Flying Robot

Abstract

To provide a flight type robot capable of supporting enjoyable and casual exercises.SOLUTION: A flight type robot 101 includes an unmanned aircraft (drone) 101 which flies through automatic driving and a camera which is loaded on the unmanned aircraft, and which, upon recognizing a user 601 based on an image taken by the camera, is placed on the body of the user 601. Consequently, for example, in order to place the flight type robot 101 on the body, it is possible for the user 601 to take a specific posture and also for the user 601 to do exercise of extending arms and extending the chest while playing to load the flight type robot 101 on the body.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] In recent years, games using electronic devices such as smartphones, tablets, game consoles, and personal computers have become widespread. Electronic devices used for games are also widely used among so-called young users, such as children and students. In games using such electronic devices, for example, there are various technologies that aim to improve the convenience of users.

[0003] Specifically, in the past, there was technology that allowed the user to change the way a match progressed between manual mode and auto mode depending on the user's past match experience, thereby maintaining the playfulness of the match in manual mode while reducing the complexity of user operations in auto mode (for example, see Patent Document 1 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-124539 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, games using electronic devices generally involve little physical movement, and therefore have little effect on health promotion. Furthermore, if users of such games belong to the younger generation, whose bodies and minds are still developing, spending time without moving the body is not desirable from the perspective of physical function development and health promotion.

[0006] Furthermore, in anticipation of an increasingly long-lived society, exercise is also recommended for adults to promote health and extend healthy lifespan. However, adults often dress up for exercise, such as going to the gym or running in sportswear, with the exercise itself being the goal, and they have few opportunities to move their bodies casually in their daily lives.

[0007] In addition, when adults exercise to improve their health, it is often difficult to continue because it is difficult for one person to maintain the motivation to exercise regularly, and it is difficult for multiple people to coordinate their schedules, so they often fail to fully achieve their goals.

[0008] SUMMARY OF THE PRESENT EMBODIMENT In order to solve the above-mentioned problems associated with the conventional technology, an object of the present invention is to provide a flying robot that can assist in enjoyable and casual exercise. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems and achieve the objective, the flying robot of the present invention comprises an unmanned aerial vehicle that flies by automatic control and a camera mounted on the unmanned aerial vehicle, and is characterized in that when a user is recognized based on images taken by the camera, the flying robot is placed on the user's body.

[0010] In addition, the flying robot of the present invention, in the above invention, is characterized in that it is equipped with a detection means for detecting a start trigger, and when the detection means detects the start trigger, begins photographing with the camera.

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

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

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

[0014] In the flying robot according to the present invention, in the above invention, the flying robot starts flying when the start trigger is detected by the detection means.

[0015] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and the camera photographs the direction of the source of a specified sound picked up by the microphone.

[0016] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic pilot, to take pictures using the camera, and when a user is recognized based on the images taken by the camera, it executes a process of placing the flying robot on the user's body.

[0017] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, a start trigger is detected, and when the start trigger is detected, photographing by the camera is started.

[0018] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is detected as a trigger for starting the flying robot by being thrown into the air.

[0019] In addition, the control program for a flying robot of the present invention is characterized in that, in the above invention, the flying robot is detected as a start trigger when the flying robot is thrown into the air based on an output signal of an inertial sensor.

[0020] In addition, the control program for the flying robot of the present invention is characterized in that, in the above invention, the flying robot is thrown into the air and detected as a start trigger based on an output signal from at least one of an acceleration sensor and an angle sensor.

[0021] In addition, the control program for a flying robot according to the present invention is characterized in that, in the above invention, when the start trigger is detected, the flying robot is caused to start flying.

[0022] In addition, the flying robot control method of the present invention is characterized in that a flying robot equipped with a camera and an unmanned aerial vehicle that flies by automatic control is caused to take pictures using the camera, and when a user is recognized based on the image taken by the camera, the flying robot is caused to place itself on the user's body.

[0023] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, a start trigger is detected, and when the start trigger is detected, photographing by the camera is started.

[0024] In addition, the flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is detected as a trigger for starting the flying robot by being thrown into the air.

[0025] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the flying robot is thrown into the air, which is detected as a start trigger based on an output signal of an inertial sensor.

[0026] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, the flying robot is thrown into the air and detected as a start trigger based on an output signal from at least one of an acceleration sensor and an angle sensor.

