Floating mobile platform and program for the same

Abstract

To provide a useful levitation movable carriage that supports works of an operator who performs predetermined works.SOLUTION: A levitation movable carriage includes: an aerial flight mechanism part that moves in the air while levitating and hovers in the air; a placing table on which an article can be placed and from which a placed article can be taken out; a temperature sensor for detecting a high-temperature atmosphere; and control means for controlling the aerial flight mechanism part so as to avoid moving or prohibit to move above and / or in the vicinity of an ignited cooking stove on the basis of sensor output from the temperature sensor.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a levitating and mobile platform that can be used as a platform for placing various objects in the vicinity of a user, and a program for such a levitating and mobile platform. [Background technology]

[0002] For example, when a worker replaces a fluorescent light fixture such as a fluorescent tube in a lighting fixture attached to the ceiling by himself, conventionally the worker would climb onto a step stool or the like, remove the old fluorescent tube that needs to be replaced from the fluorescent light fixture, step off the step stool, and place the old fluorescent tube (fluorescent light or fluorescent lamp) somewhere. Then, the worker would then climb onto the step stool again with a new fluorescent tube or other part, and install the new part into the fluorescent light fixture. Therefore, the worker would have to repeatedly climb up and down the step stool, which was troublesome.

[0003] If an assistant is present, the worker can hand over old fluorescent lamps to the assistant and have the assistant hand over new fluorescent lamps, etc., allowing the worker to carry out the replacement work without having to repeatedly climb up and down a stool, etc. However, since an assistant is not always present, the above-mentioned problem remains.

[0004] Therefore, by preparing a platform in addition to the step stool and placing the old fluorescent lamp to be replaced and the new fluorescent lamp on the platform, the number of times the worker needs to climb up and down the step stool can be minimized.

[0005] However, it is desirable that such a mounting stand should be at a height that corresponds to the height of the ceiling and is at a suitable height for the worker, but mounting stands of such height are hard to come by. Therefore, even if a mounting stand is used, if the mounting stand is too low, the worker must go down halfway up the step stool and then climb up again to place the old fluorescent tube to be replaced or pick up the new fluorescent tube, making it difficult to work without damaging the fluorescent tube, which again results in poor work efficiency and troublesome work.

[0006] One possible solution to this problem is to use a liftable platform as described in Patent Document 1 (JP Patent Publication 2006-20866 A). That is, this method involves the worker adjusting the height of the liftable platform in Patent Document 1 to a height that the worker considers appropriate in advance.

[0007] However, the method of using a liftable platform described in Patent Document 1 requires space for the platform in addition to the space for the platform for the worker, and cannot be used in situations where such space cannot be secured. Also, the height of the platform needs to be adjusted in advance to an optimal height according to the ceiling height and the worker, but this advance height adjustment requires the worker to actually stand on the platform and check the height of the platform while making the adjustment, which is relatively troublesome. Furthermore, when continuing work, the worker needs to move not only the platform but also the platform, which is troublesome.

[0008] For example, when cooking in a kitchen, the cook usually moves between predetermined locations, such as a location where ingredients such as vegetables and meat are prepared and a location where cooking utensils such as a stove and an oven are located. Furthermore, if the locations where cooking containers such as pots and frying pans are placed and the locations where seasonings are placed are also fixed, the cook must also move between the location where ingredients are prepared and the location where the cooking utensils are located. Furthermore, for example, if the cook wants to cook while referring to a recipe book, in addition to the multiple locations described above, the cook must also refer to the recipe book to check the cooking procedure.

[0009] However, while the area where ingredients are prepared and the area where cooking utensils such as the stove and oven are located cannot be moved, cooking containers such as pots and pans, condiments, and even recipe books can be moved around on the placement table, and some cooks do this.

[0010] In this case, if the stand is equipped with movable wheels or the like and is movable, the cook can move it as needed, but if the cook has both hands full, the stand cannot be moved along with the cook. For this reason, even if there is a movable stand, it is quite difficult to move the stand appropriately with the cook's movements according to the cook's work.

[0011] Furthermore, at construction sites and the like, when a worker working at a high altitude wants to receive necessary tools or materials that are at a lower altitude, or when a worker wants to borrow tools or receive materials from a worker working at a distant altitude, traditionally, another worker would throw the tools or materials to the worker at the requested altitude, or would go to the high altitude where the requesting worker was and hand them over.

[0012] However, if a worker at a high place fails to receive the tools or materials that have been thrown to him, the tools or materials will fall, which is extremely dangerous, and there are many accidents in which the worker at a high place loses his balance and falls while trying to receive them. In addition, if another worker moves to a high place where the requesting worker is and hands the tools over to him, this forces the other worker to do something other than his original work, and is inefficient. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] JP 2006-20866 A Summary of the Invention [Problem to be solved by the invention]

[0014] As explained above, in the past, the use of a mounting table could reduce the workload, but the problems described above remain. Also, there are some environments, such as construction sites, where a mounting table cannot be used.

[0015] SUMMARY OF THE PRESENT DISCLOSURE In view of the above, an object of the present invention is to provide a levitating and moving platform that can eliminate the above problems. [Means for solving the problem]

[0016] In order to solve the above problems, the present invention provides: A floating and moving platform that assists a worker in performing a predetermined task, an aerial flight mechanism for levitating and moving through the air and hovering in the air; a platform on which an article can be placed or from which the article placed thereon can be removed; A temperature sensor for detecting a high temperature atmosphere; one or more cameras; Based on the sensor output of the temperature sensor Together , Using the image information of the ignition state of the stove from the one or more cameras,On a lit stove In the sky Turn around to move Avoid A control means for controlling the aerial flight mechanism unit so as to The present invention provides a levitating and moving platform comprising:

[0017] In the levitating and moving platform of the present invention having the above-mentioned configuration, the control means controls the temperature of the stove top that is turned on based on the sensor output of the temperature sensor. In the sky Turn around to move Avoid The aerial flight mechanism is controlled so as to Effect of the Invention

[0018] The floating mobile platform of the present invention can be used to move the stove top in a lit state. In the sky Turn around to move Avoid It is possible to make it so that [Brief description of the drawings]

[0019] [Figure 1] 1 is a diagram showing an example of a mechanical configuration of a first embodiment of a levitating and moving platform according to the present invention; [Diagram 2] 1 is a block diagram showing an example of the configuration of a drive control device of a first embodiment of a levitating and moving base according to the present invention; [Diagram 3] FIG. 4 is a diagram showing a part of a flowchart for explaining an example of operation of the first embodiment of the levitating and moving base according to the present invention. [Figure 4] FIG. 4 is a diagram showing a part of a flowchart for explaining an example of operation of the first embodiment of the levitating and moving base according to the present invention. [Diagram 5] FIG. 2 is a diagram for explaining an example of a usage mode of the first embodiment of the levitating and moving platform according to the present invention. [Figure 6] 5 is a diagram for explaining another example of a usage mode of the first embodiment of the levitating and moving base according to the present invention. FIG. [Figure 7] 5 is a diagram for explaining still another example of a usage mode of the first embodiment of the levitating and moving base according to the present invention. FIG. [Figure 8]FIG. 13 is a block diagram showing an example of the configuration of a drive control device of a second embodiment of a levitating and moving base according to the present invention. [Figure 9] FIG. 11 is a diagram showing a part of a flowchart for explaining an example of operation of the second embodiment of the levitating and moving base according to the present invention. [Figure 10] FIG. 11 is a diagram showing a part of a flowchart for explaining an example of operation of the second embodiment of the levitating and moving base according to the present invention. [Figure 11] 5 is a diagram for explaining an example of a usage mode of the second embodiment of the levitating and moving platform according to the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] [First embodiment] Hereinafter, a first embodiment of a levitating and moving platform according to the present invention will be described with reference to the drawings.

[0021] The floating and moving platform 1 of this embodiment is a flying object capable of autonomously flying and moving through the air. Figure 1(A) is a diagram of the floating and moving platform 1 of this embodiment seen from above, and Figure 1(B) is a diagram of the floating and moving platform 1 of this embodiment seen from the front side.

[0022] The levitating moving platform 1 of this embodiment includes an aerial flight mechanism 2 having a so-called quadcopter structure, and a drive control unit 3. The aerial flight mechanism 2 is driven and controlled by the drive control unit 3. As shown in Fig. 1, the aerial flight mechanism 2 is configured by attaching rotor mechanisms 5A, 5B, 5C, 5D to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3.

[0023] Rotating blade mechanisms 5A, 5B, 5C, 5D are configured to rotate blades 52A, 52B, 52C, 52D by rotating blade shafts (not shown) using motor driving units 51A, 51B, 51C, 51D, respectively. The motor driving units 51A, 51B, 51C, 51D have their rotation speeds and directions controlled by drive control signals from a drive control unit 3. The motor driving units 51A, 51B, 51C, 51D and the drive control unit 3 use batteries (not shown) as power sources for rotational drive and drive control. The camera, microphone, various sensors, and control unit, which will be described later, are also supplied with power from the battery. For example, a rechargeable secondary battery is used as the battery. A solar cell may also be used.

[0024] In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by a drive control signal from the drive control unit 3, enabling the levitating and moving platform 1, which is an aircraft, to perform various movement operations such as takeoff, landing, ascent (straight up, diagonally upward), descent (straight down, diagonally downward), right turn, left turn, forward movement, backward movement, right shift, and left shift, as well as attitude control such as the tilt angle relative to the vertical direction and position control of the hovering position.

[0025] In the levitating and moving platform 1 of this embodiment, a camera, an omnidirectional microphone, various sensors, etc., which will be described later, are attached integrally with the drive control unit 3, and a housing 6 that houses a drive control device section 10 including a control section is formed. In this example, the housing 6 is configured in a box-like shape as a whole.

