Flying Pet Robot

Abstract

To heal user's heart and offer a user with a feeling of fullness.SOLUTION: A flying type robot 100 includes: a drone 101 flying with automatic driving; and a camera 103 installed to the drone 101. The flying type robot recognizes a specific user 600 on the basis of an image captured by the camera 103 and flies around the specific user 600. Accordingly, the flying type robot can operate while simulating a pet that requires a communication from the specific user 600 as the owner thereof, thereby healing the heart of the user 600 and offering the user 600 with a feeling of fullness.SELECTED DRAWING: Figure 6A

Description

[Technical Field]

[0001] The present invention relates to a flying robot that moves in a manner that mimics the movements of a pet, a control program for the flying robot, and a control method for the flying robot. [Background technology]

[0002] Conventionally, there are pet robots that are shaped like animals such as dogs and cats and move around on their own, make sounds, and perform other animal-like movements. These pet robots are designed primarily to soothe and entertain users through their appearance and movements, rather than for practical convenience.

[0003] Specifically, in the past, there was a technology that identified a learning object, stored information about the identified learning object in an associative recall memory unit, and then acted based on a newly detected object and the information about the learning object stored in the associative recall memory unit, thereby enabling sharing of the learning object (joint attention) and making it possible to appropriately identify the learning object (see, for example, Patent Document 1 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-115944 Summary of the Invention [Problem to be solved by the invention]

[0005] However, animals have their own will and do not necessarily act solely in response to the actions of their owners; sometimes they will not listen to their owners' instructions or will move around freely even when their owners are not around. However, the conventional technologies mentioned above uniformly act in response to communication with the user, and are therefore less autonomous.

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

[0007] In order to solve the above-mentioned problems and achieve the objectives, 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 it recognizes a specific user based on images taken by the camera and flies around the specific user.

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

[0009] In addition, in the flying robot according to the present invention, the specific user is a person photographed by the camera within a specific range.

[0010] In addition, the flying robot of this invention is characterized in that, in the above invention, while flying around the specific user, if at least a part of the specific user approaches the unmanned aerial vehicle, the flying robot flies away from the specific user.

[0011] In addition, the flying robot of this invention is characterized in that, in the above invention, while flying around the specific user, if the specific user does not visually see the unmanned aerial vehicle, it flies in such a way that it approaches the specific user.

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

[0013] In addition, the flying robot according to the present invention is the above-mentioned invention, further comprising a wireless communication interface mounted on the unmanned aerial vehicle. tough The drone is characterized by having a wireless communication interface, and when it acquires predetermined information via the wireless communication interface, it flies around the specific user.

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

[0015] In addition, the flying robot of this invention is characterized in that, in the above invention, the specified information is information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a specified time from the present time.

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

[0017] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and when a specified sound is picked up by the microphone, it flies around the specific user.

[0018] In addition, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is arriving on the telephone.

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

[0020] In addition, the flying robot of this invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, and when a specified sound is picked up by the microphone, it outputs the sound from the speaker toward the specific user and flies around the specific user.

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

[0022] In addition, the control program for the flying robot of this invention is characterized in that it causes a computer installed in an unmanned aerial vehicle equipped with a camera and flying automatically to recognize a specific user based on an image captured by the camera and fly the robot around the recognized specific user.

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

[0024] In addition, the control program for the flying robot of this invention is characterized in that, in the above invention, if the specific user does not visually see the unmanned aerial vehicle while flying around the specific user, the control program executes a process to fly the unmanned aerial vehicle so as to approach the specific user.

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

[0026] In addition, the control method for a flying robot according to the present invention is characterized in that the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies automatically, recognizes a specific user based on an image captured by the camera and flies around the recognized specific user.

[0027] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, if at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is caused to fly away from the specific user.

[0028] In addition, the control method for a flying robot of this invention is characterized in that, in the above invention, if the specific user does not visually see the unmanned aerial vehicle while flying around the specific user, the unmanned aerial vehicle is flown so as to approach the specific user.

[0029] In addition, the flying robot control method of the present invention is characterized in that, in the above invention, after flying around the specific user a predetermined number of times, the flying robot is caused to fly away from the specific user.

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

[0031] 25. The flying robot according to claim 24, wherein, when a predetermined sound is picked up by the microphone, the flying robot orbits the recognized specific user in response to the predetermined sound, and then flies between the vicinity of the specific user and the source of the predetermined sound.

[0032] In the flying robot according to the present invention, the predetermined sound is a ringtone that notifies the user that at least one of a call and an e-mail is received on the telephone.

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

[0034] In addition, in the flying robot according to the present invention, the predetermined sound is a sound having a sound pressure equal to or greater than a predetermined threshold value.

[0035] In addition, in the flying robot according to the present invention, the predetermined sound is a sound generated within a predetermined range from the specific user.

[0036] In addition, the flying robot of this invention is characterized in that, in the above invention, it flies around the recognized specific user in a flight pattern corresponding to the specified voice in response to the specified voice.

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

[0038] In addition, the flying robot according to the present invention is the above-mentioned invention, further comprising a wireless communication interface mounted on the unmanned aerial vehicle. tough The projector includes a wireless communication interface, and image data relating to an image to be projected from the projector is acquired via the wireless communication interface.

[0039] In addition, the flying robot of this invention is characterized in that, in the above invention, when a specified sound is collected by the microphone, characters corresponding to the specified sound are projected from the projector in front of the recognized specific user.

[0040] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer included in the flying robot, which is equipped with an unmanned aerial vehicle equipped with a camera and a microphone and flies by automatic control, to execute processing to recognize a specific user based on an image taken by the camera, and when a specific sound is picked up by the microphone, fly the robot between the vicinity of the recognized specific user and the source of the specific sound in accordance with the specific sound.

[0041] Furthermore, the method for controlling a flying robot according to the present invention is characterized in that the flying robot is equipped with a camera and a microphone, and is an unmanned aerial vehicle that flies automatically, and recognizes a specific user based on an image captured by the camera, and when a specific sound is picked up by the microphone, flies between the vicinity of the recognized specific user and the source of the specific sound in accordance with the specific sound.

[0042] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer included in the flying robot, which is equipped with an unmanned aerial vehicle that is mounted with a camera, a microphone, and a projector and flies by automatic control, to recognize a specific user based on an image captured by the camera, and when a specific sound is collected by the microphone, to fly between the vicinity of the recognized specific user and the source of the specific sound in accordance with the specific sound, and to project an image in accordance with the specific sound from the projector in front of the recognized specific user.

[0043] Furthermore, the method for controlling a flying robot according to the present invention is characterized in that the flying robot is equipped with a camera, a microphone, and a projector, and is an unmanned aerial vehicle that flies automatically, and recognizes a specific user based on an image captured by the camera, and when a specific sound is collected by the microphone, the flying robot flies between the vicinity of the recognized specific user and the source of the specific sound in accordance with the specific sound, and an image corresponding to the specific sound is projected from the projector in front of the recognized specific user.

[0044] The flying robot according to the present invention includes an unmanned aerial vehicle that flies by automatic control, a camera mounted on the unmanned aerial vehicle, and a wireless communication interface mounted on the unmanned aerial vehicle. tough The drone is characterized by having a camera and recognizing a specific user based on an image captured by the camera, and when it receives information via the wireless communication interface indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the present time, it flies between the vicinity of the recognized specific user and the source of the predetermined sound in response to the predetermined sound.

[0045] In addition, the control program for the flying robot of the present invention is characterized in that it causes a computer included in the flying robot, which is equipped with a camera and a wireless communication interface and flies by automatic control, to recognize a specific user based on an image taken by the camera, and when it receives information via the wireless communication interface indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time from the present time, to execute processing to fly the robot between the vicinity of the recognized specific user and the source of the specified sound in response to the specified sound.