[0027] In addition, the control method for an flying robot according to the present invention is characterized in that, in the above invention, when the start trigger is detected, the flying robot is caused to start flying. Effect of the Invention

[0028] The flying robot, the flying robot control program, and the flying robot control method according to the present invention have the effect of being able to assist in enjoyable and casual exercise. [Brief description of the drawings]

[0029] [Figure 1] 1 is an explanatory diagram showing an example of the appearance of a flying robot according to an embodiment of the present invention; [Diagram 2] FIG. 1 is an explanatory diagram showing an example of a posture of a falconer. [Diagram 3] FIG. 2 is an explanatory diagram showing an example of a hardware configuration of a flying robot. [Figure 4] FIG. 1 is an explanatory diagram showing a functional configuration of a flying robot according to the present invention. [Diagram 5] 13 is a flowchart showing a processing procedure of the flying robot. [Figure 6] FIG. 1 is an explanatory diagram (part 1) showing an overview of a falconer game using a flying robot. [Figure 7] FIG. 2 is an explanatory diagram (part 2) showing an overview of the falconer game using a flying robot. [Figure 8] FIG. 3 is an explanatory diagram (part 3) showing an overview of the falconer game using a flying robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an flying robot, a control program for a flying robot, and a control method for a flying robot according to the present invention will be described in detail below with reference to the accompanying drawings.

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

[0032] Specifically, the drone may be, for example, a quadcopter equipped with four propellers 102. The drone is not limited to a quadcopter, and may be any of a variety of multicopters, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0033] The flying robot 101 may have a shape imitating a bird such as a hawk, for example, as shown in FIG. 1. Specifically, the flying robot 101 has a head with a beak, and members 105 imitating the wings and tail of a bird. The flying robot 101 is not limited to a shape imitating a bird such as a hawk. The flying robot 101 may have a shape imitating an extinct animal such as a dinosaur, a mythical beast such as a dragon or a unicorn, or an insect, and may have members 105 corresponding to characteristic parts of birds and beasts, such as a beak, a head, wings, and a tail, as well as a tail, ears, feet (legs, limbs), horns, fangs, and whiskers.

[0034] The members 105 corresponding to the characteristic parts of birds and animals may be movable. Specifically, for example, the beak, head, wings, tail, and other members may be movable independently by a motor, a gear train, or a link mechanism. This allows the flying robot 101 to imitate the movements of wagging its tail or moving its ears.

[0035] The flying robot 101 also includes a camera 103. The camera 103 can be realized, for example, by a general-purpose digital camera. As shown in Fig. 1, in the flying robot 101 having a shape imitating a bird such as a hawk, for example, the lens of the camera 103 can be provided in a portion corresponding to the eye. Alternatively, the camera 103 may be provided on the underside (ventral side) of the housing of the drone.

[0036] The flying robot 101 captures an image of the surroundings of the flying robot 101 by the camera 103. The flying robot 101 recognizes the user based on the image captured by the camera 103. The user can be, for example, a person in a specific posture. The specific posture can be, for example, a stationary posture in which a falconer 201 holds his or her fist in a clenched fist, bent elbow, and thrust forward at the same height as the shoulder, as when he or she calls a bird of prey such as a falcon 202, as shown in FIG. 2.

[0037] The pause may be for a specified time, such as one second, or may be instantaneous. The arm that is thrust out may be the right arm or the left arm. Also, only a person who thrusts out their right arm may be recognized as a user, or only a person who thrusts out their left arm may be recognized as a user.

[0038] Similarly, the specific posture may be, for example, a stationary posture with the arm in a clenched fist extended out in front of the torso, as a falconer would do when calling a bird of prey such as a hawk.Similarly, the specific posture may be, for example, a stationary posture with the arm in a clenched fist extended out to the side of the torso at shoulder height, as a falconer would do when calling a bird of prey such as a hawk.

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

[0040] The specific posture may be a series of postures (a series of movements) in which the same person successively assumes a plurality of postures. Specifically, for example, a series of movements may be a specific posture, such as waving both hands over the head toward the flying robot 101, and then stopping with the arms in clenched fists, bent at the elbows, and thrust out in front of the torso at the same height as the shoulders.

[0041] In this way, by setting a series of movements to specific postures, it is possible to prevent the flying robot 101 from reacting to an action taken by the user by chance when the flying robot 101 is being charged indoors, and causing the flying robot 101 to inadvertently start flying in a situation where the user has no intention of playing with the robot, thereby enabling the user to play with the robot safely.

[0042] In the case of a specific posture in which a plurality of postures are successively taken, the plurality of postures may be taken in a predetermined order, or the plurality of postures may be taken in an arbitrary order. Specifically, for example, a person who performs a series of actions in which the flying robot 101 is waving both hands over the head, and then the arms in a clenched fist are held in a state of rest with the elbows bent and the arms thrust out in front of the body at the same height as the shoulders, may be recognized as a user. In addition, specifically, for example, a person who performs a series of actions in which the flying robot 101 is waving both hands over the head, and then the arms in a clenched fist are held in a state of rest with the elbows bent and the arms thrust out in front of the body at the same height as the shoulders, may be recognized as a user.

[0043] The user may be a specific person in a specific posture. The specific person may be, for example, a person who has been photographed by the camera 103 for a predetermined time or a predetermined number of times, that is, a person who has had a suitable opportunity to come into contact with the flying robot 101 in advance. In this case, the specific person may be a person who has been photographed for a predetermined time or a predetermined number of times going back an unlimited amount of time in the past, or a person who has been photographed for a predetermined time or a predetermined number of times going back a predetermined period from the present time. Information about the specific person is stored in a memory (see FIG. 3) provided in the flying robot 101.