[0026] Two legs 7A, 7B are attached to the housing 6 so as to face each other. In this example, the legs 7A, 7B are made of pipe members formed into a trapezoidal shape, and are formed so as to stably hold the levitating and moving platform 1 on the landing surface 8 as shown in FIG. 1(B). The shape and material of the legs are not limited to this, and various shapes and materials are possible. For example, the legs may be made of wood or metal material and have four legs formed into a cylindrical shape at the four corners of the housing 6. Also, movable wheels may be attached to the legs to facilitate movement on the landing surface 8.

[0027] In this example, as shown in Figures 1(A) and (B), a camera CM1 and an omnidirectional microphone MC are provided on the top surface of a housing 6 of the drive control unit 3. Also, as shown in Figures 1(A) and (B), cameras CM2 to CM5 are provided on the four side surfaces of the housing 6. Furthermore, as shown in Figure 1(B), a camera CM6 is provided on the bottom surface of the housing 6.

[0028] The optical axes (corresponding to the shooting direction) of the cameras CM1 to CM6 are perpendicular to the mounting surfaces of the cameras CM1 to CM6, and each camera can shoot a predetermined angle of view with the optical axis direction as the center.

[0029] Above the rotors 52A, 52B, 52C, and 52D, at a position that does not interfere with the rotation of the rotors 52A, 52B, 52C, and 52D, a mounting table 9 for placing objects is fixed and supported by four support legs 9A, 9B, 9C, and 9D that are erected from the upper surface of the housing 6. In this example, the mounting table 9 is configured as a basket type with an opening at the top and a U-shaped cross section. The bottom and side surfaces of the mounting table 9 are formed with mesh-shaped holes, so that the mounting table 9 does not affect the air flow generated by the rotation of the rotors 52A, 52B, 52C, and 52D as much as possible.

[0030] Although not shown, an LED (Light Emitting Diode) light is provided on the top surface of the housing 6 to illuminate an article placed on the placement table 9 and enable work to be performed in a dark place.

[0031] A drive control device section 10 is provided inside the housing 6. Fig. 2 is a block diagram showing an example of the configuration of the drive control device section 10 in the levitating and moving platform 1 of this embodiment. Note that a battery is omitted in Fig. 2.

[0032] As shown in Fig. 2, the drive control device unit 10 in this embodiment is configured by connecting an aerial flight drive unit 102, a gyro sensor 103, a geomagnetic sensor 104, a gravity sensor 105, an altitude sensor 106, an obstacle sensor 107, a temperature sensor 108, a weight sensor 109, a moving space memory 110, a current position detection unit 111, a flight drive signal generation unit 112, a position and attitude control signal generation unit 113, cameras CM1 to CM6, a non-directional microphone (abbreviated as non-directional microphone in Fig. 2) MC, an image recognition unit 114, a voice recognition unit 115, an alarm notification unit 116, a learning unit 117, a prediction unit 118, and an operation unit 119 to a control unit 101 consisting of a microcomputer (abbreviated as microcomputer in Fig. 2) through a system bus 100. The control unit 101 constitutes a main control means for controlling the entire levitation and movement platform 1.

[0033] The aerial flight drive unit 102 supplies drive control signals to each of the motor drive units 51A, 51B, 51C, and 51D of the rotary wing mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism unit 2 under the control of the control unit 101.

[0034] The gyro sensor 103 detects changes in acceleration during flight of the floating and moving platform 1, and is used to detect the flight direction, speed, and attitude of the floating and moving platform 1. The geomagnetic sensor 104 is used to detect in which direction (north, south, east, west) the floating and moving platform 1 is facing, and in which direction it is flying and moving.

[0035] The gravity sensor 105 detects the direction of gravity (vertical direction) and is made up of, for example, an acceleration sensor, and is used for controlling so that the bottom surface of the mounting base 9 of the levitating and moving base 1 is kept horizontal.

[0036] The altitude sensor 106 detects the altitude at which the floating and moving platform 1 is currently located, and is, for example, an air pressure sensor.

[0037] The obstacle sensor 107 detects the presence of an obstacle by emitting light, infrared rays, ultrasonic waves, etc. and detecting the reflected waves from the person to be followed or obstacles such as walls, and also detects the time from emitting light, infrared rays, or ultrasonic waves to receiving the reflected waves, and can calculate the distance to the detected obstacle from that time. In this embodiment, the obstacle sensor 107 is used to control the levitating mobile platform 1 to fly while avoiding collisions with obstacles such as the person to be followed, people other than the person to be followed, animals such as pets, walls, chests of drawers, beds, desks, garden trees, etc. in the indoor or outdoor space in which it is used.

[0038] In this embodiment, the obstacle sensor 107 is also used when the floating and moving platform 1 is controlled to hover while maintaining a predetermined distance, for example, about 40 cm, from the person to be followed. At this time, photographed image information from one of the cameras CM1 to CM6 that photographs the person to be followed is also used.

[0039] Assuming that the levitating and moving platform 1 is used in a kitchen, the temperature sensor 108 is used to detect a high-temperature atmosphere in order to prevent the levitating and moving platform 1 from approaching a stove that is in an ignited state. When controlling the levitating and moving platform 1 to prevent it from approaching a stove that is in an ignited state, image information of the stove in an ignited state captured by one of the cameras CM1 to CM6 is also used.

[0040] The weight sensor 109 is for detecting the weight of an item placed on the platform 9 and detecting a change in weight after the item is picked up from the platform 9. In this embodiment, the weight of the item detected by the weight sensor 109 when the item is placed on the platform 9 is stored in association with the placement position of the item placed on the platform 9 on the bottom surface of the platform 9, photographed by the camera CM1. In this embodiment, as will be described later, the hovering height position is controlled in accordance with the weight of the item detected by the weight sensor 109.

[0041] The moving space memory 110 stores spatial information related to the room in which the levitating moving platform 1 is used. In this embodiment, an application program for panoramic photography (e.g., Photosynth) is stored in the memory of the control unit 101 of the levitating moving platform 1, and the levitating moving platform 1 flies in the room in which it is used in advance and captures images of the room in a 360-degree range using all or some of the cameras CM1 to CM6. Then, the control unit 101 uses the application program for panoramic photography to generate 3D image information of the room from the captured image information, and stores the generated 3D image information in the moving space memory 110.

[0042] In this case, information on the length, width, and height of a room such as a kitchen to be used is also stored in advance in the moving space memory 110. Furthermore, structural information of the room to be used such as beams, pipe spaces, and pillars may also be stored in advance.

[0043] The current position detection unit 111 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the floating mobile platform 1. In order to obtain more accurate position information, the current position may be detected using radio waves from a mobile phone base station or radio waves from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. In addition, the surroundings of the floating mobile platform 1 may be photographed using all or some of the cameras CM1 to CM6, and the photographed image information may be compared with the 3D image information stored in the moving space memory 110 for image recognition, thereby grasping the relative position in the 3D image space and detecting the current position. In order to detect the current position after movement, the current position detection unit 111 also uses the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 106.

[0044] The flight drive signal generating unit 112 executes the following processing operations under the control of the control unit 101.

[0045] First, when starting levitation flight based on a start command from the control unit 101, a flight drive signal is generated to find the person to be followed. In this case, when the movement space in which the levitation moving platform 1 is used is a movement space stored in the movement space memory 110, the movement direction and movement distance are calculated from the position information of the current position detected by the current position detection unit 111 and the movement space information stored in the movement space memory 110 in order to generate a flight drive signal to move so as to search for the person to be followed.

[0046] Then, the flight drive signal generation unit 112 generates a flight drive signal for moving to detect the person to be followed based on the calculated direction and distance, and using information from the gyro sensor 103, geomagnetic sensor 104, gravity sensor 105, altitude sensor 106, obstacle sensor 107, temperature sensor 108, etc., and further referring to the captured images from cameras CM1 to CM6.

[0047] This flight drive signal is composed of signals for driving the motor drive units 51A-51D of the four rotary wing mechanisms 5A-5D. The generated flight drive signal is supplied to the motor drive units 51A-51D of the aerial flight mechanism unit 2 via the aerial flight drive unit 102. Upon receiving this flight drive signal, the aerial flight mechanism unit 2 drives and rotates the rotary wings 52A-52D, and moves by flying in the air so as to detect the person to be followed.

[0048] When the levitating moving platform 1 detects the person to be followed, under the control of the control unit 101, the flight drive signal generation unit 112 generates a flight drive signal for hovering the platform 9 at a predetermined distance from the person to be followed, while maintaining the platform 9 in a horizontal state, at a height position based on a specific body part of the person to be followed, in this example, the position of the lower jaw of the person to be followed, in accordance with the control of the control unit 101, and supplies the signal to the aerial flight mechanism unit 2 via the aerial flight drive unit 102. Note that the signal for controlling the height position for hovering is generated by the position and attitude control signal generation unit 113, as described later.

[0049] Then, when the person to be followed moves, the flight drive signal generating unit 112 generates a flight drive signal to move in accordance with the movement of the person to be followed under the control of the control unit 101, and supplies the signal to the aerial flight mechanism unit 2 through the aerial flight driving unit 102. During this movement, the levitating and moving platform 1 uses information from the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, the temperature sensor 108, and the like, and further refers to the images captured by the cameras CM1 to CM6 to avoid collisions with obstacles and to avoid places where it should not fly, and moves in accordance with the movement of the person to be followed. Therefore, during this movement, the levitating and moving platform 1 does not take into account the maintenance of the height position and the strict distance from the person to be followed.