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

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

[0048] [Figure 1A] 1 is an explanatory diagram (part 1) showing an example of the appearance of the flying robot of the first embodiment according to the present invention. FIG. [Figure 1B] FIG. 2 is an explanatory diagram (part 2) showing an example of the appearance of the flying robot according to the first embodiment of the present invention. [Figure 2] 1 is an explanatory diagram showing a hardware configuration of a flying robot according to a first embodiment of the present invention; [Figure 3] FIG. 1 is an explanatory diagram showing a functional configuration of a flying robot according to a first embodiment of the present invention. [Figure 4A] FIG. 1 is an explanatory diagram (part 1) showing an example of a charging spot. [Figure 4B] FIG. 2 is an explanatory diagram (part 2) showing an example of a charging spot. [Figure 5] 4 is a flowchart showing an example of a processing procedure of the flying robot according to the first embodiment of the present invention. [Figure 6A] FIG. 1 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 6B] FIG. 2 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 6C] FIG. 10 is an explanatory diagram (part 3) showing an example of a usage mode of the flying robot according to the first embodiment of the present invention. [Figure 7] FIG. 10 is an explanatory diagram showing an example of the appearance of a flying robot according to a second embodiment of the present invention. [Figure 8] FIG. 10 is an explanatory diagram showing a hardware configuration of a flying robot according to a second embodiment of the present invention. [Figure 9] 10 is a flowchart showing an example of a processing procedure of the flying robot according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0049] 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.

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

[0051] Specifically, the drone 101 may be, for example, a quadcopter equipped with four propellers 102. The drone 101 is not limited to a quadcopter, and may be any of various multicopters, such as a hexacopter equipped with six propellers or an octocopter equipped with eight propellers.

[0052] The flying robot 100 also includes a camera 103. As shown in Figures 1A and 1B, in an animal-shaped flying robot 100, the camera 103 may be provided in a location corresponding to the eye. Alternatively, the camera 103 may be provided on the underside of the housing of the drone 101.

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

[0054] The specific user may be, for example, a person who has been photographed by the camera 103 for a predetermined period of time or a predetermined number of times, i.e., a person who has had a reasonable opportunity to come into contact with the flying robot 100. The specific user may also be, for example, a person who has been photographed within a certain range, i.e., a person who has a reasonable opportunity to be within a certain range, such as at home, on school grounds, or in a store, and is therefore likely to be photographed by the camera 103. The specific range may be within a predetermined range from a charging spot (see FIGS. 4A and 4B).

[0055] Alternatively, a specific user may be, for example, a person who has been photographed by camera 103 within a specific range for a predetermined period of time or a predetermined number of times. Such a person can be considered to be a person who has a reasonable opportunity to be within a specific range, such as at home, on school grounds, or in a store, and who has a reasonable opportunity to come into contact with an airborne robot. Therefore, a person who has a long and frequent opportunity to come into contact with an airborne robot within a specific range can be considered a specific user.

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

[0057] Furthermore, the specific user may be a person who has been photographed by the camera 103 within a specific range for a predetermined period of time or a predetermined number of times during a period going back from the present time. As a result, in an operation in which the number of people who can be designated as specific users is limited to a predetermined number, even if the flying robot 100 is transferred from a person who was previously designated as a specific user to another person, or if the people who enter the specific range change due to promotion or graduation at school or nursery school, the person who has had a reasonable opportunity to interact with the flying robot 100 most recently can be designated as the specific user, thereby realizing operation that is suited to the current situation.

[0058] Instead of a general-purpose digital camera, 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 light, an infrared color night vision camera that captures color images by analyzing the black and white shading in images captured by an infrared camera, etc. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., it is possible to accurately recognize a specific user even at night or in a room with low illumination.

[0059] The flying robot 100 may be equipped with one or more cameras 103. The flying robot 100 equipped with multiple cameras 103 is not limited to one type of camera 103, and may be equipped with multiple different types of cameras 103.

[0060] The camera 103 may be connected to the drone 101 in a state in which its attitude is adjustable. Specifically, the camera 103 can be connected to the bottom of the drone 101 via a universal joint such as a ball joint. By connecting the camera 103 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

[0061] Furthermore, the flying robot 100 may be equipped with a drive mechanism that changes the attitude of the camera 103 relative to the drone 101. This allows the attitude of the camera 103 relative to the drone 101 to be adjusted without human intervention. The drive mechanism may be configured, for example, with a motor, a gear train, or the like. By making it possible to adjust the attitude of the camera 103 relative to the drone 101 without human intervention, the shooting direction can be adjusted as desired while the flying robot 100 is flying, regardless of the attitude of the drone 101. The camera 103 may be equipped with a zoom function.

[0062] The flying robot 100 is equipped with a receiving coil for wireless power transfer (contactless power transmission) inside the housing of the drone 101. Wireless power transfer is a technology that receives power from a battery (see FIG. 2) without going through a charging contact, and is also called contactless power transfer or wireless power transfer.

[0063] The power receiving coil is located inside the exterior surface of the housing of the drone 101. This prevents deterioration or malfunction of the flying robot 100 due to water droplets from drinks or rain and dew. The flying robot 100 may be provided with a charging contact for charging the battery instead of or in addition to the power receiving coil.

[0064] 1A and 1B, an animal-shaped flying robot 100 may be provided with LED lamps 104 in areas corresponding to the eyes. The LED lamps 104 may be provided in areas corresponding to the eyes, or, if a camera 103 lens is provided in the area corresponding to the eyes, they may be provided so as to frame the lens. Such flying robots 100 may be provided with components 105 corresponding to characteristic parts of birds and animals, such as tails, ears, wings, feet (legs, limbs), horns, fangs, and whiskers.

[0065] The components 105 corresponding to characteristic parts of birds and animals are not limited to those corresponding to parts of birds and animals that actually exist today, but may also be those corresponding to parts of extinct animals such as dinosaurs, or parts of mythical creatures such as dragons and unicorns. These components may also be movable and equipped with a drive mechanism such as a motor for operating them. This allows the flying robot 100 to imitate movements such as wagging its tail or moving its ears.

[0066] The flying robot 100 may further include a solar cell (solar battery) 106 that generates electricity using external light such as sunlight. The solar cell 106 is provided, for example, on the upper surface of the housing of the drone 101. This allows the drone 101 to reliably take in external light during flight and generate electricity efficiently. Furthermore, the inclusion of the solar cell 106 allows charging during flight, thereby ensuring a longer flight time per flight.

[0067] (Hardware configuration of flying robot 100) Next, the hardware configuration of the flying robot 100 will be described. Fig. 2 is an explanatory diagram showing the hardware configuration of the flying robot 100 according to the first embodiment of the present invention. As shown in Fig. 2, the hardware of the flying robot 100 includes a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, a communication I / F 208, an LED lamp 104, a solar cell 106, etc. The units 103, 104, 106, 201 to 208 included in the flying robot 100 are connected by a bus 200.

[0068] The battery 201 supplies power required for the operation of each component of the flying robot 100. The battery 201 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by a secondary battery may be detachable from the drone 101.

[0069] The motor 202 is controlled by the control circuit 207, and rotates to rotate the propellers 102. Specifically, the motor 202 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is made up of a coil. By providing the same number of motors 202 as the number of propellers 102, each propeller 102 can be rotated independently, allowing the flying robot 100 to move forward, backward, and turn left or right.

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

[0071] The camera 103 is equipped with 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 (photographed data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

[0072] The camera 103 may be one that takes still images or one that takes moving images. Moving images include still images taken at predetermined time intervals that are continuously played back. Image information may be compressed using a predetermined standard for compressing moving image and audio data (for example, MPEG (Moving Picture Experts Group)).

[0073] The microphone 203 collects sounds around the flying robot 100. The microphone 203 converts sounds input as analog data into electrical signals. Specifically, the microphone 203 performs analog-to-digital conversion on the analog sound signals input as analog data, generating digital sound data.

