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

Abstract

To implement a falconer game in which users use flying robots to compete in technique of falconer's putting a hawk on his or her body.SOLUTION: When a flying robot (named as "DROTAKAJO") 101 comprising an unmanned aircraft (drone) flying by automatic steering and a camera mounted on the unmanned aircraft is thrown up in the air by a user 601, the flying robot 101 starts flying and the camera starts capturing. When the user 601 taking a specific posture is recognized on the basis of an image captured by the camera, the flying robot 101 flies toward the user 601 at a speed higher than that at which it was thrown up, and is put on the body of the user 601. Thus, the user 601 can enjoy a falconer game of putting the flying robot 101 on his or her body. In addition, it is possible that the flying robot 101 is used to give the user 601 a feeling as if a hawk has a will to fly toward the user.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] This invention relates to a flying robot that can assist in enjoyable and casual exercise, a control program for the flying robot, and a control method for the flying robot.

Background Art

[0002] In recent years, games using electronic devices such as smartphones, tablets, game consoles, and personal computers have become widespread. Electronic devices used in games are also widely popular among users belonging to the so-called younger generation, such as children and students. In such games using electronic devices, for example, there are various technologies aimed at improving user convenience.

[0003] Specifically, conventionally, for example, it has been possible to change the method of proceeding with a battle between a manual mode and an auto mode according to the user's past battle experience, and while maintaining the playfulness of the battle in the battle in the manual mode, there has been a technology for reducing the complexity of user operations in the battle in the auto mode (for example, see Patent Document 1 below).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, games played on electronic devices generally involve minimal physical movement, resulting in low health-promoting effects. Furthermore, for users of such games who belong to the young age group whose physical and mental development is still in progress, spending time without physical activity is undesirable from the perspective of physical development and health promotion.

[0006] Furthermore, with an eye on a long-lived society, exercise aimed at promoting health and extending healthy life expectancy is recommended for adults as well. However, for adults, exercise often involves making a conscious effort to exercise, such as going to the gym in sportswear or going for a run, and there are few opportunities to casually move their bodies in their daily lives.

[0007] Furthermore, exercise undertaken by adults for health promotion is often difficult to sustain when done alone, as maintaining motivation for regular exercise is challenging. When done with multiple people, coordinating everyone's schedules is difficult, resulting in a lack of full achievement of the goals.

[0008] This invention aims to provide a flying robot that can support enjoyable and easy exercise, in order to solve the problems of the prior art described above. [Means for solving the problem]

[0009] To solve the above-mentioned problems and achieve the objective, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by autopilot and a camera mounted on the unmanned aerial vehicle, and is characterized in that, when a user is recognized based on an image taken by the camera, it attaches itself to the user's body.

[0010] Furthermore, the flying robot according to this invention detects the trigger for starting in the above invention. The system is equipped with a detection means, and when the detection means detects the trigger for the start, it starts taking pictures with the camera.

[0011] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the detection means detects that the flying robot has been thrown into the air as the trigger for starting.

[0012] Furthermore, the flying robot according to this invention is characterized in that the detection means includes an inertial sensor.

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

[0014] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it starts flying when the start trigger is detected by the detection means.

[0015] Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a microphone mounted on the unmanned aerial vehicle, and the direction of the source of a predetermined sound collected by the microphone is photographed by the camera.

[0016] Furthermore, the control program for the flying robot according to this invention is characterized in that the computer of the flying robot, which is equipped with a camera and is an unmanned aerial vehicle that flies by autopilot, causes the camera to take pictures, and if a user is recognized based on the image taken by the camera, it causes the flying robot to attach itself to the user's body.

[0017] Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, it detects a start trigger, and when the start trigger is detected, it starts taking pictures with the camera.

[0018] Also, the control program for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is caused to detect that it has been thrown into the air as the trigger for starting.

[0019] Also, the control program for the flying robot according to this invention is characterized in that, in the above invention, based on the output signal of the inertial sensor, the flying robot is caused to detect that it has been thrown into the air as the trigger for starting.

[0020] Also, the control program for the flying robot according to this invention is characterized in that, in the above invention, based on the output signal of at least one of the acceleration sensor and the angle sensor, the flying robot is caused to detect that it has been thrown into the air as the trigger for starting.

[0021] Also, the control program for the flying robot according to this invention is characterized in that, in the above invention, when the trigger for starting is detected, the flying of the flying robot is started.

[0022] Also, the control method for the flying robot according to this invention is characterized in that, in the above invention, a flying robot equipped with an unmanned aircraft equipped with a camera and flying by automatic control is caused to perform shooting by the camera, and when a user is recognized based on the image captured by the camera, the user is made to wear it on the body.