[0044] The specific person may be, for example, a person photographed with a predetermined input operation. Specifically, for example, a person photographed when an input operation for photographing with the camera 103 is performed may be the specific person. Alternatively, specifically, for example, a person appearing in a photograph transmitted from a terminal device such as a smartphone may be the specific person.

[0045] The specific person may be a person who has been photographed by the camera 103 for a specific period of time or a specific number of times in the past or within a specific range from the present time back to a specific time period. The specific range is a range set by the user, and may be, for example, an area within a specific range centered on a place set by the user as his / her home. Alternatively, the specific range may be, for example, within a school grounds or a store. Whether or not the photographing location is within the specific range can be determined by using, for example, a GPS (Global Positioning System) sensor (see FIG. 3) provided in the flying robot 101.

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

[0047] By defining a specific person as a person who has been photographed by camera 103 for a specified period of time or a specified number of times within a specified range from the present time back to a specified time period, in an operation in which the number of specific people is limited to a specified number, even if the flying robot 101 is transferred from a previously stored specific person to another person, the person who has had a suitable opportunity to come into contact with the flying robot 101 most recently can be defined as the specific person.

[0048] Instead of a general-purpose digital camera, the camera 103 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared rays, an infrared color night vision camera that captures color images by analyzing the black and white shading in an image captured by an infrared camera, etc. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, etc., the user can be recognized with high accuracy even at night or in a room with low illumination.

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

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

[0051] Furthermore, the flying robot 101 may be provided with a drive mechanism for changing the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism may be configured with, for example, a motor, a gear train, and the like. By making it possible to adjust the attitude of the camera 103 relative to the drone without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the flying robot 101, regardless of the attitude of the drone. The camera 103 may be provided with a zoom function.

[0052] The flying robot 101 may include a power receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology for receiving power from a battery (see FIG. 3) without going through a charging contact, and is also called non-contact power supply or wireless power supply.

[0053] The power receiving coil is provided inside the exterior surface of the housing of the flying robot 101. This makes it possible to prevent deterioration or failure of the power receiving coil due to water droplets from rain or dew, hand oil, etc. The flying robot 101 may be provided with a charging contact for charging the battery instead of or in addition to the power receiving coil.

[0054] 1, in the flying robot 101 having an animal-like shape, for example, LED lamps 104 may be provided in the parts corresponding to the eyes. If the parts corresponding to the eyes are provided with the lenses of the cameras 103, the LED lamps 104 may be provided so as to frame the lenses.

[0055] The flying robot 101 may further include a solar cell (solar cell, see FIG. 3) that generates electricity using external light such as sunlight. The solar cell is provided, for example, on the upper surface of the housing of the flying robot 101. This allows the flying robot 101 to reliably take in external light during flight and generate electricity efficiently. Furthermore, the inclusion of the solar cell allows charging during flight, ensuring a long flight time per flight.

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

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

[0058] Furthermore, if the accessory such as a belt is a dedicated item for carrying the flying robot 101, a battery may be provided in the accessory. This allows an RFID to be attached to the flying robot 101, and the battery in the accessory can determine whether the flying robot 101 is attached to or detached from the accessory without draining the battery in the flying robot 101. In this case, the flying robot 101 can be charged even while it is being carried.

[0059] In addition, when the accessory is provided with a battery, a power supply coil for wireless power transmission may be provided in the accessory. This allows the battery of the flying robot 101 to be charged while the flying robot 101 is being carried. When the accessory is provided with a battery, instead of or in addition to the fixing member provided in the flying robot 101, a holder for holding the flying robot 101 is provided in the accessory, and by detecting the load on the accessory, it is possible to determine whether the flying robot 101 is fixed to the accessory or detached. In the accessory provided with a battery and a power supply coil, the holder is provided at a position where the power receiving coil of the flying robot 101 can receive power from the power supply coil of the accessory.

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

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

[0062] Motor 302 is controlled by control circuit 307, and rotates propeller 102 by rotating. Specifically, motor 302 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is composed of a coil. By providing the same number of motors 302 as the number of propellers 102, each propeller 102 can be rotated independently, and flying robot 101 can be caused to move forward, backward, and turn left and right.

[0063] If the flying robot 101 has a driving mechanism for adjusting the attitude of the camera 103, the control circuit 307 also controls the operation of the motor constituting the driving mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture any range or a wide range.

[0064] The camera 103 includes an image sensor and captures an image by having the image sensor receive light that passes through a photographing lens. The camera 103 also outputs the captured image, i.e., image information (captured data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 307.

[0065] The camera 103 may be one that takes still images or one that takes moving images. Moving images include still images taken continuously at a predetermined time interval. Image information may be compressed according to a predetermined standard for compressing moving image and audio data (e.g., MPEG (Moving Picture Experts Group)).