[0050] Then, when the person to be followed stops moving, the levitating mobile platform 1 generates a flight drive signal that causes the platform to maintain the above-mentioned relationship with the person to be followed, i.e., to hover a predetermined distance away from the person to be followed and at a height based on the position of the person's lower jaw, and supplies this signal to the aerial flight mechanism unit 2 via the aerial flight drive unit 102.

[0051] In addition, when moving or hovering as described above, the flight drive signal generating unit 112 generates a flight drive signal based on the sensor output of the temperature sensor 108 so that the robot moves or hovers away from areas such as above a lit stove.

[0052] Then, when an end command (landing command) is issued from the control unit 101, the flight drive signal generation unit 112 generates a flight drive signal to release the above-mentioned relationship with the person to be followed and move to and land at a specified location or any location in the vicinity of the current position where landing is possible, and supplies this to the aerial flight mechanism unit 2 via the aerial flight drive unit 102.

[0053] Under the control of the control unit 101, the position and attitude control signal generating unit 113 generates signals for controlling the height position of the levitating and moving platform 1 and for controlling the horizontal state of the bottom surface of the mounting platform 9 based on the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the weight sensor 109, and images captured by the cameras CM1 to CM6.

[0054] When the position and attitude control signal generating unit 113 detects from the images captured by the cameras CM1 to CM5 that an object has been placed on the mounting platform 9 of the levitating and moving platform 1, it generates, under the control of the control unit 101, an attitude control signal for keeping the bottom surface of the mounting platform 9 horizontal using the sensor output of the gravity sensor 105 not only when the platform is hovering but also when the platform is moving in levitating flight.

[0055] In this example, the position / posture control signal generator 113 detects the height position of the lower chin of the face image of the person to be followed up captured by one of the cameras CM2 to CM5 as an example of the reference height position, and generates a position / posture control signal to temporarily hover at that height position, and then hover at a height position, for example, 20 cm lower than that height position. Note that this height position can be adjusted by the person to be followed up by a gesture or a voice command, as described later.

[0056] The hovering position in the horizontal direction with the target person at the center is set to the left or right diagonally forward of the target person. However, if this interferes with the target person's main work (changing fluorescent tubes or cooking), the position is changed so that it does not interfere.

[0057] The position and attitude control signal generating unit 113 also generates, under the control of the control unit 101, a position and attitude control signal for correcting the above-mentioned hovering height position when the person to be followed places an item on the mounting base 9 of the levitating and moving base 1 or removes an item from the mounting base 9.

[0058] Each of the cameras CM1 to CM6 outputs captured image information of a moving image to the system bus 100. Identification information for identifying which camera the captured image information is from is added to the captured image information sent from each of the cameras CM1 to CM6 to the system bus 100. Note that the captured image information from each of the cameras CM1 to CM6 may not be captured image information of a moving image, but may be captured image information of still images taken at a predetermined time interval, for example, at 0.5 second intervals.

[0059] The omnidirectional microphone MC is for picking up the voice information of the command word issued by the person to be followed. Although not shown in the figures, in the levitating and moving platform 1 of this embodiment, among the sound information picked up by the omnidirectional microphone MC, only sound information in the band of human conversation voice (e.g., 200 Hz to 4 KHz) is sent to the system bus 100 through a band pass filter.

[0060] It is also possible to use the sounds of the person being followed clapping or snapping of fingers, which are picked up by the omnidirectional microphone MC. In this case, the levitating mobile platform 1 flies and moves in response to the sounds of the caller or the person being followed clapping or snapping of fingers, which are picked up by the omnidirectional microphone MC. Generally, the frequency power peaks of the sound of clapping hands and the sound of snapping fingers are at 0 to 2 KHz and at 2 to 4 KHz, respectively, so these bands may be passed through a bandpass filter and sent to the system bus 100 to recognize the sound of clapping hands or snapping of fingers.

[0061] The image recognition unit 114 includes an image memory 114M that stores image information of an image recognition target to be recognized from the captured image information from the cameras CM1 to CM6. In this embodiment, the image memory 114M is configured so that the face images of one or more people can be registered in advance in a registered person storage area of ​​the image memory 114M as the follow-up target to be followed by the floating moving platform 1.

[0062] The floating and moving platform 1 of this embodiment automatically creates a list of people to be followed who have registered face images, and displays the list of people to be followed on a display unit (not shown) prior to the start of use of the floating and moving platform 1. From this list of people to be followed, the user can select and designate a person to be followed by the floating and moving platform 1 through the operation unit 119. Instead of providing a display unit, it is also possible to provide a plurality of buttons to which each person to be followed can be associated, and to select a person to be followed by operating one of the plurality of buttons.

[0063] In this embodiment, the floating moving platform 1 can also be started without selecting a person to be followed. In that case, a person in the vicinity of the floating moving platform 1 is determined to be the person to be followed, and a facial image of the person to be followed is captured by one of the cameras CM2 to CM5 and stored in the person to be followed memory area of ​​the image memory 114M. Thereafter, until an end command is given, the facial image of the person stored in the person to be followed memory area is used as the facial image of the person to be followed, and the above-mentioned following movement is controlled.

[0064] In this embodiment, the person to be followed can issue control commands to the levitating and moving platform 1 by his / her gestures, such as "lower the height a little", "raise the height a little", "rotate the mounting platform 9", "change the hovering position (centered on the person to be followed) to the right", and "change the hovering position (centered on the person to be followed) to the left". The image memory 114M is provided with a control command storage area, and the control command storage area stores correspondence information between the above-mentioned control commands and images of the gestures (gestures) corresponding to them. Although not shown in the figure, the light touch of the person to be followed on the levitating and moving platform 1 may be detected by a capacitive touch sensor or the like, and the up / down or left / right direction may be controlled by the position of touch and the direction of pressure of the person to be followed.

[0065] The control unit 101 monitors the captured image information of the cameras CM1-CM6, and determines in the image recognition unit 114 whether or not the person to be followed has made the same gesture (or a gesture similar thereto) as the gesture stored in the control command storage area of ​​the image memory 114M. When the control unit 101 determines that the person to be followed has made the same gesture (or a gesture similar thereto) as the gesture of the control command stored in the control command storage area of ​​the image memory 114M, it acquires a control command corresponding to that gesture from the control command storage area of ​​the image memory 114M, and supplies a control signal to the aerial flight mechanism unit 2 so that the levitating moving base 1 performs an operation according to the acquired control command.

[0066] In this embodiment, the voice of the person to be followed can be used to give the levitating and moving platform 1 control commands as described above.

[0067] The voice recognition unit 115 is for recognizing the voice control commands from the person to be followed, and is provided with a voice memory 115M in which correspondence information between the above-mentioned control commands and the voice information of the above-mentioned phrases corresponding thereto is stored.

[0068] The control unit 101 monitors the voice information collected by the non-directional microphone MC, and determines in the voice recognition unit 115 whether or not the person to be followed has uttered the same voice phrase (or a similar phrase) as the voice phrase of the control command stored in the control command storage area of ​​the voice memory 115M. When the control unit 101 determines that the person to be followed has uttered the same voice phrase (or a similar phrase) as the control command stored in the control command storage area of ​​the voice memory 115M, it acquires a control command corresponding to the voice phrase from the control command storage area of ​​the image memory 114M, and supplies a control signal to the aerial flight mechanism unit 2 so that the levitating moving platform 1 performs an operation according to the acquired control command.

[0069] In this case, when the control unit 101 receives a command to "lower the height a little", it controls to lower the height by, for example, 2 cm from the current height position, and when the control unit 101 receives a command to "raise the height a little", it controls to raise the height by, for example, 2 cm from the current height position. Also, when the control unit 101 receives a command to "rotate the mounting table 9", it controls to rotate the mounting table 9 by, for example, 90 degrees to 180 degrees around the center position of the mounting table 9 while keeping the mounting table 9 horizontal. If the mounting table 9 itself has a rotating mechanism (not shown), it controls to rotate the mounting table 9, and if the mounting table 9 does not rotate and is fixed to the housing 6 of the levitating and moving table 1, the levitating and moving table 1 itself controls the position of the mounting table 9 by rotating or the like.

[0070] Furthermore, when there is a command such as "Change the hovering position (centered on the person to be followed) to the right" or "Change the hovering position (centered on the person to be followed) to the left", the control unit 101 controls the levitating and moving platform 1 to change the left and right positions relative to the person to be followed to a side different from the current state. Other voice commands may include "Come here for a moment", "This way", "Stand away", etc.

[0071] When the weight of the object placed on the mounting base 9 of the floating mobile platform 1 is too heavy (overweight) for the floating mobile platform 1 to maintain hovering, the alarm notification unit 116 notifies the subject of the object to be followed through a speaker (not shown) as an audio alarm such as a buzzer sound. Alternatively, the alarm may be issued by emitting an audio message such as "Overweight" through the speaker. The weight detected by the weight sensor 109 is used to determine whether the object is overweight. Even if the object is slightly lighter than the overweight state, an audio alarm may be issued to notify the subject that it is dangerous to place any more object on the mounting base.

[0072] In addition, image information of an overweight item can be pre-registered in image memory 114M, and when image recognition unit 114 recognizes that a registered item is about to be placed on platform 9, alarm notification unit 116 can emit a voice alarm through a speaker before the item is placed, sounding an audio message such as "The item is overweight" or "There is a risk of it being overweight."

[0073] In addition, image information of drinks or liquid items can be pre-registered in image memory 114M, and when image recognition unit 114 recognizes that a registered item is about to be placed on platform 9, alarm notification unit 116 can emit an audio alarm such as "There is a risk of liquid spilling" through a speaker before the item is placed on the platform.