[0074] The speaker 204 generates sound by vibrating a diaphragm with an electric signal, which is an audio signal. Alternatively, the speaker 204 may be an output terminal that outputs an audio signal, and an external speaker 204 may be connected to the output terminal to generate sound.

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

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

[0077] The object sensor 206 detects whether or not there is an obstacle within a predetermined range from the flying robot 100. An obstacle is an object that interferes with the flight of the flying robot 100, and specifically includes, for example, a wall, a ceiling, furniture, a person, etc. When the flying robot 100 is flown outdoors, any object that interferes with the flight of the flying robot 100, such as a vehicle, another flying robot 100, a tree, or a building, is considered an obstacle.

[0078] Specifically, the object sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor 206 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 100 may be equipped with multiple types of non-contact sensors as the object sensor 206. The flying robot 100 may also detect the presence or absence of an obstacle within a predetermined range from the flying robot 100 based on an image captured by the camera 103.

[0079] Solar cell 106 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 106, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In solar cell 106, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

[0080] The control circuit 207 drives and controls each unit of the flying robot 100. The control circuit 207 can be realized by a microcomputer including a CPU, memory, etc. Specifically, the control circuit 207 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

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

[0082] 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 100 via a card slot provided in the flying robot 100. The memory card can be realized by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may also be realized by, for example, an external USB memory.

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

[0084] The control circuit 207 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).

[0085] The IMU is a type of sensor required for the drone 101 to acquire external information, and is configured by, for example, a gyro sensor, an acceleration sensor, a barometric pressure sensor, an ultrasonic sensor, a magnetic direction sensor (compass), etc. The above-mentioned GPS sensor 205 is also included in the IMU.

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

[0087] The acceleration sensor detects the amount of change in the speed of the drone 101. The gyro sensor and acceleration sensor can calculate the amount of change in both the tilt of the drone 101 and the speed of the drone 101, so the drone 101 can continue flying even if it remains tilted.

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

[0089] The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone 101. The ultrasonic sensor is provided, for example, on the underside of the drone 101, and detects the distance from an object located below the drone 101 by utilizing the bounce of ultrasonic waves emitted below the drone 101. This allows the drone 101 to be tracked on the ground (floor, ground, etc.) and land stably. When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves may be emitted in all directions of the drone 101, and the ultrasonic sensor may function both as the object sensor 206 and as part of the IMU.

[0090] The magnetic direction sensor detects whether the drone 101 is facing north, south, east, or west. Since the flying robot 100 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic direction sensor when changing the flying location.

[0091] The IMU, together with the microcomputer, constitutes a flight controller. The flight controller performs calculations related to the rotation control of the motor 202 and outputs control signals to the ESC to control the direction and speed of rotation of the propeller (propeller motor 202). The ESC controls the rotation of the motor 202 based on the control signals output from the flight controller. While the flying robot 100 is flying, the flight controller detects the inclination of the flying robot 100, performs repeated calculations, and recursively outputs control signals to the motor 202.

[0092] Specifically, the flight controller prevents the flying robot 100 from rotating by outputting control signals that control adjacent propellers to rotate in opposite directions. It also moves the flying robot 100 forward by controlling the front propeller to rotate slower than the rear propeller. It also makes the flying robot 100 turn right by controlling the right propeller to rotate slower than the left propeller.

[0093] The control circuit 207 also includes a remaining capacity measurement circuit that measures the remaining capacity of the battery 201. The remaining capacity measurement circuit measures the remaining capacity of the battery 201 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

[0094] The communication I / F 208 is a wireless communication interface that connects the flying robot 100 to the network N via a communication line, and serves as an interface between the network N and the inside of the flying robot 100, controlling the input of data from and the output of data to external devices connected via the network N. The network N is realized, for example, by the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0095] The communication I / F 208 is, for example, a wireless interface based on Wi-Fi (registered trademark). Alternatively, the communication I / F 208 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution) or PHS (Personal Handy-phone System)).

[0096] Communication via the communication I / F 208 may be performed periodically, such as at a predetermined time or at predetermined intervals, or at any timing depending on the status of the communication line. The memory may store information acquired through communication via the communication I / F 208. The memory may also store information input in advance by the user of the flying robot 100.

[0097] The LED lamps 104 provided in the parts corresponding to the eyes are controlled by the control circuit 207, and turn on, off, or blink in conjunction with the flight movements of the flying robot 100. The LED lamps 104 may also indicate the status of the flying robot 100. Specifically, for example, when the remaining charge falls below a predetermined threshold, the LED lamps 104 blink in a predetermined pattern. The light color of the LED lamps 104 is not limited to one color, and may be multiple colors.

[0098] Although not shown, the flying robot 100 may also include input / output devices such as keys or buttons for inputting instructions to the flying robot 100, a power switch for turning the power of the flying robot 100 on and off, and LED lamps provided in positions other than the eyes. The input / output devices may be realized by connection terminals to which other information processing devices can be connected.

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

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

[0101] The detection unit 302 detects whether or not there is an obstacle within a predetermined range from the flying robot 100. Specifically, the function of the detection unit 302 can be realized by, for example, the object sensor 206 shown in FIG. 2. Furthermore, specifically, the function of the detection unit 302 can be realized by, for example, the camera 103 shown in FIG. 2 instead of or in addition to the object sensor 206.

[0102] The detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a mobile stereo method that calculates the distance to the obstacle based on the parallax (difference between images) between images taken at different positions obtained by moving the flying robot 100. By using the mobile stereo method, the presence or absence of an obstacle within a predetermined range from the flying robot 100 can be detected using a monocular camera.

[0103] The photographing unit 303 photographs images of the surroundings of the flying robot 100. Specifically, the photographing unit 303 can realize its function by, for example, the camera 103 shown in FIG. 2. The storage unit 301 stores image information related to the images photographed by the photographing unit 303.

[0104] In addition to the image information, the storage unit 301 may also store information about the location where the image corresponding to the image information was taken in association with the image information. The information about the location where the image was taken can be identified using the GPS sensor 205, for example.

[0105] The acquisition unit 304 acquires information external to the flying robot 100. Specifically, the acquisition unit 304 acquires, for example, an image of the surroundings of the flying robot 100. In this case, the acquisition unit 304 can specifically realize its function by, for example, the camera 103 shown in FIG. 2. The storage unit 301 stores, from the information acquired by the acquisition unit 304, at least information about people included in the captured image or about the characteristics of the people.

[0106] Specifically, the acquisition unit 304 may acquire predetermined information from an external device via the network N. In this case, the acquisition unit 304 may specifically realize its function using the communication I / F 208 illustrated in FIG.

[0107] In this case, the acquiring unit 304 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 whose identification information is stored in advance in the storage unit 301, and specifically, can be realized by a smartphone owned by a specific user.

[0108] In this case, the acquisition unit 304 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 present time. The predetermined information may be, for example, information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the present time. The acquisition unit 304 acquires such predetermined information by communicating via the network N, for example, constantly or at predetermined intervals.

[0109] The acquisition unit 304 may also acquire various types of information, such as music, news, and sales information of goods that match the preferences of a specific user, as the predetermined information. In this case, the acquisition unit 304 can specifically realize its functions using, for example, the camera 103 and microphone 203 shown in FIG. 2. Music, news, sales information, etc. that match the preferences of a specific user can be determined based on, for example, sounds collected around the specific user by the microphone 203, goods that are frequently used by the specific user, goods that are frequently in the field of view of the specific user, etc.

[0110] The items that frequently come into the field of view of a particular user include, for example, television programs such as movies, news, and variety shows, and items that are of interest to the particular user, such as gardening supplies and tableware, and can be determined based on images captured by the image capturing unit 303, just like the items that are frequently used by a particular user. The storage unit 301 can store at least information related to the preferences of the particular user from among the information acquired by the acquisition unit 304.

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

[0112] The acquisition unit 304 may also acquire, as the predetermined information, information learned by another flying robot 100. This allows information acquired through learning by a single flying robot 100 to be shared by multiple other flying robots 100, allowing the flying robot 100 to behave in a manner that more closely matches the preferences of a specific user.