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

[0067] The speaker 304 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. The speaker 304 may be an output terminal that outputs an audio signal, and an external speaker 304 may be connected to the output terminal to generate sound.

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

[0069] The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit performs positioning by calculating the distances to each of the four GPS satellites and calculating the position where the distances intersect. Instead of GPS, which determines the geometric position of the GPS satellite and the flying robot 101 based on radio waves received from the GPS satellite, the current position of the flying robot 101 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

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

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

[0072] The acceleration sensor 308 detects gravity, motions such as vibrations, and impacts acting on the flying robot 101. For example, a frequency change type acceleration sensor such as a low-noise and highly stable quartz acceleration sensor can be used as the acceleration sensor 308. Alternatively, a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistance acceleration sensor, or the like may be used as the acceleration sensor.

[0073] Solar cell 310 is constructed by bonding a P-type silicon semiconductor, which tends to be positively charged, and an N-type silicon semiconductor, which tends to be negatively charged, together via a PN junction surface. When light energy from external light such as sunlight is applied to the PN junction surface of solar cell 310, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 310, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

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

[0075] The CPU executes the programs stored in the memory to control the entire flying robot 101. The memory stores various information such as the programs executed by the CPU, information on various conditions related to the operation of the flying robot 101, and information on images captured by the camera 103.

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

[0077] The control circuit 307 also includes a charging circuit that charges the battery 301 with power generated by the solar cell 310, and a remaining capacity measurement circuit that measures the remaining capacity of the battery 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 310. The remaining capacity measurement circuit measures the remaining capacity of the battery 301 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

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

[0079] The IMU is a type of sensor necessary for the drone to obtain external information, and is composed of, for example, an acceleration sensor 308, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The above-mentioned GPS sensor 305 is also included in the IMU.

[0080] The acceleration sensor 308 detects the amount of change in the drone's speed. The gyro sensor and the acceleration sensor 308 can calculate the amount of change in both the drone's tilt and the drone's speed, so the drone can continue flying even if it remains tilted.

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

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

[0083] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone. The ultrasonic sensor is provided, for example, on the underside of the drone, and detects the distance from an object located below the drone by utilizing the bounce of ultrasonic waves emitted below the drone. This allows the drone to be stably tracked on the ground (floor, ground, etc.) and landed. When an ultrasonic sensor is used as the object sensor 306, ultrasonic waves may be emitted in all directions of the drone, and the ultrasonic sensor may function both as the object sensor 306 and as part of the IMU.

[0084] The magnetic orientation sensor detects whether the drone is facing north, south, east or west. Since the flying robot 101 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flying location.

[0085] The IMU and the above-mentioned microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 302, and outputs a control signal to the ESC to control the rotation direction and rotation speed of the propeller (propeller motor 302). The ESC controls the rotation of the motor 302 based on the control signal output from the flight controller. During the flight of the flying robot 101, the flight controller detects the inclination of the flying robot 101, etc., performs repeated calculations, and recursively outputs a control signal to the motor 302.

[0086] Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. Also, for example, the flight controller controls the propeller 102 at the front in the traveling direction to rotate slower than the propeller 102 at the rear in the traveling direction to move the flying robot 101 forward. Also, for example, the flight controller controls the propeller 102 at the right in the traveling direction to rotate slower than the propeller 102 at the left in the traveling direction to turn the flying robot 101 to the right.

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

[0088] The communication I / F 309 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I / F 309 may also be an interface for wireless communication such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System). The communication via the communication I / F 309 may be performed periodically, such as at a predetermined time or at predetermined intervals, or may be performed at any timing depending on the status of the communication line. The memory may store information acquired by communication via the communication I / F 309.

[0089] The LED lamps 104 provided in the parts corresponding to the eyes are controlled by the control circuit 307, and turn on, off, or blink in conjunction with the flying motion of the flying robot 101. The LED lamps 104 may also indicate the state of the flying robot 101. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamps 104 blink in a predetermined pattern. The color of the light emitted by the LED lamps 104 is not limited to one color, and may be multiple colors.

[0090] Although not shown, the flying robot 101 may also include input / output devices such as keys or buttons for inputting instructions to the flying robot 101, a power switch for turning the power of the flying robot 101 on / off, and LED lamps provided at positions other than the parts corresponding to the eyes. The input / output devices may be realized by connection terminals to which other information processing devices can be connected.

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

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

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

[0094] The detection unit 402 may detect, as a start trigger, for example, receipt of a predetermined input instruction to the flying robot 101 by a user via an input / output device such as a key or a button. Alternatively, the detection unit 402 may detect, as a start trigger, for example, detection of removal of the fixing member from the accessory based on a load applied to the fixing member.

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

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

[0097] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a moving stereo method that calculates the distance to the obstacle based on the parallax (difference between each image) between images taken at different positions obtained by the movement of the flying robot 101. By using the moving stereo method, the presence or absence of an obstacle existing within a predetermined range from the flying robot 101 can be detected using a monocular camera.