[0074] The alarm notification unit 116 may be an indicator (not shown) or a display unit (not shown) that lights up or flashes, or a message is displayed.

[0075] The learning unit 117 includes a history memory 117M that stores information (history information) on the past usage history of the floating and moving platform 1. In this case, the history information consists of image information of the person to be followed taken by the cameras CM1 to CM6, and is stored in the history memory 117M together with the position information of the usage location and face image information of the person to be followed who used the floating and moving platform 1. When the person to be followed is a user registered in the image memory 114M, the identification information of the registered person to be followed is also stored.

[0076] As a result, when a registered user is selected as the person to be followed when starting to use the floating and moving platform 1, information on the past usage history of the person to be followed can be referenced in the learning unit 117. Also, when a user registered as the person to be followed is not selected when starting to use the floating and moving platform 1, if a person to be followed is recognized by any of the cameras CM2 to CM5 and the face image matches with the face image stored in the history memory 117M, the past history information of the person to be followed of the matching face image is referenced in the learning unit 117.

[0077] The learning unit 117 learns the usability of the person to be followed by learning the past usage history of the person to be followed stored in the history memory 117M, and controls the floating mobile platform 1 based on the learning result. For example, when the dominant hand of the person to be followed is identified as a result of referring to the past usage history, the floating mobile platform 1 hovers on the side of the dominant hand of the person to be followed. Also, when it is found by learning that there is a tendency to cut ingredients such as vegetables, place them on a plate, and place them on the placement base 9 of the floating mobile platform 1 with the non-dominant hand during cooking work in the kitchen, if such a situation is predicted from the captured image information of any of the cameras CM2 to CM5 during the use, the floating mobile platform 1 moves in advance to the side opposite the dominant hand and hovers to wait.

[0078] The prediction unit 118 performs control on the floating and moving base 1 in accordance with items predicted from image information captured by any one of the cameras CM2 to CM5 when the floating and moving base 1 is in use.

[0079] That is, when the floating moving platform 1 is hovering in the air and it is expected that an object will be placed on the placement platform 9 by the person to be followed, the platform 1 is controlled to control the descent caused by the weight of the object to be placed to the smallest possible amount. In this case, the weight of the object placed on the floating moving platform 1 measured by the weight sensor 109 together with image information of the object photographed by the cameras CM1-CM6 is stored in the history memory 117M, and when an object identical to the stored object is about to be placed on the floating moving platform 1, the weight of the object is known, so that the floating moving platform 1 can easily be corrected to prevent the object from descending as little as possible even when the object is placed on it.

[0080] Furthermore, as mentioned above, when an item is picked up from the floating and moving platform 1, the weight can be recognized as the weight stored in association with the placement position of the picked up item on the bottom surface of the placement platform 9, and the prediction unit 118 controls the floating and moving platform 1 based on the recognized weight so that the amount of lift is as small as possible.

[0081] Furthermore, when the prediction unit 118 can predict the next action from the action of the user being followed, it enables the floating mobile platform 1 to perform optimal control in advance of the action of the person being followed, such as by moving the platform to an optimal hovering position according to the predicted action.

[0082] The operation unit 119 is for the user to input operation instructions such as starting the flight of the levitating and moving platform 1, creating moving space information and storing it in the moving space memory 110, and other operation instructions. Furthermore, the levitating and moving platform 1 of this embodiment allows the user to set a mode according to the place of use and purpose of use for the past history stored in the history memory 117M. For example, if the place of use is the kitchen, the kitchen mode can be set; if the purpose of use is replacing fluorescent tubes, the fluorescent tube replacement mode can be set; if the purpose of use is hanging out laundry, the laundry hanging mode can be set; if the purpose of use is bringing in laundry, the laundry bringing in mode can be set; etc.

[0083] The levitating and moving platform 1 of this embodiment automatically creates a list of set modes, and displays the list of modes on a display unit (not shown) before starting to use the levitating and moving platform 1. A user can select from this list of modes through the operation unit 119 according to the place or purpose where the user is about to start using the platform. Instead of providing a display unit, it is also possible to provide a plurality of buttons to which each mode can be associated, and to select a mode by operating one of the plurality of buttons. When a mode is selected through the operation unit 119, the learning unit 117 uses the learning result obtained by referring to the history information corresponding to the selected mode to control the levitating and moving platform 1.

[0084] In addition, in Figure 2, the flight drive signal generation unit 112, the position and attitude control signal generation unit 113, the image recognition unit 114, the voice recognition unit 115, the alarm notification unit 116, the learning unit 117, and the prediction unit 118 can also be realized by the control unit 101 as software processing functions.

[0085] [Example of operation of levitation mobile platform 1] Next, an example of the processing operation of the levitating and moving platform 1 of the first embodiment will be described with reference to the flowcharts of Figures 3 and 4. In the following description, it is assumed that the control unit 101 realizes the processing functions of each of the flight drive signal generating unit 112, the position and attitude control signal generating unit 113, the image recognizing unit 114, the voice recognizing unit 115, the alarm notifying unit 116, the learning unit 117, and the predicting unit 118 as software processing functions. Note that items necessary for work may be placed on the mounting platform 9 of the levitating and moving platform 1 before use begins, or the items necessary for work may be placed on the mounting platform 9 after use begins.

[0086] First, the control unit 101 determines whether or not a start command has been received (step S101). This start command may be input by operation via the operation unit 119, or may be a voice command or a gesture command. Note that a user who is to be the subject of following can select and set one of the above-mentioned kitchen mode, fluorescent tube replacement mode, laundry hanging mode, laundry take-in mode, etc., before issuing a start command. Also, if a face image of the user who is to be the subject of following is registered, the user who is to be the subject of following can select and set himself / herself as the subject of following.

[0087] If it is determined in step S101 that the start command has not been received, the control unit 101 repeats step S101 and waits for the start command to be received. If it is determined in step S101 that the start command has been received, the control unit 101 controls the aerial flight mechanism unit 2 to take off and move upward, and searches for the person to be followed (step S102).

[0088] Then, while performing the search flight for the person to be followed, the control unit 101 determines whether or not the person to be followed has been recognized (step S103), and if it is determined that the person has not been recognized, the control unit 101 returns to step S102 and continues the search movement for the person to be followed. If it is determined in step S103 that the person to be followed has been recognized, the control unit 101 hovers, as described above, at a position separated by a predetermined distance from the recognized person to be followed, at a height position 20 cm lower than the position of the lower jaw of the person to be followed as an example of a height reference, while keeping the mounting table 9 horizontal (step S104).

[0089] In this case, if the person to be followed has not been selected prior to the start command, the control unit 101 searches for and recognizes a nearby user as the person to be followed. Then, the face image of the person to be followed that has been photographed and recognized by one or more of the cameras CM2 to CM5 is stored in the temporary storage area of ​​the image memory 114M as the person to be followed for the current round. Furthermore, if the person to be followed has been selected and designated prior to the start command, the control unit 101 searches for and recognizes the person to be followed that matches the face image stored in the image memory 114M of the selected person to be followed. Then, the face image stored in the image memory 114M of the selected person to be followed is stored in the temporary storage area of ​​the image memory 114M as the person to be followed for the current round. In the current round of following movement, the control unit 101 always grasps the person to be followed that matches the face image stored in the temporary storage area of ​​the image memory 114M as the person to be followed for the current round.

[0090] After step S104, the control unit 101 determines whether or not an item placed on the placement table 9 has been picked up based on the image information captured by the cameras CM1 to CM5 (step S105), and if it determines that the item has been picked up, performs height position correction control to correct the change in height position corresponding to the change in weight caused by the item being picked up, as described above (step S106).

[0091] If it is determined in step S105 that the item placed on the placement platform 9 has not been picked up, the control unit 101 determines whether or not an item has been placed on the placement platform 9 based on the image information captured by cameras CM1 to CM5 (step S107), and if it is determined that an item has been placed on the placement platform 9, proceeds to step S106 and performs height position correction control to correct the change in height position corresponding to the change in weight caused by the item being placed on the placement platform 9, as described above (step S106).

[0092] After step S106, the control unit 101 advances the process to step S119 in FIG. 4, and determines whether or not an end command has been received from the person to be followed by a gesture or voice. If it is determined that an end command has not been received, the control unit 101 returns the process to step S105, and repeats the processes from step S105 onwards.

[0093] If it is determined in step S107 that no article is placed on the platform 9, the control unit 101 determines whether or not the person to be followed has moved based on the captured image information of the cameras CM2 to CM5 and the sensor output of the obstacle sensor 107 (step S108). If it is determined in step S108 that the person to be followed has moved, the control unit 101 controls the aerial flight mechanism unit 2 to move so as to follow the movement of the person to be followed while maintaining the horizontal state of the bottom surface of the platform 9 (step S109). Then, the control unit 101 proceeds to the process in step S119 of FIG. 4, where it determines whether or not an end command has been received from the person to be followed by a gesture or voice, and if it is determined that an end command has not been received, it returns the process to step S105, and the processes from step S105 onwards are repeated.

[0094] Also, when it is determined in step S108 that the person to be followed has not moved, the control unit 101 determines whether or not a command to change the height position for hovering has been received (step S111 in FIG. 4), and when it is determined that a command has been received, as described above, the height position for hovering is controlled to be lowered or raised in accordance with the command (step S112). After this step S112, the control unit 101 advances the process to step S119, and determines whether or not an end command has been received by a gesture or voice from the person to be followed, and when it is determined that an end command has not been received, the process returns to step S105, and the processes from this step S105 onwards are repeated.