[0113] The driving unit 305 controls the flight of the drone 101. Specifically, the driving unit 305 can realize its functions by, for example, the drone 101 shown in Fig. 1. More specifically, the driving unit 305 can realize its functions by, for example, the propeller 102 shown in Fig. 1, the flight controller in the control circuit 207 shown in Fig. 2, the ESC, the BEC (UBEC), the motor 202, the objective sensor 206, and the like.

[0114] The output unit 306 operates in conjunction with the flight behavior of the flying robot 100. The output unit 306 also operates in accordance with the state of the flying robot 100. For example, the output unit 306 operates in conjunction with the flight behavior of the flying robot 100 as it flies around a specific user, or operates in accordance with the remaining battery power when the flying robot 100 is flying around a specific user.

[0115] Specifically, the output unit 306 may, for example, light or blink the LED lamps 104 provided in the areas corresponding to the eyes when the flying robot 100 flies around a specific user. In this case, the output unit 306 may specifically realize its function using, for example, the LED lamps 104 shown in FIG. 1 and FIG. 2.

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

[0117] In addition, when information indicating the possibility of an event that may affect a specific user, such as a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather, is acquired, the output unit 306 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 100 approaches the vicinity of the specific user.

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

[0119] The control unit 307 controls the drive unit 305, for example, to fly the drone 101. Specifically, the control unit 307 starts flying the drone 101 when the battery is fully charged. The control unit 307 also starts flying when it detects the call of a specific user, for example. The control unit 307 also starts flying when it acquires predetermined information based on information acquired via the communication I / F 208, for example.

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

[0121] Furthermore, when recognizing a specific user, the control unit 307 extracts features such as the eyes, mouth, and nose from the image captured by the imaging unit 303, for example, in units of pixels, which are the smallest elements that make up the image, and recognizes the person captured in the image based on various information such as color and brightness assigned to the pixels.

[0122] Furthermore, when recognizing a specific user, the control unit 307 stores, for example, information about the extracted person in the storage unit 301. The information about the extracted person includes, for example, at least one of the cumulative time over which the person has been photographed and the cumulative number of times the person has been photographed. The information about the extracted person may include, for example, both the cumulative time over which the person has been photographed and the cumulative number of times the person has been photographed.

[0123] Furthermore, when recognizing a specific user, the control unit 307 determines whether or not the person recognized from the image captured by the image capturing unit 303 is a person who has been photographed by the image capturing unit 303 for a predetermined period of time or a predetermined number of times, based on the image captured by the image capturing unit 303 and information about the extracted person stored in the storage unit 301. Then, if the person extracted from the image captured by the image capturing unit 303 is a person who has been photographed for a predetermined period of time or a predetermined number of times, the control unit 307 recognizes that the person recognized from the image is a specific user.

[0124] The control unit 307 may recognize a specific user by determining whether the person is a person photographed within a specific range by the photographing unit 303. Specifically, for example, a person who is likely to be within a specific range, such as at home, on school grounds, or in a store, can be recognized as a specific user.

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

[0126] Furthermore, for example, when the control unit 307 recognizes a specific user, the control unit 307 controls the driving unit 305 to fly the flying robot 100 around the specific user. Specifically, for example, the control unit 307 flies the flying robot 100 at a position close to the specific user so that the specific user cannot touch the flying robot 100 even if he or she extends his or her hand.

[0127] More specifically, the control unit 307 controls the flying robot 100 to fly, for example, by circling above a specific user's head, hovering in front of the specific user, or moving the flying robot 100 toward or away from the specific user as if to play with the specific user. When the control unit 307 detects that a specific user has visually recognized the flying robot 100, it may control the flying robot 100 to fly away from the specific user and return to a charging spot. In this way, the flying robot 100 mimics "territorial behavior" by patrolling the perimeter of its nest, checking the situation, and then returning to its nest, treating the charging spot as if it were a nest. This gives the impression to people around the specific user, including the specific user, that the flying robot 100 is a living creature with its own will.

[0128] The control unit 307 may simply control the driving unit 305 to cause the flying robot 100 to fly around a specific user, or may link the driving unit 305 and the output unit 306 to cause the LED lamp 104 to light up (blink) or output sound from the speaker 204 while causing the flying robot 100 to fly around a specific user.

[0129] (Example of the appearance of a charging spot) Next, an example of the appearance of a charging spot will be described. FIGS. 4A and 4B are explanatory diagrams showing an example of a charging spot. FIG. 4A shows an example of the appearance of the charging spot. FIG. 4B shows a cross section taken along line AA in FIG. 4A. As shown in FIGS. 4A and 4B, charging spot 400 includes charging pad 401 and exterior part 402.

[0130] Charging pad 401 includes power transmitting coil 401a. Power transmitting coil 401a is enclosed in cover 401b made of ABS resin, silicone rubber, or the like. A power cable 401c having an outlet plug at its end is connected to charging pad 401 (power transmitting coil 401a). When the outlet plug at the end of power cable 401c is connected to a commercial power source and electricity is passed through power transmitting coil 401a, a magnetic field can be generated in power transmitting coil 401a.

[0131] Instead of power cable 401c, charging pad 401 may have a terminal to which a charging cable can be connected, such as a female USB terminal. In this case, a magnetic field can be generated in power transmitting coil 401a by passing electricity through power transmitting coil 401a using a power cable with a male USB terminal or an adapter for converting between commercial power and USB power. This allows the use of a power cable of any length depending on the installation location of charging spot 400, etc.

[0132] The exterior 402 has an appearance resembling, for example, a bird or animal's nest and is installed to cover the charging pad 401. The exterior 402 has an opening that allows the flying robot 100 to take off and land on the charging pad 401. The exterior 402 may have a shape with an opening above the charging spot 400, as shown in FIGS. 4A and 4B, or may have a cave-like shape with an opening that covers directly above the charging spot 400 and opens to the sides. When an opening is provided above the charging pad 401, the flying robot 100 approaches the charging pad 401 from above and takes off toward the upper side of the charging pad 401. When the exterior 402 has a cave-like shape, the flying robot 100 approaches the charging pad 401 from the upper side and takes off toward the upper side of the charging pad 401.

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

[0134] (An example of a processing procedure for the flying robot 100) Next, an example of a processing procedure of the flying robot 100 will be described. FIG. 5 is a flowchart showing an example of a processing procedure of the flying robot 100 according to the first embodiment of the present invention. In the flowchart of FIG. 5, first, it is determined whether to start flying (step S501). In step S501, for example, it is determined to start flying when the battery is fully charged based on the remaining battery power. Alternatively, in step S501, it may be determined to start flying when, for example, a specific user's voice is detected based on sound collected via the microphone 203. Alternatively, in step S501, it may be determined to start flying when, for example, predetermined information is acquired based on information acquired via the communication I / F 208.

[0135] In step S501, the process waits until it is determined that flight should be started (step S501: No). On the other hand, if it is determined that flight should be started in step S501 (step S501: Yes), flight is started (step S502). In step S502, for example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles. The predetermined range can be any range including a specific range such as within a home, a school grounds, or a store.

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

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

[0138] The process to be started in step S504 can be selected based on, for example, the remaining battery level, the current location of the flying robot, the specific user detected in step S503: Yes, etc. Also, in step S504, for example, the process of returning to the charging spot 400 may be started after circling around the specific user an arbitrary number of times.

[0139] Specifically, in step S504, the robot starts executing processes such as approaching the specific user, turning on or blinking the LED lamps 104 provided in the areas corresponding to the eyes, and outputting sounds that mimic animal cries, thereby realizing actions that mimic the charm of living creatures such as pets.

[0140] Furthermore, if a specific user is moving, execution of a process for tracking the specific user may be started in step S504. The process that starts execution in step S504 may be one or more. When starting execution of multiple processes, the processes may start execution simultaneously or at different times.