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

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

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

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

[0102] Furthermore, the control unit 407 drives and controls the camera 103 to capture images using the camera 103. For example, when a start trigger is detected by the detection unit 402, the control unit 407 drives and controls the camera 103 to start capturing images using the camera 103. For example, the control unit 407 may drive and control the camera 103 to capture images using the camera 103 while the flying robot 101 is flying.

[0103] For example, the control unit 407 drives and controls the camera 103 to capture images of the flying robot 101 in all directions. For example, the control unit 407 may capture images of the entire periphery of the flying robot 101 in the horizontal direction. For example, the control unit 407 may capture images below the flying robot 101 according to the flight altitude of the flying robot 101. For example, when the control unit 407 detects a predetermined sound such as a user's voice after the flying robot 101 starts flying, the control unit 407 may cause the camera 103 to capture the direction of the source of the predetermined sound.

[0104] Furthermore, the control unit 407 recognizes the user based on the image captured by the imaging unit 403. The user is recognized, for example, by determining whether or not the image captured by the imaging unit 403 includes a person taking a specific posture.

[0105] When recognizing a user, the control unit 407 makes it easier to extract a person included in the image by, for example, removing noise and distortion from the image captured by the image capture unit 403, emphasizing the contours of objects included in the image, and adjusting the brightness and color of the image. When recognizing a user, the control unit 407 extracts features such as the positions of arms and shoulders on a pixel-by-pixel basis, and determines whether or not a person in a specific posture is included in the image captured by the image capture unit 403 based on various information such as color and brightness assigned to the pixels.

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

[0107] The determination of whether or not a person is a specific person is performed, for example, by determining whether or not the person extracted from the image captured by the imaging unit 403 is a person who has been photographed by the imaging unit 403 for a predetermined time or more or a predetermined number of times in the past or from the present time back to a predetermined time point, based on the image captured by the imaging unit 403 and information on the extracted person stored in the storage unit 401. Then, if the person extracted from the image captured by the imaging unit 403 is a person who has been photographed for a predetermined time or more or a predetermined number of times in the past or from the present time back to a predetermined time point, it is determined that the person recognized from the image is a specific person.

[0108] Furthermore, the determination of whether or not a person is a specific person may be performed, for example, by determining whether or not a person extracted from an image captured by the imaging unit 403 is a person who was photographed within a specific range in the past or a predetermined period going back from the current time point. If a person extracted from an image captured by the imaging unit 403 is a person who was photographed within a specific range in the past or a predetermined period going back from the current time point, it is determined that the person recognized from the image is a specific person.

[0109] When the control unit 407 recognizes a user, it flies the flying robot 101 (drone) so as to land on the user's body. Specifically, for example, when it recognizes a user who is stationary with their arms outstretched in front of them, it performs a landing operation to fly the flying robot 101 (drone) so as to land on the user's arm. The inventor named the flying robot 101 that flies so as to land on the user's body "Dorotaka Joe." The inventor also named the flying robot 101 that recognizes the user as an owner and operates according to the owner's actions "Droppet."

[0110] The landed state may be, for example, a state in which the flying robot 101 (drone) keeps the propellers 102 stopped rotating for a predetermined landing time after coming into contact with the user's body and does not fall off the user's body. The landing time, which is the threshold for determining whether the robot is landed, may be set arbitrarily, for example, 5 seconds, 10 seconds, 30 seconds, etc.

[0111] The placement time, which is the threshold for determining whether or not the robot should be placed, may be changed in length according to the difficulty level of the physical activity (hereinafter, appropriately referred to as the "falconer game") using the flying robot 101. Specifically, for example, the placement time can be set to be longer as the difficulty level of the falconer game increases.

[0112] The difficulty level of the falconer game may be set according to the part where the flying robot 101 is placed. Specifically, for example, when the difficulty level of the falconer game is low, the part where the flying robot 101 is relatively easy to place, such as the palm, and when the difficulty level of the falconer game is high, the part where the flying robot 101 is difficult to place, such as the top of the shoulder, the top of the elbow when the arm is bent with a clenched fist and extended to the same height as the shoulder, or the top of the head, may be set.

[0113] The difficulty level of the Falconer game can be set, for example, by communication between a terminal device such as a smartphone on which a predetermined application is installed and the flying robot 101. In addition, the difficulty level of the Falconer game may be set, for example, by receiving an input operation to the flying robot 101 through an input / output device such as a key or a button.

[0114] The control unit 407 may execute a predetermined process when the placement operation is successful, i.e., when the propeller 102 is kept stopped from rotating for a period of time that is a threshold for determining placement, and the propeller 102 does not fall off the user's body. The predetermined process can be realized, for example, by outputting a sound that imitates a bird's voice from the speaker 304, or by outputting a sound such as "Placement successful!". The predetermined process can also be realized, for example, by circling above the user's head or by blinking the LED lamp 104.