[0023] [[ID=二十]]Also, the control method for the flying robot according to this invention is characterized in that, in the above invention, a trigger for starting is detected, and when the trigger for starting is detected, shooting by the camera is started.

[0024] Also, the control method for the flying robot according to this invention is characterized in that, in the above invention, the flying robot is caused to detect that it has been thrown into the air as the trigger for starting.

[0025] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the system detects that the flying robot has been thrown into the air based on the output signal of the inertial sensor, and uses this as a trigger for starting.

[0026] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the system detects that the flying robot has been thrown into the air as a trigger for starting, based on the output signal of at least one of the acceleration sensor and the angle sensor.

[0027] Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, when the trigger for starting is detected, the flying robot starts flying. [Effects of the Invention]

[0028] The flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of supporting enjoyable and easy exercise. [Brief explanation of the drawing]

[0029] [Figure 1] This is an explanatory diagram showing an example of the external appearance of a flying robot according to an embodiment of this invention. [Figure 2] This is an explanatory diagram showing an example of a falconer's posture. [Figure 3] This is an explanatory diagram showing an example of the hardware configuration of a flying robot. [Figure 4] This is an explanatory diagram showing the functional configuration of the flying robot according to this invention. [Figure 5] This flowchart shows the processing procedure for a flying robot. [Figure 6] This is an explanatory diagram (part 1) showing the outline of a falconry game using flying robots. [Figure 7] This is an explanatory diagram (part 2) showing the outline of a falconry game using flying robots. [Figure 8]This is an explanatory diagram (part 3) showing the outline of a falconry game using flying robots. [Modes for carrying out the invention]

[0030] Preferred embodiments of the flying robot, control program for the flying robot, and control method for the flying robot according to the present invention will be described in detail below with reference to the attached drawings.

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

[0032] Specifically, a drone can employ, for example, a quadcopter with four propellers. However, drones are not limited to quadcopters; they can also employ various types of multirotors, such as hexacopters with six propellers or octocopters with eight propellers.

[0033] The flying robot 101 can be shaped like a bird, such as a hawk, as shown in Figure 1. Specifically, the flying robot 101 is equipped with a head with a beak, and components 105 that mimic the wings and tail of a bird. However, the flying robot 101 is not limited to the shape of a bird, such as a hawk. The flying robot 101 is not limited to birds and mammals that exist in modern times, but may also be shaped like extinct animals such as dinosaurs, mythical creatures such as dragons and unicorns, or insects, and may be equipped with components 105 that correspond to characteristic parts of birds and mammals, such as tails, ears, feet (legs, limbs), horns, fangs, and whiskers, in addition to beaks, heads, wings, and tails.

[0034] The components 105, which correspond to characteristic parts of birds and mammals, may each be movable. Specifically, for example, components such as the beak, head, wings, and tail may be moved independently by motors, gear trains, or linkage mechanisms. This allows the flying robot 101 to mimic actions such as wagging its tail or moving its ears.

[0035] Furthermore, the flying robot 101 is equipped with a camera 103. The camera 103 can be implemented, for example, by a general-purpose digital camera. As shown in Figure 1, in the case of a flying robot 101 that mimics the shape of a bird such as a hawk, the lens of the camera 103 can be placed, for example, in the part corresponding to the eye. Alternatively, the camera 103 may be placed on the underside (ventral side) of the drone's housing.

[0036] The flying robot 101 uses camera 103 to capture images of its surroundings. Based on the images captured by camera 103, the flying robot 101 recognizes a user. The user can be, for example, a person in a specific posture. This specific posture can be, for example, as shown in Figure 2, a static posture in which the arms are clenched into fists, bent at the elbows, and extended forward of the torso at shoulder height, similar to the posture adopted by a falconer 201 when calling a bird of prey such as a hawk 202.

[0037] The period of stillness may be longer than a specified time, such as one second, or it may be instantaneous. The outstretched arm may be either the right arm or the left arm. Furthermore, only a person with their right arm extended may be recognized as a user, or only a person with their left arm extended may be recognized as a user.

[0038] Similarly, a specific posture may be, for example, a static posture in which the arms are clenched and extended forward of the torso, such as when a falconer calls a bird of prey such as a hawk. Similarly, a specific posture may be, for example, a static posture in which the arms are clenched and extended to the sides of the torso at shoulder height, such as when a falconer calls a bird of prey such as a hawk.

[0039] The designated posture may be a single, pre-set posture, or it may be multiple postures. In a flying robot 101 where multiple postures are set as the designated posture, a person who assumes any of the multiple postures is recognized as the user.

