characterized in that, when flying around the aforementioned particular user, if the aforementioned particular user does not make eye contact with the unmanned aerial vehicle, the robot flies to approach the aforementioned particular user.

6. The flying robot according to any one of claims 1 to 3, characterized in that it flies around a specific user a predetermined number of times and then flies away from the specific user.

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

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

9. The flying robot according to claim 7, characterized in that the predetermined information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment onward.

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

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

12. The flying robot according to claim 11, characterized in that the predetermined sound is a ringtone that notifies the telephone that at least one of a phone call and / or email is incoming.

13. The predetermined voice is the voice of the specific user, as described in paragraph 11. A flying robot.

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

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

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

17. If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A control program for a flying robot according to claim 16, characterized by causing it to execute a process.

18. If the unmanned aerial vehicle is flying around the aforementioned specific user and the specific user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the specific user. A control program for a flying robot according to claim 16, characterized by causing it to execute a process.

19. After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A control program for a flying robot according to claim 16, characterized by causing it to execute a process.

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

21. If, while flying around the aforementioned specific users, at least some of those specific users approach the unmanned aerial vehicle, the aircraft will be directed to move away from those specific users. A method for controlling a flying robot according to the feature described in 20.

22. If the unmanned aerial vehicle is flying around the aforementioned specific user and the specific user does not see the unmanned aerial vehicle, the aircraft will be made to fly in a manner that approaches the specific user. A method for controlling a flying robot according to the feature described in 20.

23. After flying around the aforementioned specific user a predetermined number of times, the aircraft is made to fly away from the said specific user. A method for controlling a flying robot according to the feature described in 20.

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

25. The flying robot according to claim 24, characterized in that when a predetermined sound is collected by the microphone, it circles around the recognized specific user in response to the predetermined sound, and then flies between the vicinity of the specific user and the source of the predetermined sound.

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

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

28. The flying robot according to claim 24 or 25, characterized in that the predetermined sound is a sound with a sound pressure above a predetermined threshold.

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

30. The flying robot according to any one of 24 to 29, characterized in that it flies around the recognized specific user in a flight mode corresponding to the predetermined sound in response to the predetermined sound.

31. The aforementioned unmanned aerial vehicle is equipped with a projector, The flying robot according to any one of 24 to 30, characterized in that when a predetermined sound is collected by the microphone, an image corresponding to the predetermined sound is projected from the projector in front of the recognized specific user.

32. The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to claim 31, characterized in that it acquires image data relating to an image projected from the projector via the wireless communication interface.

33. The flying robot according to any one of 24 to 32, characterized in that when a predetermined sound is collected by the microphone, characters corresponding to the predetermined sound are projected from the projector in front of the recognized specific user.

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

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

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

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

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

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

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

41. Unmanned aerial vehicles that fly under automatic control, The microphone mounted on the aforementioned unmanned aerial vehicle, The camera mounted on the aforementioned unmanned aerial vehicle, A projection device mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized in that, when a predetermined sound is collected by the microphone, it recognizes a specific user based on an image captured by the camera, flies around the specific user, and projects an image corresponding to the predetermined sound using the projection device.

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