[0115] If the detection unit 402 detects that the flying robot 101 is in a falling state before the placement time has elapsed after the control unit 407 comes into contact with the user's body, the control unit 407 controls the driving unit 405 to make the flying robot 101 fly again. This prevents the flying robot 101 from falling to the ground or the like and being damaged if the user is unable to keep the flying robot 101 on his or her arm for the placement time.

[0116] In addition, when the detection unit 402 detects that the flying robot 101 is falling before the landing time has elapsed after the control unit 407 comes into contact with the user's body, the control unit 407 flies the flying robot 101 to a position a predetermined distance away from the position where the falling state was detected, starts photographing the flying robot 101 again from the predetermined distance away position, and recognizes the user. This allows the user to resume the falconer game without having to throw the flying robot 101 again.

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

[0118] As a result, for a specific person who has had an opportunity to come into contact with the flying robot 101, even if the user does not take a specific posture, the flying robot 101 can exhibit special behavior only for that specific person, such as flying around the user or chasing the user. In this case, the flying robot 101 may be flown at a position close to the specific person so that the specific person cannot touch the flying robot 101 even if the specific person extends his or her hand. This makes it possible to imitate the behavior of the flying robot 101 becoming familiar with a person who has had an opportunity to come into contact with the flying robot 101.

[0119] Furthermore, when the remaining battery power falls below a predetermined level, the control unit 407 may fly the flying robot 101 so as to approach the user or around the user's feet, regardless of whether the user is in a specific posture or not, in order to inform the user that the remaining battery power is low. By flying in such a special manner, the flying robot 101 can inform the user that the remaining battery power is low.

[0120] In addition, if there is a dedicated accessory for carrying the flying robot 101, the control unit 407 may fly the flying robot 101 so that it returns to the accessory when the remaining battery power falls below a predetermined level. If such an accessory is equipped with a battery, a power supply coil, and a holder, the flying robot 101 can be flown so that the flying robot 101 fits into the holder, thereby easily and reliably charging the battery.

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

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

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

[0124] In addition, when information is acquired indicating that an event that may affect a specific user, such as a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or a sudden change in weather, the output unit 406 may output a voice informing the user that the event may occur, or may cause the LED lamp 104 to light up or flash in a specific pattern or color when the flying robot 101 approaches the vicinity of the specific user.

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

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

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

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

[0129] The acquisition unit 404 may also acquire various types of information, such as music, news, and sales information of goods that match the tastes of a specific user, as the predetermined information. In this case, the acquisition unit 404 can specifically realize its functions using, for example, the camera 103 and the microphone 303 shown in Fig. 3. Music, news, sales information of goods, etc. that match the tastes of a specific user can be determined based on, for example, the voice collected by the microphone 303 around the specific user, goods that are frequently used by the specific user, goods that are frequently in the field of view of the specific user, etc.

[0130] The items that are frequently in the field of view of a particular user include, for example, television programs such as movies, news, and variety shows, and items that are highly hobby-related such as gardening supplies and tableware, and can be determined based on images captured by the imaging unit 403, as with items that are frequently used by a particular user. The storage unit 401 can store at least information related to the preferences of a particular user among the information acquired by the acquisition unit 404.

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

[0132] Furthermore, the acquisition unit 404 may acquire, as the predetermined information, information learned by another flying robot 101. This allows information acquired by learning of a single flying robot 101 to be shared by a plurality of other flying robots 101, and allows the flying robot 101 to behave in a manner more in line with the preferences of a specific user.

[0133] (Flying robot 101 processing procedure) Next, the processing procedure of the flying robot 101 will be described. FIG. 5 is a flowchart showing the processing procedure of the flying robot 101. In the flowchart of FIG. 5, first, the flying robot 101 waits until a start trigger is detected (step S501: No). In step S501, if a start trigger is detected (step S501: Yes), the flying robot 101 starts flying (step S502). In addition, if a start trigger is detected (step S501: Yes), the flying robot 101 starts taking images with the camera 103 (step S503).

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

[0135] In step S504, if a user is recognized based on the image captured by camera 103 (step S504: Yes), the operation of placing the device on the recognized user's body is started (step S505). In step S505, for example, if a specific posture is a stationary posture with a clenched fist and an arm extended in front of the torso, the device performs the operation of placing the device on a specific part of the person, such as the extended arm of the person in the specific posture.

[0136] Then, it is determined whether or not the device has been placed on the user's body that was recognized in step S504: Yes (step S506). In step S506, it is determined, for example, whether or not the device has been able to maintain a state in which the propeller 102 has stopped rotating and has not fallen off the user's body for a period of time that is a threshold for determining whether the device has been placed.

[0137] In step S506, if the falcon is placed on the body of the user recognized in step S504: Yes (step S506: Yes), a predetermined process is executed (step S507), and the series of processes is terminated. If the placement is successful, a predetermined process is executed in step S507, which gives the user a sense of accomplishment and allows the user to play the falconer game repeatedly.