[0141] In step S504, for example, music that matches the preferences of a specific user may be output, or news may be announced. In step S504, for example, information such as action patterns of flying robots 100 used by other users whose behaviors and preferences are similar to those of the specific user may be obtained via the network N based on a profile of the specific user's past behaviors and preferences, and a process to be executed may be determined based on the obtained information.

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

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

[0144] On the other hand, if a process is being executed in step S506 (step S506: Yes), a warning is output (step S507). In step S507, for example, the LED lamps 104 provided in the parts corresponding to the eyes may be lit or flashed in a specific color such as red, or a warning sound may be output from the speaker 204. Alternatively, in step S507, a voice may be output to verbally inform a specific user of the state of the flying robot 100, such as "The battery is running low" or "I'm hungry." Alternatively, in step S507, for example, the flying robot may perform a flying motion that imitates a wobbly, unsteady motion.

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

[0146] In step S509, if the remaining battery charge is not below the second threshold (step S509: No), the process proceeds to step S508, where it is determined whether the process determined to be running in step S506: Yes has been completed. On the other hand, in step S509, if the remaining battery charge is below the second threshold (step S509: Yes), the process being run is forcibly terminated (step S510), and a return process to the charging spot 400 is executed (step S511), thereby terminating the series of processes.

[0147] In step S510, if multiple processes are being executed, all of the processes being executed are forcibly terminated. In step S511, a return to home (RTH) function, which is one of the fail-safe functions of the drone 101, is activated, thereby enabling the drone 101 to execute a process of returning to the charging spot 400. While the RTH function is activated, obstacles are avoided based on the images captured by the camera 103 and the detection results of the object sensor 206.

[0148] In the first embodiment described above, a warning is output when the remaining battery charge falls below a first threshold, and return processing is performed when the remaining battery charge falls below a second threshold that is lower than the first threshold, but this is not limited to this. Instead of or in addition to making a determination based on the remaining battery charge, a warning may be output or a running process may be forcibly terminated and return processing may be performed based on the elapsed time since the start of flight.

[0149] The time from when flight is started in step S502 until the first threshold or the second threshold is reached varies depending on the remaining battery charge at the time flight is started in step S502. Therefore, the type and number of processes to start execution in step S504 may be determined depending on the remaining battery charge at the time flight is started.

[0150] (Example of usage of flying robot 100) Next, a description will be given of an example of how the flying robot 100 of the first embodiment is used. Figures 6A, 6B, and 6C are explanatory diagrams showing an example of how the flying robot 100 is used.

[0151] For example, the flying robot 100 starts flying at any timing, and when it recognizes a specific user 600, it approaches the specific user 600 and flies around the specific user 600 (see FIG. 6A). Then, for example, after circling the specific user 600 a certain number of times, or when the specific user 600 takes their eyes off the flying robot 100, it returns to the charging spot 400.

[0152] In this way, the flying robot 100 operates independently of the will of the specific user 600, which gives the specific user 600 the feeling that the flying robot 100 has suddenly come from its nest of its own volition and returned to its nest before the user even realizes it. Also, the flying robot 100 operates independently of the user's will, which gives the specific user 600 the feeling that the bored flying robot 100 has come and is flying around without any purpose.

[0153] Furthermore, the flying robot 100 performs unpredictable actions regardless of the intentions of the specific user 600, which gives the specific user 600 the feeling that the flying robot 100 is acting of its own volition and is trying to find and communicate with the specific user 600 of its own volition. This creates an environment similar to that of having a pet, and by keeping the flying robot 100 as a pet, the specific user 600 can alleviate feelings of loneliness and isolation and reduce stress. Furthermore, the specific user 600 can be mentally fulfilled and calmed.

[0154] Furthermore, the unpredictable behavior of the flying robot 100, which is unrelated to the intention of the specific user 600, can make the specific user 600 think about the intention behind the behavior of the flying robot 100. This allows the specific user 600 to feel as if the flying robot 100 is interacting with a living being with a mind and a heart, rather than an inorganic robot. This can alleviate the loneliness and isolation of the specific user 600, reduce stress, increase mental satisfaction, and calm the mood.

[0155] When a specific user 600 performs a specific action, the flying robot 100 may execute a different process in response to the specific action. Specifically, for example, when the specific user 600 performs some action toward the flying robot 100, such as putting their hand close to the flying robot 100, the flying robot 100 may fly away from the specific user 600 (see FIG. 6B). In this way, the flying robot 100 may intentionally perform an action contrary to the specific user 600's will, which may give the specific user 600 the impression that the flying robot 100 is not trying to please the specific user 600, and is behaving like a wayward cat.

[0156] Alternatively, specifically, for example, if the flying robot 100 circles around a specific user 600 and the specific user 600 does not react (for example, does not turn its face toward the flying robot 100), the flying robot 100 may fly closer to the specific user 600 (see FIG. 6C). By performing such a behavior, the flying robot 100 can give the specific user 600 the feeling that the flying robot 100 is approaching (attaching to) the specific user 600 in order to get attention from the specific user 600.

[0157] In this way, the flying robot 100 monitors the specific user 600, performs a predetermined action for the specific user 600 based on the results of the monitoring, and performs the next action based on the behavior of the specific user 600 in response to the monitoring action, thereby making the specific user 600 feel as if they are interacting with a living thing such as a pet, which has a life and a feeling, rather than with an inorganic, inorganic robot.

[0158] The flying robot 100 may not always perform the same action in response to the same action of a specific user 600. For example, if the flying robot 100 performs an action to move closer to the specific user 600 in response to the specific user 600 bringing their hand closer to the flying robot 100 last time, the flying robot 100 may fly away from the specific user 600 the next time the specific user 600 performs the same action. In this way, the specific user 600 may not be able to clearly understand the intention of the flying robot 100's action. This can simulate the sense of incomprehensibility that often occurs when living things interact with each other.

[0159] Even if a particular user 600 does not clearly understand the intention behind the flying robot 100's movements, they can enjoy the movements of the flying robot 100 itself and the sense of mystery that often arises when interacting with other living creatures. By recreating the relationship with a living creature such as a pet in this way, the particular user 600 can enjoy the act of thinking about the intention behind the flying robot 100's movements, the correct answer of which is unknown (it is unclear whether there is a correct answer or not).

[0160] Furthermore, if the flying robot 100 is equipped with a night vision camera or an infrared camera, it can capture clear images of the surroundings of the flying robot 100 even at night without using a light source for auxiliary imaging. As a result, if a person (such as a thief) is detected in the dark, it can output a loud sound or contact an external party such as a security company via the communication I / F 208.

[0161] In the first embodiment described above, the flying robot 100 is described as providing healing to the user (specific user 600), but the usage of the flying robot 100 is not limited to this. For example, the flying robot 100 can be used as a fighting simulator that supports simulations of actual combat or matches in martial arts such as boxing and karate.

[0162] Specifically, the flying robot 100 used as a fighting simulator flies to guide users to locations suitable for striking in combat sports such as boxing, karate, etc. In this case, users can practice (so-called sparring) in a manner that mimics a real fight or a match by striking at the flying robot 100.

[0163] During sparring, the timing of striking may be guided by turning on or blinking an LED light, adjusting the color of the light, or outputting a sound. Specifically, during sparring, for example, the location to strike with the hand (fist) may be guided by making the LED light glow red, and the location to strike (kick) with the foot may be guided by making the LED light glow green. Also, during sparring, information about the movements of famous athletes may be obtained via the network N, and flying movements that imitate the movements of famous athletes may be performed based on that information.

[0164] Furthermore, the flying robot 100 can be used as a flying conductor that conducts a performance in an orchestra, a brass band, or the like. Specifically, the flying robot 100 used as a flying conductor performs flying movements that mimic the movement of the tip of a conductor's baton. Furthermore, when parts change during a performance, the flying robot 100 may fly near the corresponding part (instrument). This allows reliable support for the performance of each part.