[0040] Furthermore, a specific posture may be defined as a series of postures (a series of actions) taken by the same person in succession. Specifically, for example, a specific posture may be defined as a series of actions such as waving both hands above the head towards the flying robot 101, and then holding the clenched fists with the elbows bent, extending them forward at shoulder height, and remaining still.

[0041] In this way, by setting a specific posture to a series of actions, when the flying robot 101 is being charged indoors, the flying robot 101 may react to an action taken by the user by chance, and the flying robot 101 may inadvertently start flying when the user does not intend to play with it. This allows for safe play by avoiding the risk of accidents.

[0042] In the case of a specific posture in which multiple postures are taken in succession, the multiple postures may be taken in a predetermined order, or in any order. Specifically, for example, a person who performs a series of actions in front of the flying robot 101, such as waving both hands above their head, then holding their clenched fists with their elbows bent, extending them forward at shoulder height, and remaining still, may be recognized as a user. Alternatively, for example, a person who performs a series of actions in front of the flying robot 101, such as waving both hands above their head, then waving one hand midway through, and then holding their clenched fists with their elbows bent, extending them forward at shoulder height, and remaining still, may be recognized as a user.

[0043] The user may be a specific person in a specific posture. The specific person may be, for example, a person who has been photographed by camera 103 for a predetermined amount of time or a predetermined number of times, that is, a person who has had a reasonable opportunity to interact with the flying robot 101 in advance. In this case, the specific person may be a person who has been photographed for a predetermined amount of time or a predetermined number of times going back in time without limit, or a person who has been photographed for a predetermined amount of time or a predetermined number of times within a predetermined period from the present time. Information about the specific person is stored in the memory of the flying robot 101 (see Figure 3).

[0044] Furthermore, a specific person may be, for example, a person who is photographed in conjunction with a predetermined input operation. Specifically, for example, a person who is photographed when an input operation for taking a picture with camera 103 is performed can be considered a specific person. Alternatively, specifically, for example, a person who appears in a photograph transmitted from a terminal device such as a smartphone can be considered a specific person.

[0045] Furthermore, a specific person may be defined as a person who, in the past or up to a predetermined period prior to the present, has been photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range. The specific range is a range set by the user and can be, for example, an area within a predetermined range centered on a place the user has set as their home. Alternatively, the specific range may be, for example, a school premises or inside a store. Whether or not the shooting location is within the specific range can be determined, for example, using a GPS (Global Positioning System) sensor (see Figure 3) equipped on the flying robot 101.

[0046] A specific person may be one person or multiple people. The number of specific people may be limited to a predetermined number or may be unlimited. By limiting the number of specific people to a predetermined number, the amount of memory required to store information about those people can be reduced.

[0047] In an operation that limits the number of specific individuals to a predetermined number by defining a specific individual as someone who has been photographed by camera 103 for a predetermined amount of time or a predetermined number of times within a specific range between the present time and a predetermined period prior, even if the flying robot 101 is transferred from a previously stored specific individual to another individual, the person who has had a corresponding opportunity to interact with the flying robot 101 in the most recent time can be designated as the specific individual.

[0048] Camera 103 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., it is possible to capture images even at night or in dimly lit rooms. It can recognize the laser with high accuracy.

[0049] The flying robot 101 may have one camera 103 or multiple cameras 103. In a flying robot 101 equipped with multiple cameras 103, it is not limited to one type of camera 103, but may be equipped with multiple different types of cameras 103. As shown in Figure 1, in a flying robot 101 with an animal-like shape, for example, the lenses of the cameras 103 may be placed in the parts corresponding to the eyes.

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

[0051] Furthermore, the flying robot 101 may be equipped with a drive mechanism to change the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 103 relative to the drone adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 101, regardless of the drone's attitude. The camera 103 may also be equipped with a zoom function.

[0052] The flying robot 101 may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology that receives power to a battery (see Figure 3) without using charging contacts, and is also called contactless power supply or wireless power supply.

[0053] The power receiving coil is located inside the outer surface of the flying robot 101's casing. This prevents deterioration and failure of the power receiving coil due to water droplets such as rain and dew, or oil from hands. The flying robot 101 may also be equipped with charging contacts for charging the battery, either in place of or in addition to the power receiving coil.

[0054] Furthermore, as shown in Figure 1, in the case of an animal-shaped flying robot 101, for example, an LED lamp 104 may be provided in the area corresponding to the eye. If the lens of the camera 103 is located in the area corresponding to the eyeball, the LED lamp 104 may be provided so as to surround the lens.