[0138] On the other hand, before it is determined in step S506 that the flying robot 101 has been placed, that is, before the placement time has elapsed since the flying robot 101 came into contact with the user's body (step S506: No), it is determined whether the flying robot 101 is in a falling state (step S508). If the flying robot 101 is not in a falling state in step S508 (step S508: No), the process proceeds to step S506 to determine whether the flying robot 101 has been placed on the user's body.

[0139] On the other hand, in step S508, if the flying robot 101 is in a falling state before the landing time has elapsed since it contacted the user's body (step S508: Yes), the flying is resumed (step S509), and the process proceeds to step S504, where it is determined whether or not the user has been recognized based on the image captured by the camera 103. This allows the user to resume the falconer game without having to throw the flying robot 101 again.

[0140] (Overview of the Falconer Game) Next, an outline of the falconer game using the flying robot 101 will be described. Figs. 6 to 8 are explanatory diagrams showing an outline of the falconer game using the flying robot 101. As shown in Fig. 6, the falconer game using the flying robot 101 starts by throwing the flying robot 101 into the air. In the falconer game, the flying robot 101 can be made to move by the action of throwing it into the air.

[0141] The flying robot 101 thrown into the air takes an image by the camera 103, and recognizes the user 601 based on the taken image. If the taken image does not include a person, or if the taken image includes a person but not the user 601, the flying robot 101 changes the shooting range by, for example, appropriately turning.

[0142] When the hawk recognizes the user 601, it flies toward the user 601 as shown in Fig. 7. The flying speed in the direction toward the user 601 may be faster than the speed at which it was thrown. This gives the user 601 the sensation that a hawk with its own will is flying toward him or her.

[0143] When flying toward the user 601, the flying robot 101 modeled after a bird or animal flies with its head facing the user 601, that is, facing forward in the direction of travel. When the flying robot 101 approaches the user 601 to a certain extent, it may fly with its head positioned upward and its ventral side tilted toward the user 601. This makes it possible to imitate the movement of a hawk when landing.

[0144] The user 601 maintains the specific posture as shown in Fig. 8 from the time the flying robot 101 touches a specific part, such as the user's elbow, until the landing time has elapsed, that is, until the flying robot 101 is landed on the specific part. This requires the user 601 to continuously maintain the specific posture while the flying robot 101 flies toward the user 601 and from the time the flying robot 101 touches the user's body until the landing time has elapsed.

[0145] Of the specific postures, by setting the posture when waiting for the flying robot 101 to land to a posture that uses muscle strength not often used in daily life, it is possible to move muscles that are not normally used, and to achieve a better exercise effect. In addition, the weight of the flying robot 101 itself may be designed to be large, so that the amount of muscle used when throwing the flying robot 101 and when waiting for the flying robot 101 to land is increased, thereby achieving a better exercise effect.

[0146] 5, in step S504, the user 601 is recognized by determining whether or not a person taking a specific posture is included, but this is not limited thereto. In step S504, the user 601 may be recognized by determining whether or not a person included in an image captured by the camera 103 is a specific person, in addition to whether or not a person taking a specific posture is included. Then, only when a specific person takes a specific posture, the person may be recognized as the user 601, and an operation may be performed to place the device on the body of the specific person.

[0147] This makes it impossible for people other than the specific person to place the flying robot 101 on their body even if they take a specific posture, and allows the specific person recognized as the user 601 to experience a relationship of trust with the flying robot 101 modeled after a falcon. This makes it possible to make the specific person feel attached to the flying robot 101 and have them repeatedly play the falconer game, thereby inducing them to move their body in a fun and casual manner.

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

[0149] According to the flying robot 101 of the embodiment of the present invention, the flying robot 101 can be placed on the body of the user 601 who is in a specific posture, such as a posture in which the user 601 is stationary with the arms clenched in fists, elbows bent, and arms extended forward of the torso at the same height as the shoulders. In other words, the user 601 must take a specific posture in order to place the flying robot 101 on the user's body. This allows the user 601 to perform movements such as stretching the arms and expanding the chest while playing with the flying robot 101 on the user's body.

[0150] In this way, the flying robot 101 according to the embodiment of the present invention can assist the user 601 in exercising in a fun and casual manner, and can promote the health of the user 601 without imposing a psychological burden on the user 601.

[0151] In addition, the flying robot 101 can be kept clean, which eliminates hygiene problems compared to keeping living creatures. In addition, the flying robot 101 does not cause problems with animal allergies, so regardless of the constitution of a particular user 601, the user can improve his or her health while experiencing communication with the flying robot 101 that imitates a living creature.

[0152] Furthermore, the flying robot 101 does not cause problems in terms of hygiene or animal allergies, and since it flies in the air, bacteria, viruses, dirt, etc. do not adhere to it from floors, etc., so it can be used in places such as hospitals and nursing homes. This can be expected to support rehabilitation exercises for restoring motor functions, and to have a therapeutic effect on users of hospitals and nursing homes.

[0153] Furthermore, the flying robot 101 according to the embodiment of the present invention is characterized in that, when a start trigger is detected, image capturing by the camera 103 is started. The start trigger can be detected, for example, by using an inertial sensor such as the acceleration sensor 308 or an angle sensor, the camera 103, or the like.