[0095] When it is determined in step S111 that a command to change the hovering height position has not been received, the control unit 101 determines whether or not a command to rotate the platform 9 has been received (step S113), and when it is determined that a command has been received, as described above, controls the bottom surface of the platform 9 to rotate around its central position while maintaining the horizontal state in accordance with the rotation command (step S114). After this step S114, the control unit 101 advances the process to step S119, and determines whether or not an end command has been received by a gesture or voice from the person to be followed, and when it is determined that an end command has not been received, the process returns to step S105, and the processes from this step S105 onwards are repeated.

[0096] If it is determined in step S113 that a command to rotate the platform 9 has not been received, the control unit 101 determines whether the height position of the lower jaw, which is an example of a body part of the person to be followed that is the reference height position for hovering, has been displaced upward or downward (step S115). The amount of upward or downward displacement determined in this case is deemed to be a significant amount of displacement that is considered necessary to change the height position for hovering the levitating and moving platform 1.

[0097] In step S115, when it is determined that the height position of the lower jaw, which is an example of a physical part of the person to be tracked, has shifted upward or downward, the control unit 101 determines whether a predetermined time, for example, 5 seconds or more, has elapsed since the shift began (step S116), and if it is determined that the predetermined time or more has not elapsed, the current height position of the support table 9 is maintained (step S117), and then the process returns to step S115.

[0098] In step S116, when it is determined that a significant upward or downward displacement of the height position of the lower jaw, which is an example of a physical part of the person to be followed, continues for a predetermined period of time or more, the control unit 101 controls the hovering height position to be raised or lowered in accordance with the displacement of the height position of the lower jaw, which is an example of a physical part of the person to be followed (step S118).

[0099] The process from step S115 to step S118 is a process in which, when the person to be followed crouches down or stretches up and the position of the lower jaw is displaced up or down, if this is for a short period of time, the floating and moving platform 1 waits in a hovering state at the original height position without following up, and if this continues for a predetermined period of time or more, the floating and moving platform 1 changes the hovering height position according to the displacement of the lower jaw position. This is a process to avoid unnecessary change control of the height position of the floating and moving platform 1, since a short-term change in the lower jaw of the person to be followed is not considered to require a change in the height position of the mounting platform 9.

[0100] After step S118, the control unit 101 advances the process to step S119, and determines whether or not an end command has been received from the person to be followed by a gesture or voice. If it is determined that an end command has not been received, the control unit 101 returns the process to step S105, and repeats the processes from step S105 onwards.

[0101] If it is determined in step S115 that the height position of the lower jaw, which is an example of a physical part of the person to be followed, has not shifted upward or downward, the control unit 101 proceeds to step S119 and determines whether or not an end command has been received from the person to be followed by a gesture or voice.If it is determined that an end command has not been received, the control unit 101 returns to step S105 and repeats the processes from step S105 onwards.

[0102] Then, when it is determined in step S119 that an end command has been received from the person to be followed, the control unit 101 ends the follow-up control of the person to be followed, and controls the floating and moving platform 1 to land (step S120). This completes one processing operation of the floating and moving platform 1.

[0103] [Examples of Usage (Modes) of the Floating and Moving Base 1 of the First Embodiment] <Cooking mode> Fig. 5 is a diagram for explaining the operation of the levitating and moving base 1 in a cooking mode as an example of a usage mode of the levitating and moving base 1 of the first embodiment. Fig. 5 assumes a home kitchen as the place (movement space) where the cooking mode of this example is performed.

[0104] 5, a recipe book 201 is placed on the platform 9 of the levitating and moving platform 1, along with various seasonings 202 such as soy sauce, salt, and pepper. A housewife 203, who is an example of a person to be followed, places the recipe book 201 and seasonings 202 on the platform 9 of the levitating and moving platform 1 before issuing a command to start flying, or after the platform is in a hovering state.

[0105] Then, when the housewife 203, an example of a person to be followed, issues a start command to the levitating and moving platform 1, the levitating and moving platform 1 will hover at the above-mentioned height position at an appropriate distance from the housewife 203. Figure 5 shows this state. Note that, if the housewife 203's face image has been registered before issuing the start command, she can select herself as the person to be followed, and if a cooking mode has been set as history, she can select and designate it. Furthermore, if an appropriate response according to the recipe has been set as history, the recipe to be cooked may be selectable and designated.

[0106] The levitating and moving platform 1 moves, following the housewife 203, an example of a person to be followed, as she moves between the kitchen sink 204, the cooking counter 205, and the stove 206. During this movement, the levitating and moving platform 1 always keeps the bottom surface of the mounting platform 9 horizontal, and moves while maintaining its height position. Based on the sensor output of the temperature sensor 108, the levitating and moving platform 1 avoids moving above the stove 206, which is turned on. Furthermore, the learning unit 117 and the prediction unit 118 predict the actions and behavior of the housewife 203, and the levitating and moving platform 1 hovers to the left or right of the housewife 203, changing its hovering position as appropriate.

[0107] Furthermore, when the housewife 203 bends or squats down to take out an item from the drawer 207 or the cupboard 208, the levitating and moving platform 1 changes the hovering height position accordingly. Therefore, the housewife 203 can easily place the taken-out item on the placement platform 9 of the levitating and moving platform 1 while bending or squatting. The hovering height position when squatting can also be based on the position of the lower chin of the person to be followed, as in the case of standing. Furthermore, the height position may be controlled according to the posture, for example, to a height position 10 cm lower than the position of the lower chin, instead of a height position 20 cm lower than the position of the lower chin.

[0108] In addition, the housewife 203 can change the height of the levitating and moving platform 1 or change its position between the left and right sides of the housewife 203 by gestures or voice commands as appropriate to suit her convenience. When the seasoning 202 is placed on the bottom surface of the placement platform 9 on the side far from the housewife 203, the placement platform 9 can be rotated to move it closer to the housewife 203, which is convenient. In this case, by performing image recognition of the items placed on the placement platform 9 using images captured by the cameras CM1 to CM5, the placement platform 9 can be rotated so that the soy sauce among the seasonings 202 is closest when the housewife 203 says "please get me some soy sauce" and so that the recipe book 201 is oriented in a direction that is easy for the housewife 203 to read when the housewife says "please turn the recipe book towards me." Note that a dedicated stand separate from the placement platform 9 may be provided for the recipe book 201, and only the recipe book 201 may be rotated. When looking at recipe book 201, the recipe book 201 can be illuminated with an LED light (not shown) provided on the top surface of housing 6, allowing the user to cook while still looking at the recipe book even in the dark or in the shadows.

[0109] In this way, when cooking, the housewife places the recipe book 201 on the mounting base 9 of the levitating and moving base 1, and places the necessary seasonings 202 on it in advance, and the levitating and moving base 1 moves following the housewife's movements during cooking, making it easy to cook while looking at the recipe book 201 each time, and also enabling the housewife to select and use the seasonings 202 placed on the mounting base 9 of the levitating and moving base 1 as appropriate on the spot. Of course, not only the recipe book 201 and seasonings 202 but also ingredients and cooking utensils may be placed on the mounting base 9.

[0110] <Laundry drying mode and laundry intake mode> Fig. 6 is a diagram for explaining the operation of the floating and moving platform 1 in a laundry drying mode as an example of a usage mode (mode) of the floating and moving platform 1 of the first embodiment. Fig. 6 assumes a laundry drying area in a home as the place (movement space) where the laundry drying mode of this example is executed.

[0111] A housewife 203, who is an example of a person to be followed, takes out the washed laundry from the washing machine and places it in a laundry basket 210, and places the laundry basket 210 containing the washed laundry on the mounting base 9 of the levitating and moving platform 1. Then, the housewife 203 issues a start command to the levitating and moving platform 1 by voice or gesture. In this example, the housewife 203, who is an example of a person to be followed, can select herself as the person to be followed if her face image is registered before issuing a flight start command to the mounting base 9 of the levitating and moving platform 1, and can also select and designate the laundry drying mode if it is set as history.

[0112] When the start command is detected, the levitating and moving platform 1 goes into a state of hovering at the above-mentioned height position at an appropriate distance from the housewife 203, who is an example of the person to be followed. Then, when the housewife 203 moves to the laundry drying area, the levitating and moving platform 1, with the laundry basket 210 placed thereon, follows the housewife 203 and moves to the laundry drying area. Figure 6 shows this state.

[0113] At the laundry drying area, the housewife 203 takes out laundry 211 from a laundry basket 210 placed on the mounting base 9 of the floating mobile platform 1, and hangs it on a clothesline 212 to dry. At this time, when the control unit 101 of the floating mobile platform 1 detects by the learning unit 117 that the housewife 203 always keeps the laundry basket 210 on her right side, the control unit 101 controls the hovering position to be to the right of the housewife 203. Then, when the housewife 203 moves as the laundry drying work progresses, the floating mobile platform 1 also moves to follow her.

[0114] When the laundry drying work is finished, the housewife 203 returns from the laundry drying area to a place in the room, for example, where the washing machine is. Then, the floating and moving platform 1 follows her movement, so the housewife 203 issues an end command to the floating and moving platform 1. Then, the floating and moving platform 1 lands and ends its operation. The housewife 203 takes down the laundry basket 210, which is now empty of laundry, from the mounting platform 9 of the floating and moving platform 1, and ends her work.

[0115] In the laundry bringing-in mode, the housewife 203 brings in the laundry instead of hanging it out to dry, places it in the laundry basket 210, and moves it indoors, so the floating and moving platform 1 operates in the same manner as described above.

[0116] As described above, in both the laundry drying mode and the laundry taking-in mode, the floating and moving platform 1 serves the functions of transporting the laundry basket 210, assisting in removing laundry from the laundry basket 210, and assisting in taking dry laundry into the laundry basket 210, thereby making the tasks of hanging out the laundry and taking in the laundry easier for the housewife 203, and providing the advantage of being extremely easy to use.