[0055] The flying robot 101 may also be equipped with a solar cell (solar cell, see Figure 3) that generates electricity from ambient light such as sunlight. The solar cell is installed, for example, on the upper surface of the housing of the flying robot 101. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by providing a solar cell, the robot can be charged during flight, thus extending the flight time per charge.

[0056] The flying robot 101 may be equipped with a detachable fastening member (not shown) that can be attached to an accessory such as a belt worn by the user. The fastening member can be implemented by, for example, a hook, snap fastener, or magnet. The flying robot 101 can determine whether it is attached to or detached from the accessory by, for example, detecting the load on the fastening member.

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

[0058] Furthermore, if the accessory, such as a belt, is specifically designed for carrying the flying robot 101, a battery may be installed in the accessory. This allows for the attachment of an RFID tag to the flying robot 101, and enables the determination of whether the flying robot 101 is secured to or detached from the accessory using the accessory's battery, without consuming the flying robot 101's own battery. In this case, the flying robot 101 can also be charged while being carried.

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

[0060] (Hardware configuration of flying robot 101) Next, the hardware configuration of the flying robot 101 will be described. Figure 3 is an explanatory diagram showing an example of the hardware configuration of the flying robot 101. As shown in Figure 3, the hardware of the flying robot 101 consists of a battery 301, a motor 302, a camera 103, a microphone 303, a speaker 304, a GPS sensor 305, an object sensor 306, a control circuit 307, an acceleration sensor 308, a communication interface 309, an LED lamp 104, a solar cell 310, and the like. The various parts 103, 104, 301-309 of the flying robot 101 are connected by a bus 300.

[0061] Battery 301 supplies power to operate the various parts of the flying robot 101. Battery 301 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. Battery 301 implemented as a secondary battery may be detachable from the drone.

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

[0063] If the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 307 also controls the operation of the motors that make up the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide area.

[0064] Camera 103 is equipped with an image sensor and captures images by having the image sensor receive light that has passed through the photographic lens. Camera 103 also outputs the captured image, that is, image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 307.

[0065] Camera 103 may capture still images or video. Video includes a series of still images captured at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)).

[0066] Microphone 303 collects sounds from the surrounding area of ​​the flying robot 101. Microphone 303 converts the sound input as analog data into an electrical signal. Specifically, microphone 303 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format.

[0067] The speaker 304 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. The speaker 304 may also have an output terminal that outputs an audio signal, and an external speaker 304 may be connected to this output terminal to generate sound.

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

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

[0070] The object sensor 306 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. Obstacles are objects that hinder the flight of the flying robot 101, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 101 is flown outdoors, all objects that hinder the flight of the flying robot 101, such as vehicles, other flying robots 101, trees, and buildings, are considered obstacles.

[0071] The object sensor 306 can be specifically implemented by non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The object sensor 306 can be implemented by at least one of the non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The flying robot 101 may be equipped with multiple types of non-contact sensors as the object sensor 306. In addition, the flying robot 101 may detect the presence or absence of obstacles within a predetermined range from the flying robot 101 based on images captured by the camera 103.

[0072] The accelerometer 308 detects gravity, vibrations, and other movements and shocks acting on the flying robot 101. For example, the accelerometer 308 can be a frequency-varying accelerometer such as a quartz accelerometer, which has low noise and high stability. Alternatively, the accelerometer may be a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer.

[0073] The solar cell 310 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In the solar cell 310, when light energy from ambient light such as sunlight is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 310, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, and the generated electricity can be extracted via wires connected to these electrodes.

[0074] The control circuit 307 drives and controls various parts of the flying robot 101. The control circuit 307 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the flying robot according to this embodiment of the invention, information about a specific person, and information pre-input by the user of the flying robot 101. Specifically, the control circuit 307 can be implemented by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

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

[0076] The memory can be implemented in various ways, such as by an IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the flying robot 101 via a card slot provided on the flying robot 101. The memory card can function as an IC card, such as an SD (Secure Digital) memory card. The memory may also function as an external USB memory device.

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

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

[0079] The IMU is a set of sensors necessary for a drone to acquire external information, and consists of, for example, an accelerometer 308, a gyroscope, a barometric pressure sensor, an ultrasonic sensor, and a magnetic compass. The GPS sensor 305 mentioned above is also included. It is included in the IMU.

[0080] The accelerometer 308 detects changes in the drone's speed. The gyroscope and accelerometer 308 allow for the calculation of changes in both the drone's tilt and its speed, enabling the drone to continue flying even when tilted.

[0081] A gyroscope sensor detects changes in the drone's angle. For example, it detects changes in the drone's angle by measuring angular velocity using the Coriolis force. A gyroscope sensor allows for stable flight of the drone.