[0154] According to the flying robot 101 of the embodiment of the present invention, for example, by using inertial sensors such as an acceleration sensor 308 and an angle sensor, when the flying robot 101 is thrown into the air, which is detected as a start trigger, the camera 103 starts taking pictures, so that the user can start playing with the flying robot 101 by a simple action of throwing the flying robot 101, and the consumption of the battery 301 can be reduced compared to when the camera is always running. Also, the flying robot 101 can be made to move by the action of throwing it into the air.

[0155] This allows the user 601 to move his / her body more easily and to reduce the frequency of charging, so that the user 601's health can be improved without imposing a burden on the user 601.

[0156] The flying robot 101 according to the embodiment of the present invention is characterized in that it includes a microphone 303 and captures an image of the direction of a source of a predetermined sound collected by the microphone 303 with the camera 103. The predetermined sound may be, for example, the voice of the user 601.

[0157] According to the flying robot 101 of the embodiment of the present invention, the shooting direction (flight direction) is determined in response to the voice of the user 601, shooting is started, and the user 601 is recognized based on the resulting captured image. Therefore, a wide range is not captured unintentionally, and consumption of the battery 301 can be reduced compared to the case where shooting in all directions at all times.

[0158] Furthermore, according to the flying robot 101 of the embodiment of the present invention, the shooting direction (flight direction) is determined in response to the voice of the user 601, shooting is started, and the user 601 is recognized based on the resulting captured image, so that the user can improve his / her health while experiencing communication with the flying robot 101 that imitates a living creature.

[0159] According to the flying robot 101 of the embodiment of the present invention, the flying robot 101 can be placed on the body of the user 601 who is in a specific posture, such as sticking out a clenched fist in the air. That is, the user 601 must take a specific posture in order to place the flying robot 101 on his / her body. This allows the user 601 to perform an exercise such as stretching his / her arms and opening his / her chest while playing with the flying robot 101 on his / her body.

[0160] In this way, the flying robot 101 according to the embodiment of the present invention allows the user 601 to move his / her body in a fun and easy way. This makes it possible to improve the health of the user 601 without imposing a psychological burden on the user 601.

[0161] Furthermore, the flying robot 101 according to the embodiment of the present invention may treat a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times as the user 601.

[0162] According to such a flying robot 101, when it is recognized that a specific user 601 who has had an opportunity to interact with the flying robot 101 has taken a specific posture, the flying robot 101 can be placed on the body of the specific user 601. In this way, by having the flying robot 101 perform actions that mimic a living organism, such as building a relationship of trust and a master-servant relationship with the user 601 by having an opportunity to interact with the flying robot 101, the health of the specific user 601 can be improved, and the specific user 601 can be comforted and given a sense of fulfillment by expressing that the specific user 601 is recognized as a caregiver.

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

[0164] As described above, the flying robot, the control program for a flying robot, and the control method for a flying robot of the present invention are useful as a flying robot, a control program for a flying robot, and a control method for a flying robot that can assist exercise, and are particularly suitable as a flying robot, a control program for a flying robot, and a control method for a flying robot that can assist in fun and casual exercise. [Explanation of symbols]

[0165] 101 Flying Robot 102 Propeller 103 Camera 307 Control Circuit 401 Storage section 402 Detection unit 403 Photography Department 404 Acquisition Department 405 Drive unit 406 Output section 407 Control Unit 601 users

Claims

1. An unmanned aerial vehicle that flies by rotating propellers under autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with When a user throws the unmanned aerial vehicle into the air, the propellers of the unmanned aerial vehicle rotate to start flying and the camera starts taking pictures; When the user is recognized to be in a specific posture based on the image captured by the camera, the sensor is placed on the user's body. Stopping rotation of the propellers of the unmanned aerial vehicle when the body is contacted; A flying robot characterized in that if the unmanned aerial vehicle is falling from the body before a predetermined time has elapsed since the propellers of the unmanned aerial vehicle stopped rotating, the propellers of the unmanned aerial vehicle rotate and the unmanned aerial vehicle begins flying.

2. An unmanned aerial vehicle that flies by rotating propellers under autopilot, A camera mounted on the unmanned aerial vehicle; Equipped with When a user throws the unmanned aerial vehicle into the air, the propellers of the unmanned aerial vehicle rotate to start flying and the camera starts taking pictures; When the user is recognized to be in a specific posture based on the image captured by the camera, the sensor is placed on the user's body. Stopping rotation of the propellers of the unmanned aerial vehicle when the body is contacted; A flying robot that executes a predetermined process that indicates successful landing if the unmanned aerial vehicle maintains a state in which it does not fall from the body until a predetermined time has elapsed since the propellers of the unmanned aerial vehicle have stopped rotating.

3. The body is the arm of the user, 3. The flying robot according to claim 1, wherein the specific posture is a posture in which the flying robot is stationary with the arms extended.

Images