[0117] <Fluorescent tube replacement mode> Fig. 7 is a diagram for explaining the operation of the levitating and moving base 1 in a fluorescent tube replacement mode as an example of a usage mode (mode) of the levitating and moving base 1 of the first embodiment. Fig. 7 assumes that the place (movement space) in which the fluorescent tube replacement mode of this example is executed is, for example, a living room in a home.

[0118] A family member 221, who is an example of a person to be followed, places new fluorescent tubes 222, starter tubes (glow bulbs) 223, miniature bulbs 224, etc., to be replaced on the mounting base 9 of the levitating and moving base 1. The family member 221 then issues a start command to the levitating and moving base 1 by voice or gesture. In this example, the family member 221, who is an example of a person to be followed, can select himself / herself as the person to be followed if his / her face image is registered before issuing a flight start command to the mounting base 9 of the levitating and moving base 1, and can also select and designate the fluorescent tube replacement mode if it is set as history.

[0119] When the start command is detected, the floating and moving platform 1 is in a state of hovering at the above-mentioned height position at an appropriate distance from the family member 221, which is an example of a person to be followed. Then, when the family member 221 climbs the stepladder 225, the floating and moving platform 1 changes its height position according to the movement of the family member 221, with a delay of about 10 seconds in this example. Then, when the family member 221 reaches a height position where the fluorescent tube replacement work is performed and stops moving above that height, the floating and moving platform 1 also follows the family member 221 and hovers 20 cm below the position of the lower jaw, which is a body part that is an example of the height reference of the family member 221. FIG. 7 shows this state. At this time, the control unit 101 of the floating and moving platform 1 controls the hovering position to the left of the family member 221, for example, when the learning unit 117 detects that the family member 221 always positions the floating and moving platform 1 on his / her left side. In addition, in this position, the family member 221 can adjust the hovering height position of the floating and moving platform 1 and the horizontal position around the family member 221 by using gestures or voice commands.

[0120] In this state, the family member 221 removes the old fluorescent tube 226 from the fluorescent light fixture (not shown) and places it on the mounting base 9 of the levitation and movement base 1, and then picks up the new fluorescent tube 222 and installs it in the fluorescent light fixture. Next, the starter 223 and the miniature bulb 224 are replaced as necessary.

[0121] When the replacement work is completed, the family member 221 descends the stepladder 225. At that time, the family member does not need to carry anything. As the family member 221 descends the stepladder 225, the floating and moving platform 1 also descends after a slight delay (10 seconds).

[0122] Thus, having finished the fluorescent tube replacement work, the family member 221 descends from the stepladder 225 and issues an end command to the levitating and moving platform 1. The levitating and moving platform 1 then lands and ends its operation. The family member 221 then removes the old fluorescent tube 226, the old glow bulb (not shown), the old miniature bulb (not shown), etc. from the mounting base 9 of the levitating and moving platform 1, and ends the work.

[0123] In this manner, the family member 221 who is the worker can remove the old fluorescent tube 226 and place it on the mounting base 9 of the levitating and moving base 1, and then pick up the new fluorescent tube 222 placed on the mounting base 9 of the levitating and moving base 1 and install it in the lighting fixture, which is very convenient.

[0124] In the fluorescent tube replacement mode of this example, the person replacing the fluorescent tubes can move the levitating and moving base 1 to a height position where the fluorescent tube replacement work will be performed simply by placing the items required for replacement, such as new fluorescent tubes 222, glow bulbs 223, and miniature bulbs 224, on the mounting base 9 of the levitating and moving base 1 in advance and climbing up the stepladder 225. Then, when the replacement work is completed, the replacement worker can lower the levitating and moving base 1 simply by descending the stepladder 225.

[0125] Therefore, the conventional work in which a replacement worker climbs the stepladder 225 while holding the new fluorescent tube 222 and descends the stepladder 225 while holding the old fluorescent tube 226 after replacement is no longer required, and safety is improved.

[0126] The above operation modes of the levitating and moving platform 1 are merely examples, and it goes without saying that the present invention is not limited to these, and various other usage modes are possible. For example, the present invention may be used to replace LED light bulbs or incandescent light bulbs instead of fluorescent tubes. The present invention may also be used to replace air conditioner filters, and to organize and clean the upper parts of refrigerators and cupboards. Furthermore, the present invention may be used to decorate Christmas trees and other items in high positions in a room.

[0127] [Second embodiment] The levitating mobile platform 1 of the first embodiment described above is primarily for home use, although it can also be used for business purposes, and is used in an environment where the voice of the person to be followed can always be picked up by a microphone and the behavior (gestures) of the person to be followed can always be captured by a camera. The second embodiment is for a case where the person to be followed is located farther away from the person to be followed, such as a construction site or building site, and therefore the voice of the person to be followed cannot be picked up by a microphone or the behavior (gestures) of the person to be followed cannot be captured by a camera, and the levitating mobile platform can still be called to move and follow the person to be followed.

[0128] The mechanical configuration of the floating and moving platform 1A of the second embodiment can be the same as that of the floating and moving platform 1 of the first embodiment shown in Fig. 1. However, the floating and moving platform 1A of the second embodiment is larger than the one used in the home of the first embodiment, and is capable of carrying heavier objects. Therefore, the mechanical configuration of the floating and moving platform 1A of the second embodiment can be almost the same as that of the floating and moving platform 1 of the first embodiment, except for the size, and therefore a detailed illustration of the mechanical configuration is omitted.

[0129] A configuration example of the drive control device section 10A of the levitating and moving platform 1A of the second embodiment is shown in Fig. 8. In this configuration example of Fig. 8, the same parts as those of the drive control device section 10 of the levitating and moving platform 1 of the first embodiment shown in Fig. 2 are given the same reference numerals, and detailed explanations thereof will be omitted.

[0130] 8, the drive control device unit 10A of the levitating and moving platform 1A of the second embodiment is similar to the drive control device unit 10 of the first embodiment, except that a communication unit 120 is connected to a system bus 100 and a control unit 101A having a function of controlling communication using the communication unit 120 is provided. The control unit 101A has all the functions of the control unit 101 of the drive control device unit 10 of the levitating and moving platform 1 of the first embodiment, and further has a control unit 101A having a function of controlling communication using the communication unit 120.

[0131] In the second embodiment, an external portable device 121 that communicates with the communication unit 120 of the levitating and moving platform 1A is used. This external portable device 121 has a function of detecting its own current position and also has a function (software application) of communicating with the communication unit 120 of the levitating and moving platform 1A, and a mobile phone terminal called a smartphone can be used. When using this smartphone as the external portable device 121, an application program with a function of communicating with the communication unit 120 of the levitating and moving platform 1A is installed in advance on the smartphone.

[0132] In this case, communication between the external portable device 121 and the communication unit 120 of the levitating and moving platform 1A can be achieved using, for example, short-distance communication based on the Bluetooth (registered trademark) standard or Wi-Fi (registered trademark) communication.

[0133] In the second embodiment, this communication enables the levitating and moving platform 1A to be activated and called from the external portable device 121. A call signal when a call is made from the external portable device 121 includes information on the current position of the external portable device 121, including the height position.

[0134] The floating and moving platform 1A then detects the position information contained in the call signal, flies to the position indicated by the position information, and moves while following the person to be followed who is in that position.

[0135] In addition, in the second embodiment, the floating mobile platform 1A is configured to be called even when it is following another person to be followed, and the person who made the call can have the other person follow him / her, upon obtaining permission from the person to be followed at that time.

[0136] [Major Processing Operations in the Floating and Moving Base 1A of the Second Embodiment] 9 and 10 are flowcharts showing an example of the flow of processing operations in the levitating and moving platform 1A of the second embodiment when a call is made from the above-mentioned external portable device 121. In these Figs. 9 and 10, as in the examples of Figs. 3 and 4, a case will be described in which the control unit 101A, like the control unit 101, realizes the processing functions of the necessary units as software functions.

[0137] First, the control unit 101A determines whether or not a call signal has been received from the external portable device 121 (step S201), and if it determines that a call signal has not been received, repeats this step S201 and waits for reception of a call signal.

[0138] When it is determined in step S201 that a call signal has been received, the control unit 101A determines whether or not the person to be followed is being followed (step S202). When it is determined in step S202 that the person to be followed is being followed, the control unit 101A notifies the user, for example, by a speaker (not shown), that the other person has called the user (step S203).

[0139] Next, the control unit 101A judges whether the person to be followed responds to this notification by gesture or voice to permit or deny the call (step S204). If it is judged in step S204 that the call from another person is not permitted, the control unit 101A notifies the caller through the communication unit 120 that another person is "in use" (step S205), and maintains the current state of following the person to be followed (step S206).

[0140] Next, the control unit 101A determines whether or not a call signal has been received from another person (step S207), and if it determines that a call signal has not been received, returns the process to step S206 and maintains the current following state for the person to be followed.

[0141] If it is determined in step S207 that a call signal has been received from another person, the process returns to step S203, and the processes from step S203 onwards are repeated.

[0142] Then, when it is determined in step S202 that there is no person to be followed, or when it is determined in step S204 that calling another person is permitted, the control unit 101A extracts position information, including height position information, contained in the received call signal, and recognizes the position of the caller (step S211 in FIG. 10).