[0165] Furthermore, the flying robot 100 can be used as a flying performer in karaoke, for example, by joining in with the progression of music or flying along as if dancing to the music. The flying robot 100 used as a flying performer may further output the music being played in karaoke from the speaker 204. This allows users to enjoy karaoke anywhere, even in places where it is difficult to secure a power source, such as outdoors.

[0166] As described above, the flying robot 100 of an embodiment of the present invention is characterized by comprising a drone (unmanned aerial vehicle) 101 that flies by automatic control and a camera 103 mounted on the drone 101, and recognizing a specific user 600 based on an image captured by the camera 103 and flying around the specific user 600.

[0167] The flying robot 100 of the first embodiment of the present invention flies automatically around the specific user 600 recognized based on the image captured by the camera 103, and can recognize the specific user 600 as its owner and request communication with the owner, similar to the behavior of a pet animal. This can soothe the mind of the specific user 600 and give the specific user 600 a sense of fulfillment.

[0168] Furthermore, the flying robot 100 can be kept clean, eliminating hygiene issues compared to keeping animals as pets. Furthermore, the flying robot 100 does not cause problems with animal allergies, allowing the user 600 to experience communication with a pet regardless of their physical constitution.

[0169] Furthermore, the flying robot 100 does not pose any hygiene or animal allergy problems, and since it flies in the air, bacteria, viruses, dirt, etc. do not adhere to it from the floor, etc., so it can be used in places such as hospitals and nursing homes, which can be expected to have a therapeutic effect on users of hospitals and nursing homes.

[0170] The flying robot 100 according to the first embodiment of the present invention is characterized in that it recognizes, as a specific user 600, a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more.

[0171] The flying robot 100 of the first embodiment of the present invention can fly automatically around a specific user 600 who has had the opportunity to interact with the flying robot 100, and can perform movements similar to those of a pet, which becomes accustomed to the user through such interaction. This can keep the specific user 600 interested in the flying robot for a long period of time, provide comfort to the specific user 600, and give the specific user 600 a sense of satisfaction.

[0172] The flying robot 100 according to the first embodiment of the present invention is characterized in that it recognizes a person photographed by the camera 103 within a specific range as a specific user 600.

[0173] The flying robot 100 according to the first embodiment of the present invention can fly automatically around a specific user 600 who is likely to be photographed by a camera because they are likely to be within a specific range, such as a home, a school, or a store. This allows the flying robot 100 to mimic the behavior of a pet, becoming accustomed to the specific user 600 who has interacted with the specific user 600 within the specific range. This can make the specific user 600 develop an interest in, a sense of closeness to, and an attachment to the flying robot 100 over a long period of time, providing comfort to the specific user 600 and giving the specific user 600 a sense of satisfaction.

[0174] A flying robot 100 that behaves in this manner behaves differently, for example, for a specific user 600 who has had the opportunity to interact with the flying robot 100 at home and for a friend of the specific user 600 who has had the opportunity to interact with the flying robot 100 outside the home, making it easier for the specific user 600 to feel a sense of affinity and attachment to the flying robot, more reliably soothing the heart of the specific user 600 and giving the specific user 600 a sense of satisfaction.

[0175] Furthermore, the flying robot 100 of embodiment 1 of the present invention is characterized in that, while flying around the specific user, if at least a part of the specific user approaches the unmanned aerial vehicle, the flying robot 100 flies away from the specific user.

[0176] According to the flying robot 100 of the first embodiment of the present invention, it is possible to make the flying robot 100 perform the behavior of "checking on the owner's behavior," which is often seen in indoor dogs and cats, such as "approaching the owner (specific user 600) but wanting to avoid being touched," and it is possible to give the impression that the flying robot 100 is a living creature with its own will.

[0177] Furthermore, the flying robot 100 of embodiment 1 of the present invention is characterized in that, while flying around the specific user, if the specific user does not visually see the unmanned aerial vehicle, it flies in such a way as to approach the specific user.

[0178] According to the flying robot 100 of the first embodiment of the present invention, it is possible to make the flying robot 100 perform an affectionate behavior that is often seen in pets that like to be pampered, such as "I'm going to mess with my owner (specific user 600) because he won't pay attention to me," and it is possible to give the impression that the flying robot 100 is a living creature with its own will.

[0179] The flying robot 100 according to the first embodiment of the present invention is characterized in that it flies around the specific user a predetermined number of times, and then flies away from the specific user.

[0180] According to the flying robot 100 of the first embodiment of the present invention, the flying robot 100 can be made to perform the behavior of "coming to check on the owner's behavior," which is commonly seen in indoor dogs and cats, and it is possible to give the impression that the flying robot 100 is a living creature with its own will.

[0181] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that it has a communication I / F 208 mounted on the drone 101, and when it acquires specified information via the communication I / F 208, it flies around a specific user 600.

[0182] According to the flying robot 100 of the first embodiment of the present invention, when predetermined information is acquired via the communication I / F 208, the flying robot 100 can fly around a specific user 600 under automatic control, thereby transmitting useful information to the specific user 600 even without the specific user 600 being aware of it.

[0183] Furthermore, according to the flying robot 100 of the first embodiment of the present invention, by communicating with another flying robot 100 via the communication I / F 208, it is possible to share information obtained by learning of the other flying robot 100, thereby making it possible to make the flying robot 100 behave in a manner that is more in line with the preferences of a particular user 600.

[0184] Furthermore, the flying robot 100 of the first embodiment of the present invention is characterized in that when notification information output from a specific terminal device is acquired via the communication I / F 208, the flying robot 100 flies around a specific user 600.

[0185] According to the flying robot 100 of the first embodiment of the present invention, for example, a smartphone owned by a specific user 600 is set as a specific terminal device, and when notification information output to the flying robot 100 is received from the smartphone that has received a call, the flying robot 100 flies around the specific user 600 by automatic control, so that even if the user does not carry the smartphone with them at all times or even if the smartphone is set to silent mode, the flying robot 100 can quickly know that a notification has been received on the smartphone.

[0186] Furthermore, the flying robot 100 of the first embodiment of the present invention is characterized in that, for example, when it acquires information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather change occurring within a predetermined time from the present time, it flies around a specific user 600.

[0187] According to the flying robot 100 of the first embodiment of the present invention, a specific user 600 can quickly learn about the possibility of a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change occurring within a predetermined time from the present time, without consciously collecting information, thereby allowing the user to live with peace of mind.

[0188] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized by having a speaker 204 mounted on the drone 101, outputting sound from the speaker 204 toward a specific user 600, and flying around the specific user 600.

[0189] The flying robot 100 according to the first embodiment of the present invention can fly around the specific user 600 by automatic control while outputting sound from the speaker 204, thereby imitating the behavior of a pet, emitting sounds similar to meowing and requesting communication with the specific user 600, as if the specific user 600 were its owner. This can more reliably attract the attention of the specific user 600, soothe the specific user 600, and give the specific user 600 a sense of fulfillment.

[0190] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized by having a microphone 203 mounted on the drone 101, and flying around a specific user 600 when a predetermined sound is picked up by the microphone 203.

[0191] According to the flying robot 100 of the first embodiment of the present invention, when a specific sound such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or a ringtone on a smartphone is picked up, the flying robot 100 can fly around the specific user 600 under automatic control, and can respond to communication with the specific user 600 or notify the specific user 600 of a visit from a third party or an incoming call on the smartphone in response to the specific sound.

[0192] Furthermore, when the flying robot 100 of the first embodiment of the present invention picks up the voice of a specific user 600, it flies around the specific user 600 under automatic control, making the specific user 600 feel that "the robot came when I called it," making the specific user 600 happy and allowing the user to experience communication with a pet.

[0193] This not only soothes the mind of the specific user 600, but also makes it possible to transmit necessary information in necessary situations to the specific user 600. In particular, by transmitting necessary information to a hearing-impaired user in necessary situations, it is possible to support the user's life more easily and inexpensively than in the case of receiving assistance from a hearing dog, which is difficult to obtain and burdensome to raise.