[0143] Then, the control unit 101A controls the floating and moving platform 1A to fly and move to the position of the caller (step S212). Then, when the floating and moving platform 1A has flown and moved to the position of the caller, the control unit 101A recognizes the person to be followed who is present at that position, and controls the platform 1A to maintain a predetermined distance between the person to be followed and the recognized person to be followed, detects the position of the lower jaw, which is the height reference of the person to be followed, and hovers at a height position 20 cm below the position of the lower jaw (step S213). Then, the control unit 101A further sets the floating and moving platform 1A to a following state in which the floating and moving platform 1A moves to follow the recognized person to be followed when the person moves (step S214).

[0144] Next, the control unit 101A determines whether or not a call signal from another person has been received (step S215), and if it determines that a call signal has not been received, returns the process to step S214 and maintains the following state for the person to be followed.

[0145] Then, when it is determined in step S215 that a call signal from another person has been received, control unit 101A returns the process to step S203, and repeats the processes from step S203 onwards.

[0146] [Example of Usage of Floating and Moving Platform 1A of Second Embodiment] With the above-mentioned configuration, the levitating and moving platform 1A of the second embodiment can be used in a manner as shown in FIG.

[0147] The example in Fig. 11 is a case where scaffolding 231 has been set up at a construction site of a multi-story building, and worker 232 on scaffolding 231 on an upper floor asks worker 233 working on scaffolding 231 on a lower floor to lend (or hand over) a tool, such as a saw. In this case, worker 233 working on the lower floor is using levitating mobile platform 1A at the time, and levitating mobile platform 1A is set to follow up on worker 233.

[0148] In this example, if the worker 232 on the upper floor and the worker 233 on the lower floor can reach each other by voice, they communicate the lending and borrowing (or handing over) of the saw as described above. If they cannot reach each other by voice, communication may be made by a walkie-talkie or a mobile phone terminal. The worker 233 on the lower floor who receives this communication places the requested saw on the mounting platform 9 of the levitating and moving platform 1A that is following him.

[0149] Then, worker 232 on the upper floor scaffolding transmits a call signal including his / her own position information (including height position) to the levitating and moving platform 1A using the external portable device 121 that he / she carries. Then, upon receiving the call signal, the levitating and moving platform 1A notifies worker 233, who is the follower on the lower floor scaffolding 231, by a speaker that someone else has called him / her.

[0150] The worker 233 on the lower floor responds to the levitating and moving platform 1A by, for example, saying "OK" or making an "OK" sign with his hand, etc. The levitating and moving platform 1A determines that it has received permission from the worker 233 on the lower floor, and cancels the state of following the worker 233 on the lower floor.

[0151] The floating mobile platform 1A then extracts the position information of the worker 232 on the scaffolding 231 on the upper floor, which is included in the call signal, recognizes the position of the worker 232, and flies and moves to that position. The floating mobile platform 1A then recognizes the worker 232 as a new person to be followed, hovers at a height position based on the reference height position of the recognized person to be followed, and enters a following state in which it moves by following the movement of the recognized person to be followed.

[0152] Therefore, a worker 232 on scaffolding 231 on an upper floor can take the saw placed on the mounting base 9 of the floating and moving platform 1A from the mounting base 9 to use it, and then, after use, return it to the mounting base 9. Then, when the worker 232 moves appropriately, the floating and moving platform 1A moves following him, so that even at the moved position, the worker 232 can pick up the saw placed on the mounting base 9 and use it.

[0153] In the above example, the following state for worker 233 is completely cancelled and the following state is transferred to worker 232, but temporary cancellation is also possible. In this case, the following state is temporarily cancelled when worker 233 lends (or hands over) the saw to worker 232, and the following state is restored when worker 232 finishes using the saw and returns the saw.

[0154] [Modification of the second embodiment] In the above description of the second embodiment, the location information of the person who made the call is included in the call signal, and the floating and moving platform 1A moves to a location specified by the location information. However, the method of moving the floating and moving platform 1A to the location of the person who made the call is not limited to this, and the floating and moving platform 1A can move to the location of the person who made the call based on the information included in the call signal.

[0155] For example, at construction sites and building sites, it has become common for site workers to wear ID cards or name tags. Therefore, an RFID (Radio Frequency Identification or Radio Frequency Identifier) ​​that generates unique ID information (identification information) for each site worker is embedded in the ID cards and name tags that the site workers wear, and the call signal includes the unique ID information for each site worker stored in the RFID embedded in the ID cards and name tags. The levitating mobile platform 1A is equipped with an ID information detection means that detects the ID information included in the call signal, and the ID information detection means detects an ID card or name tag that generates the same ID information as the ID information included in the call signal, thereby moving to the location of the person who made the call.

[0156] The above-mentioned use of the levitating mobile platform 1A at a building construction site is just one example, and it goes without saying that it can be used in various other ways, not limited to building construction sites. For example, it can be used for various tasks such as inspection work on utility poles and various construction works, inspection of various devices in train stations and factories, replacement of consumables, repairs, etc.

[0157] Furthermore, it can also be used in orchards to harvest fruits such as mandarin oranges, apples, grapes, cherries, and peaches. In that case, the levitating mobile platform may be controlled to move so that the person to be followed is positioned under the fruit to be harvested, based on images captured by the camera CM1, which has an upward shooting direction, and a camera (one of the cameras CM2 to CM5) that captures the person to be followed.

[0158] [Other embodiments or modifications] In the above embodiment, the housing and the mounting base of the levitation moving base are configured to have a box-like shape as a whole, but this is not limited thereto, and each can have various shapes such as a cylindrical shape or a hemispherical shape. Also, the size of the mounting base is configured to be approximately the same as the outer part of the rotary wing mechanism, but this is not limited thereto, and it can be smaller or larger than the outer part of the rotary wing mechanism. Furthermore, the mounting base can be made replaceable, and an appropriate mounting base can be used depending on the application.

[0159] In addition, in the above-described embodiment, the mounting base has a mesh-like hole formed on the bottom and sides of the basket, but the configuration is not limited to this and may be any configuration that has little effect on the air flow generated by the rotation of the rotor.

[0160] Furthermore, in the above embodiment, the mounting base is provided on the upper part of the levitating and moving base, but it may also be hung from the lower part.

[0161] In the above embodiment, when determining the height position of the hovering, the position of the lower jaw is used as a reference as a specific body part of the person to be followed, but it is not limited to the lower jaw, and it may be the position of the shoulder, the position of the eyes, the ears, the nose, the mouth, the position of the elbow, etc. Furthermore, it is not limited to the body part of the person to be followed, and it is also possible to use the position of a specific part such as the collar, the first button, or the breast pocket of the clothes worn by the person to be followed as a reference. It is also possible to use the position of accessories such as earrings, pendant tops of necklaces, and brooches worn by the person to be followed as a reference. In addition, in government offices, business establishments, factories, offices, construction sites, etc., employees and workers may wear accessories such as employee ID cards, ID cards, name tags, name plates, company badges, and emblems, and the positions of these employee ID cards, ID cards, name tags, name plates, company badges, and emblems may be used as a reference. Of course, it is also possible to make it possible to register these reference positions in advance in the levitation and moving platform.

[0162] Furthermore, if the person being followed uses a moving object such as a wheelchair, the position of the arms of the wheelchair on which the person is seated is determined in relation to the person being followed, so the position of the arms of the wheelchair can be used as a reference for determining the hovering height position. For a person being followed who has difficulty walking or uses a wheelchair, it is extremely convenient for the levitating mobile platform to follow alongside the wheelchair.

[0163] In addition, in areas without road traffic danger, the system can be applied not only to wheelchair users but also to bicycle users. In this case, the position of the handlebars of the bicycle where the person to be followed is sitting on the driver's seat may be used as the reference. Also, if the person to be followed is working while sitting on a chair facing a desk, the position of the desk top or the arm of the chair may be used as the reference.

[0164] In the above embodiment, the aerial flight mechanism 2 is described as a helicopter-type mechanism having four rotary wing mechanisms, but the number of rotary wing mechanisms may be three or less or five or more. Furthermore, the present invention is not limited to a helicopter-type mechanism, and may be applicable to any mechanism capable of hovering, such as an airplane-type mechanism.

[0165] In the above embodiment, the number of cameras is six and the number of microphones is one omnidirectional microphone, but the number is not limited to this. In addition, various positions for installing the cameras and microphones are also possible. Furthermore, the microphone is not limited to an omnidirectional microphone, and a directional microphone may be used to pick up the voice or sound of a person to be followed or a specific direction. The camera may be a standard camera, a wide-angle camera, a fisheye camera, or a 360-degree camera. In addition, a close-up camera or a telephoto camera may be used. Of course, these cameras may be used in combination.

[0166] Needless to say, various other modifications of the mechanism of the levitating and moving platform are possible. [Explanation of symbols]

[0167] 1, 1A... Levitation and moving platform, 2... Aerial flight mechanism, 3... Drive control unit, 6... Housing, 9... Mounting platform, 10, 10A... Drive control device, 101, 101A... Control unit, CM1 to CM6... Camera

Claims

1. A floating and moving platform that assists a worker in performing a predetermined task, an aerial flight mechanism for levitating and moving through the air and hovering in the air; a platform on which an article can be placed or from which the article placed thereon can be removed; A temperature sensor for detecting a high temperature atmosphere; one or more cameras; A control means for controlling the flying mechanism to avoid flying above a burner that is turned on, based on the sensor output of the temperature sensor and also using image information of the burner's ignition state from the one or more cameras; A levitating and moving platform comprising:

2. A cooking operation assistance mode is provided to assist the operator in cooking operations, The control means controls the flying mechanism unit to move in accordance with the movement of the worker when a command to start the cooking operation assistance mode is detected.

2. The levitating and moving platform according to claim 1.

3. a voice recognition means for recognizing the voice of the worker, The control means detects the start command based on the voice of the worker recognized by the voice recognition means.