[0194] In addition, the flying robot 100 of embodiment 1 of the present invention is characterized in that it is equipped with a speaker 204 mounted on the drone 101, and when a predetermined sound is collected by the microphone 203, it outputs the sound from the speaker 204 toward a specific user 600 and flies around the specific user 600.

[0195] According to the flying robot 100 of the first embodiment of the present invention, when a predetermined sound such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, or a ringtone on a smartphone is picked up, the flying robot 100 can fly around the specific user 600 by automatic control and output sound from the speaker 204, thereby imitating the behavior of a pet, requesting communication with the specific user 600 by making sounds similar to meowing, as if the specific user 600 were its owner, or can notify the specific user 600 of the arrival of a third party or an incoming call on their smartphone, even if the specific user 600 is unaware of the sound of the doorbell or the incoming call on their smartphone.

[0196] This makes it possible to more reliably attract the attention of the specific user 600, soothe the mind of the specific user 600, give the specific user 600 a sense of fulfillment, and transmit necessary information to the specific user 600 in a necessary situation, thereby further enriching the psychological state and life of the specific user 600.

[0197] Furthermore, the flying robot 100 according to the first embodiment of the present invention is characterized in that the sound output from the speaker 204 is a sound that imitates the cry of an animal.

[0198] The flying robot 100 according to the first embodiment of the present invention can reliably attract the attention of the specific user 600 by outputting sounds that imitate animal cries. This makes the specific user 600 feel as if he or she is communicating with a pet, soothes the mind of the specific user 600, and gives the specific user 600 a sense of fulfillment.

[0199] Moreover, the flying robot 100 according to the first embodiment of the present invention is characterized in that the predetermined voice is the voice of the specific user 600 .

[0200] According to the flying robot 100 of the first embodiment of the present invention, when the voice of the specific user 600 is collected by the microphone 203, the flying robot 100 flies around the specific user 600 by automatic control. This makes it appear as if the flying robot has come in response to the specific user 600's call, soothing the specific user 600 and giving the specific user 600 a sense of fulfillment. Furthermore, since the flying robot 100 does not respond to calls from anyone other than the specific user 600, the flying robot 100 can develop a sense of affinity and attachment to the specific user 600 and give the specific user a sense of fulfillment.

[0201] As described above, the flying robot 100 of the first embodiment of the present invention moves autonomously like a pet, is primarily designed to be loved by people, and communicates with a specific user by mimicking natural movements of a pet, thereby reducing the stress of the specific user and providing comfort to the user. This can, for example, alleviate the loneliness and isolation felt by people living alone or elderly people, and contribute to a more fulfilling and peaceful life.

[0202] <Embodiment 2> Next, an example of a flying robot according to a second embodiment of the present invention will be described. The flying robot according to the second embodiment operates to achieve a specific purpose. Specifically, the flying robot according to the second embodiment operates to achieve a purpose similar to that of a so-called hearing dog, which is to recognize a person with a hearing impairment as a specific user, notify the specific user of sounds necessary in the user's life, and guide the specific user to the source of the sound.

[0203] Hearing dogs have a shorter history than guide dogs, and the current situation is that there are far fewer hearing dogs compared to the number of people with hearing impairments. In addition, the training period for a hearing dog before it can be loaned to a hearing-impaired person is at least one year and eight months, and the training costs for a hearing dog are said to be around one million yen. Due to these circumstances, the current situation is that hearing dogs are not widely available to people with hearing impairments.

[0204] In light of this current situation, the flying robot of embodiment 2 aims to increase the motivation for independence and sense of security in daily life of people with hearing impairments who are unable to borrow hearing dogs.

[0205] (An example of the appearance of a flying robot) 7 is an explanatory diagram showing an example of the appearance of an airborne robot according to a second embodiment of the present invention. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 7, the airborne robot 700 includes a camera 103 and a projector 701 mounted on a drone 101.

[0206] Projector 701 includes a projector light source, an optical system, a projection lens, and the like (all of which are not shown). Projector 701 guides light emitted from the projector light source along a predetermined path using the optical system and projects the light outside projector 701 via projection lens 701a, thereby projecting an image at the location where the light is irradiated. The optical system includes an integrator lens that improves the uniformity of the illuminance of the light emitted from the projector light source, a polarization conversion element that converts (polarizes) light emitted from a non-polarized light source into a predetermined polarization direction, a dichroic mirror that separates the light from projector 701 into the three primary colors of R, G, and B, a liquid crystal panel that displays an image corresponding to the light of each color of R, G, and B, and a dichroic prism that combines the images of each color displayed by each liquid crystal panel (all of which are not shown).

[0207] As the projector 701, for example, a laser projector that uses a laser as the projector light source can be used. By using a laser projector, it is possible to reduce the size of the projector 701. Specifically, a laser projector can suppress heat generation to a lower level than a mercury lamp projector that uses a mercury lamp as the projector light source, and therefore it is possible to reduce the size and weight by eliminating mechanisms such as a cooling fan.

[0208] Furthermore, by using a laser projector, it is possible to quickly start up and start projecting an image, and by using a laser projector, it is possible to achieve higher brightness of the projected image while reducing power consumption compared to a mercury lamp projector.

[0209] Mercury lamp projectors are recommended to be used with the projection (optical axis) direction horizontal, which limits the degree of freedom in projection direction, whereas laser projectors can be used with the optical axis tilted from the horizontal.This allows laser projectors to have a high degree of freedom in projection direction, and they can project images not only onto walls but also onto the ground and floor.

[0210] The projector 701 is fixed to the drone 101 and moves as the drone 101 moves (flies). The projector 701 may be connected to the drone 101 in a state where its attitude can be adjusted. Specifically, for example, the projector 701 can be connected to the bottom of the drone 101 via a universal joint such as a ball joint. By connecting the projector 701 to the drone 101 via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the projector 701 can be ensured.

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

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

[0213] As described above, projector 701 guides light emitted from a projector light source along a predetermined path using an optical system and projects the light outside projector 701 via projection lens 701a, thereby projecting an image at the location where the light is irradiated. Projector 701 may adjust the image quality of the projected image by adjusting the intensity of light emitted from the projector light source according to the distance from the location where the image is to be projected. The distance between projector 701 and the location where the image is to be projected can be determined using, for example, a distance sensor. The distance sensor can be any of various known sensors, such as a laser distance sensor, an ultrasonic sensor, or an infrared sensor.

[0214] (Functional configuration of flying robot 700) Next, we will explain the functional configuration of the flying robot 700. Similar to the flying robot 100 described above, the functions of the flying robot 700 of the second embodiment are realized by a memory unit 301, a detection unit 302, an image capture unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307.

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

[0216] The predetermined sound may be, for example, a ringtone that notifies a telephone (landline, smartphone, etc.) that at least one of a call and an email is coming in. The predetermined sound may also be, for example, a ringtone of a doorbell installed at the entrance of a building or site so that a visitor to the building or site can call a resident or manager of the building or site.

[0217] The predetermined sound may be, for example, a sound with a sound pressure equal to or greater than a predetermined threshold. Specifically, the predetermined sound may be, for example, a sound output at a high volume for the purpose of informing an unspecified number of people, such as an alarm sound or siren. More specifically, the predetermined sound may be, for example, a sound with a sound pressure level of 70 dB or greater.

[0218] The predetermined sound may be, for example, a sound emitted within a predetermined range from the specific user 600. Specifically, the predetermined sound may be a sound emitted by an alarm clock, a kitchen timer, a smartphone, or another device whose positional relationship with the specific user 600 may change frequently. Furthermore, the predetermined sound may be the sound of a boiling kettle, a gas leak detection buzzer, an alarm that notifies that the refrigerator door has been left open or has been left ajar, or the like.

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

[0220] When a predetermined sound is collected by the microphone 203, the control unit 307 causes the drone 101 to fly so as to guide the specific user 600 to the source of the sound. When a predetermined sound is collected by the microphone 203, the control unit 307 causes the drone 101 to fly, for example, between the vicinity of the recognized specific user 600 and the source of the predetermined sound. More specifically, for example, the drone 101 repeatedly flies around the specific user 600 to attract the attention of the specific user 600, and then flies to the source of the sound.

[0221] In response to a predetermined sound, the control unit 307 may fly the drone 101 in a flight pattern corresponding to the predetermined sound. Specifically, for example, when there is an incoming phone call, the control unit 307 may fly the drone 101 in a zigzag pattern in front of a specific user 600. Furthermore, specifically, for example, when the doorbell rings, the control unit 307 may fly the drone 101 around the specific user 600 and then to the source of the sound (the front door).

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

[0223] Specifically, for example, when there is an incoming call, an image of a telephone is projected. Also, specifically, for example, when the doorbell rings, an image of the entrance or gate or an image representing a visitor is projected. If a child is crying, an image of the crying child may be projected. Image data of the image to be projected can be obtained, for example, from the network N via the communication I / F 208.

[0224] The projected image may be an image captured by the camera 103. In this case, for example, each time the flying robot 700 detects that a predetermined sound is being emitted, it captures an image of the source of the predetermined sound and projects the captured image. In this way, by projecting an image of an actual object, it is possible to ensure that the specific user 600 understands the source of the sound. This also makes it possible to project an appropriate image without having to store multiple image data.

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

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

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

[0228] (An example of a processing procedure for the flying robot 700) Next, an example of a processing procedure of the flying robot 700 will be described. Fig. 9 is a flowchart showing an example of a processing procedure of the flying robot 700 according to the second embodiment of the present invention. In the flowchart of Fig. 9, first, sound is acquired via the microphone 203 (step S901), and the acquired sound is analyzed (step S902). In step S902, data indicating the feature quantities of the sound, such as the intensity (loudness) of the acquired sound, frequency, and intervals between sounds, is generated.

[0229] Next, based on the analysis result in step S902, it is determined whether the acquired voice is the predetermined voice (step S903). In step S903, if the acquired voice is not the predetermined voice (step S903: No), the process proceeds to step S901 and the voice is acquired.

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

[0231] Next, it is determined whether a specific user 600 has been detected based on images captured by the camera 103 during flight (step S905). The specific user 600 detected in step S905 may be, for example, a person who has been photographed by the photographing unit 303 for a predetermined period of time or a predetermined number of times, as described above, or a person whose features (image, voice, etc.) have been stored in memory in advance. By setting the person whose features have been stored in memory in advance as the specific user 600, the person can be recognized as the specific user 600 immediately after starting to use the flying robot 700.

[0232] In step S905, flight continues until a specific user 600 is detected (step S503: No) according to the remaining charge of the battery 201. If the remaining charge of the battery 201 drops to a threshold that allows the drone to return to the charging spot 400 without detecting a specific user 600, return processing is performed.

[0233] In step S905, if a specific user 600 is detected (step S905: Yes), execution of a predetermined process is started (step S906). In step S906, for example, the robot repeatedly flies around the specific user 600 to attract the attention of the specific user 600 and moves back and forth between the specific user 600 and the source of the sound. Also, in step S906, for example, the projector 701 may project text indicating that sound is being generated, the source of the sound, or the content (event) related to the generated sound.

[0234] The process in step S906 is continued until the specific user 600 notices the source (cause) of the sound (step S907: No). Alternatively, the process in step S906 may be performed to the extent that the flying robot 700 can return to the charging spot 400, depending on the remaining amount of the battery 201. Specifically, for example, when the remaining amount of the battery 201 drops to a threshold that allows the flying robot 700 to return to the charging spot 400 without the specific user 600 noticing the sound source, the return process is performed.

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

[0236] As described above, the flying robot 700 of the second embodiment of the present invention comprises a drone 101 that flies by automatic control, a camera 103 mounted on the drone 101, and a microphone 203 mounted on the drone 101, and is characterized in that it recognizes a specific user 600 based on an image taken by the camera 103, and when a specific sound is collected by the microphone 203, it flies around the recognized specific user 600 in accordance with the specific sound.

[0237] According to the flying robot 700 of the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the flying robot 700 can visually inform the specific user 600 that the predetermined sound is being heard by flying around the specific user 600 recognized based on the image captured by the camera 103. This makes it possible to reliably inform the specific user 600 that the predetermined sound is being heard, even if the specific user 600 has a hearing impairment.

[0238] This eliminates the difficulty of understanding one's surroundings due to hearing impairment, and alleviates the fatigue and stress that comes from constantly being alert to understand one's surroundings.Furthermore, because one can easily understand one's surroundings without being particularly conscious, it reduces the fear of life caused by being unable to hear sounds, and increases motivation for independence and a sense of security in life.

[0239] Furthermore, the flying robot 700 of the second embodiment of the present invention is characterized in that it flies around a recognized specific user 600 in a flight pattern corresponding to a predetermined sound in response to the predetermined sound.

[0240] According to the flying robot 700 of the second embodiment of the present invention, the type and content of the sound can be visually notified depending on the flight mode. As a result, even if a specific user 600 has a hearing impairment, the specific user 600 can be notified that a specific sound is being generated and the type and content of the sound can be quickly and in detail notified. This can improve the convenience of the life of the specific user 600 who has a visual impairment.

[0241] Furthermore, the flying robot 700 of the second embodiment of the present invention is characterized in that it includes a projector 701 mounted on the drone 101, and when a predetermined sound is collected by the microphone 203, an image corresponding to the predetermined sound is projected from the projector 701 in front of the recognized specific user 600.

[0242] According to the flying robot 700 of the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the flying robot 700 flies around the specific user 600 recognized based on the image captured by the camera 103, and projects an image corresponding to the predetermined sound from the projector 701 in front of the specific user 600, thereby visually informing the specific user 600 that the predetermined sound is being heard by the operation of the flying robot 700 and the image. This makes it possible to reliably and clearly inform the specific user 600 that the predetermined sound is being heard, even if the specific user 600 has a hearing impairment.

[0243] Furthermore, the flying robot 700 of the second embodiment of the present invention is characterized in that when a predetermined sound is collected by the microphone 203, characters corresponding to the predetermined sound are projected from the projector 701 in front of the recognized specific user 600.

[0244] According to the flying robot 700 of the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the flying robot 700 flies around the specific user 600 recognized based on the image captured by the camera 103, and projects text corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600, thereby visually informing the specific user 600 that the predetermined sound is being heard by the movement of the flying robot 700 and the text. This makes it possible to reliably and clearly communicate to the specific user 600 that the predetermined sound is being heard, even if the specific user 600 has a hearing impairment.

[0245] The flying robot control method described in this embodiment can be realized by executing a prepared program on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, or SSD, and is executed by being read from the recording medium by the computer. This program may also be a transmission medium that can be distributed via a network such as the Internet. [Industrial Applicability]

[0246] As described above, the flying robot, flying robot control program, and flying robot control method of the present invention are useful for users looking for a pet robot, and are particularly suitable for users who want to easily raise one. [Explanation of symbols]

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

Claims

[Claim 1] A flying pet robot for companionship that flies in the air and moves in a way that mimics the movements of a pet, An unmanned aerial vehicle that flies by autopilot, a camera mounted on the unmanned aerial vehicle; Equipped with Recognizing a specific user based on an image captured by the camera and flying around the specific user; A flying pet robot characterized in that, when flying around the specific user, if the specific user does not visually see the unmanned aerial vehicle, the flying pet robot flies close to the specific user, and if at least a part of the specific user's body approaches the unmanned aerial vehicle, the flying pet robot flies away from the specific user, thereby avoiding the specific user coming into contact with the unmanned aerial vehicle.

Images