3. The levitating and moving platform according to claim 2.

4. An image recognition means for recognizing the worker's actions from the images captured by the one or more cameras, The control means detects the start command based on the gesture of the worker recognized by the image recognition means.

4. The levitating and moving platform according to claim 2 or 3.

5. a list presenting means for presenting a list of the target persons registered as the workers who should be moved according to the movement; a means for accepting a selection designation of one subject from the list of subjects presented by the list presentation means; The levitating and moving platform according to any one of claims 2 to 4, further comprising:

6. A facial image storage unit that stores a facial image of the worker; a facial image recognition means for recognizing a facial image of the worker from an image captured by the one or more cameras, using the facial image of the worker stored in the facial image storage unit; Equipped with The control means controls the aerial flight mechanism to move in accordance with the movement of the worker based on the recognized face image.

6. The levitating and moving platform according to claim 2, wherein the levitating and moving platform is a movable platform.

7. a history storage unit that stores a past usage history of the worker in the cooking operation assistance mode; a determination means for determining a handedness of the worker based on the usage history stored in the history storage unit; The control means controls the aerial flight mechanism to hover near the worker on either the right or left side of the worker based on a result of the determination made by the determination means as to the worker's handedness.

7. The levitating and moving platform according to claim 2, wherein the levitating and moving platform is a movable platform.

8. a history storage unit that stores a past usage history according to a recipe in the cooking operation assistance mode; a selection and designation means for selecting and designating a usage history of a recipe to be cooked in the cooking task to be started from the usage history stored in the history storage unit; a learning means for learning the usability of the operator by referring to a past usage history corresponding to the selected and designated recipe; Equipped with The control means controls the flying mechanism unit based on the learning result of the learning means during the cooking operation to be started.

8. The levitating and moving platform according to claim 2, wherein the levitating and moving platform is a movable platform.

9. A position recognition means for recognizing a position identified in relation to the worker from the photographic image information from the one or more cameras, The control means controls the aerial flight mechanism to hover in the vicinity of a position identified in relation to the worker based on a recognition result of the position recognition means.

9. The levitating and moving platform according to claim 1, wherein the levitating and moving platform is a movable platform.

10. The position identified in relation to the worker recognized by the position recognition means is a position that maintains a predetermined distance from the worker and / or a height position identified in relation to the worker.

10. The levitating and moving platform of claim 9.

11. The position identified in relation to the worker recognized by the position recognition means is a height position based on a part or location identified in relation to the worker.

11. The levitating and moving platform according to claim 9 or 10.

12. The identified part or location associated with the worker may be a specific body part of the worker, a specific part of clothing worn by the worker, a position of jewelry or wear worn by the worker, or a specific part of the worker when seated.

12. The levitating and moving platform of claim 11.

13. When the height position of the specific body part of the worker is changed, the control means controls the aerial flight mechanism unit to change the hovering height position in accordance with the change in the posture of the worker.

13. The levitating and moving platform of claim 12.

14. The location identified in relation to the worker is registered in advance. The levitating and moving platform according to any one of claims 9 to 13.

15. one or more sensors for controlling the attitude of the mounting table so as to keep the table horizontal; The control means controls the aerial flight mechanism to hover the platform in a horizontal state in the vicinity of a position specified in relation to the worker, using detection outputs from the one or more sensors. The levitating and moving platform according to any one of claims 9 to 14.

16. image recognition means for performing image recognition on images captured by the one or more cameras; The control means controls the aerial flight mechanism to hover at a height position corresponding to the posture of the worker based on the recognition result of the image recognition means. The levitating and moving platform according to any one of claims 9 to 15.

17. a voice recognition means for recognizing a command to change the hovering height position and / or a command to change the horizontal direction position by voice of the operator, The control means controls the aerial flight mechanism unit to change the height position and / or the horizontal position of the hovering in response to a command to change the height position and / or the horizontal position of the hovering by the voice recognized by the voice recognition means. The levitating and moving platform according to any one of claims 9 to 16.

18. an image recognition means for recognizing a command to change a hovering height position and / or a command to change a horizontal position by the operator from an image captured by the one or more cameras, The control means controls the aerial flight mechanism unit to change the height position and / or the horizontal position of the hovering in response to a command to change the height position and / or the horizontal position of the hovering due to the action of the worker recognized by the image recognition means. The levitating and moving platform according to any one of claims 9 to 17.

19. an image recognition means for recognizing a rotation command for rotating the platform while maintaining a horizontal state in a hovering state by a movement of the operator from an image captured by the one or more cameras; a control means for controlling the table to rotate while maintaining the table in a horizontal state in response to the rotation command based on the action of the operator recognized by the image recognition means; The levitating and moving platform according to any one of claims 9 to 18, further comprising:

20. a voice recognition means for recognizing a rotation command by the operator to rotate the platform while keeping it horizontal in a hovering state; a control means for controlling the table to rotate while maintaining the table in a horizontal state in response to the rotation command by the voice recognized by the voice recognition means; The levitating and moving platform according to any one of claims 9 to 19, further comprising:

21. When the control means predicts the action of the worker based on the captured image information from the one or more cameras, the control means controls the hovering position and / or state according to the predicted action. The levitating and moving platform according to any one of claims 9 to 20.

22. a voice recognition means for recognizing a voice of the operator instructing the hovering position to be to the right or left of the operator, The control means controls the hovering position to either the right or left side of the worker in response to the voice of the worker recognized by the voice recognition means. The levitating and moving platform according to any one of claims 9 to 21.

23. an image recognition means for recognizing a gesture of the operator from the images captured by the one or more cameras to indicate a hovering position to either the right or left side of the operator; The control means controls the hovering position to either the right or left side of the worker in accordance with the behavior of the worker recognized by the image recognition means. The levitating and moving platform according to any one of claims 9 to 22.

24. a storage means for storing image information of an article placed on the placement platform or an article to be placed on the placement platform in association with information that the article contains a liquid; a notification means for issuing an alarm or a message when it is recognized from an image captured by the one or more cameras that an article containing the liquid stored in the storage means has been placed or is about to be placed on the placement table; and The levitating and moving platform according to any one of claims 9 to 23, further comprising:

25. A storage means for storing image information of an article that, if placed on the platform, becomes overweight and cannot maintain hovering; a notification means for notifying an overweight state when it is recognized from an image captured by the one or more cameras that an article that exceeds the weight stored in the storage means has been placed or is about to be placed on the platform; and The levitating and moving platform according to any one of claims 9 to 24, further comprising:

26. a contact detection means for detecting a contact and / or a pressure applied by the operator to the placement table; a position change command recognition means for recognizing a command to change a hovering height position and / or a command to change a horizontal position based on a detection result of the contact detection means; Equipped with The control means controls the aerial flight mechanism unit to change the height position and / or the horizontal position of the hovering in response to a command to change the height position and / or the horizontal position of the hovering due to the contact and / or the pressure recognized by the contact detection means. The levitating and moving platform according to any one of claims 9 to 25.

27. An indicator and / or display; a storage means for storing image information of an article placed on the placement platform or an article to be placed on the placement platform in association with information that the article contains a liquid; Equipped with When it is image-recognized from the images captured by the one or more cameras that the article containing the liquid stored in the storage means has been placed or is about to be placed on the placement table, the indicator and / or display unit is turned on or blinks, or a message is displayed on the display unit. The levitating and moving platform according to any one of claims 9 to 26.

28. a weight sensor for detecting a weight of an article placed on the platform or an article removed from the platform; A state detection means for detecting a state where the weight of the object placed on the platform is too heavy to maintain the hovering or a state where there is a risk of the weight being too heavy based on a detection result of the weight sensor; a notification means for notifying a user of the overweight state or the state in danger of being overweight when the state detection means detects the overweight state or the state in danger of being overweight; The levitating and moving platform according to any one of claims 9 to 27, further comprising:

29. The mounting table is available in a variety of shapes and / or sizes and is replaceable. The levitating and moving platform according to any one of claims 1 to 28.

30. Equipped with a microphone, The control means controls the aerial flight mechanism to fly in response to a sound of the worker clapping his / her hands or snapping his / her fingers detected from the sound picked up by the microphone. The levitating and moving platform according to any one of claims 1 to 29.

31. The mounting base is provided on the upper and / or lower part of the levitation moving base. The levitating and moving platform according to any one of claims 1 to 30.

32. a weight sensor for detecting the weight of an article placed on the platform or an article removed from the platform; When an article is placed on the platform during hovering or when an article is removed from the platform, the control means controls the aerial flight mechanism unit to correct a change in the height position of the hovering caused by the weight of the article based on the weight of the article detected by the weight sensor. The levitating and moving platform according to any one of claims 1 to 31.

33. a weight sensor for detecting the weight of an article placed on the platform or an article removed from the platform; The control means controls the aerial flight mechanism unit so that, when an article is placed on the platform or when an article is removed from the platform while the vehicle is hovering, the control means reduces the amount of descent of the platform in accordance with the weight of the article when the article is placed on the platform or reduces the amount of ascent of the platform in accordance with the weight of the article when the article is removed from the platform, based on the weight of the article detected by the weight sensor. The levitating and moving platform according to any one of claims 1 to 32.

34. A computer provided on a levitating and moving platform that is equipped with an aerial flight mechanism for levitating and moving in the air and hovering in the air, a platform on which an item can be placed or an item can be removed from the platform, a temperature sensor for detecting a high-temperature atmosphere, and one or more cameras, and that assists a worker in performing a specified task a control means for controlling the flying mechanism to avoid flying above a burner based on the sensor output of the temperature sensor and using image information of the burner being lit from the one or more cameras; A program for a levitation mobile platform to function as a

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