[0082] A barometric pressure sensor detects the drone's altitude. For example, the barometric pressure sensor detects the drone's altitude by detecting changes in atmospheric pressure. By measuring the drone's altitude using the barometric pressure sensor, the drone's altitude can be maintained.

[0083] The ultrasonic sensor detects the distance from an object (such as the floor or an obstacle) located below the drone. For example, the ultrasonic sensor is mounted on the underside of the drone and uses the reflection of ultrasonic waves emitted downwards to detect the distance from an object located below the drone. This enables stable ground tracking (floor, ground, etc.) and landing of the drone. When using an ultrasonic sensor as the object sensor 306, the ultrasonic sensor may emit ultrasonic waves in all directions, and the ultrasonic sensor may function as both the object sensor 306 and as part of the IMU.

[0084] The magnetic compass sensor detects which direction (north, south, east, or west) the drone is facing. Since the flying robot 101 is affected by magnetic fields depending on the location where it flies, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location.

[0085] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of the motor 302 and outputs control signals to the ESC to control the rotation direction and speed of the propeller (propeller motor 302). The ESC controls the rotation of the motor 302 based on the control signals output from the flight controller. During the flight of the flying robot 101, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 101 and recursively outputs control signals to the motor 302.

[0086] Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. It also moves the flying robot 101 forward by, for example, controlling the propeller 102 in the direction of travel to rotate slower than the propeller 102 in the direction of travel. Furthermore, it turns the flying robot 101 to the right by, for example, controlling the propeller 102 on the right side of the direction of travel to rotate slower than the propeller 102 on the left side.

[0087] The communication interface 309 is a wireless communication interface that connects the flying robot 101 to network N via a communication line. It controls the interface between network N and the inside of the flying robot 101, and controls the input of data from and output of data to external devices connected via network N. Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

[0088] The communication interface 309 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 309 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)). Communication via the communication interface 309 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory described above may store information acquired through communication via the communication interface 309.

[0089] The LED lamps 104, located in the eye area, are controlled by the control circuit 307 and light up, turn off, or blink in conjunction with the flight movements of the flying robot 101. The LED lamps 104 may also indicate the status of the flying robot 101. Specifically, for example, they may blink in a predetermined pattern when the remaining battery charge falls below a predetermined threshold. The LED lamps 104 are not limited to one color but may emit multiple colors.

[0090] The flying robot 101 may also be equipped with input / output devices such as keys or buttons for giving input instructions to the flying robot 101, a power switch for switching the power of the flying robot 101 on and off, and LED lamps located in positions other than the eyes, although these are not shown in the figures. The input / output devices may be implemented by connection terminals to which other information processing devices can be connected.

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

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

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

[0094] The detection unit 402 may, for example, detect that it has received a predetermined input instruction to the flying robot 101 via an input / output device such as a key or button, made by the user, as a trigger for starting. Alternatively, the detection unit 402 may, for example, detect that it has been removed from the accessory based on the load applied to the fixing member, as a trigger for starting.

[0095] Furthermore, the detection unit 402 detects whether or not the flying robot 101 is in a falling state. Specifically, the detection unit 402, for example, based on the output signal from the acceleration sensor 308 The system detects whether the flying robot 101 is in a falling state. The detection unit 402 may detect whether the flying robot 101 is in a falling state based on the output signal from the gyro sensor of the control circuit 307 or the output signal from the IMU.

[0096] Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 306 shown in Figure 3. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figure 3 instead of the object sensor 306, or in addition to the object sensor 306.

[0097] The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 101 moves. By using the moving stereo method, it is possible to detect the presence or absence of obstacles within a predetermined range from the flying robot 101 using a monocular camera.

[0098] The imaging unit 403 captures images of the area surrounding the flying robot 101. Specifically, the imaging unit 403 can perform its function using, for example, the camera 103 shown in Figure 3. The storage unit 401 stores image information relating to the images captured by the imaging unit 403. In addition to the image information, the storage unit 401 may also store information relating to the location where the image was taken, associating it with the image information. Information relating to the location where the image was taken can be identified, for example, using a GPS sensor 305.

[0099] The drive unit 405 controls the flight of the flying robot 101. Specifically, the drive unit 405 can perform its functions using components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 302, and object sensor 306 in the control circuit 307 shown in Figure 3.

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

[0101] The control unit 407 makes the flying robot 101 fly by controlling the drive unit 405. For example, when the detection unit 402 detects a start trigger, the control unit 407 controls the drive unit 405 to make the flying robot 101 (drone) fly. The control unit 407 may also make the flying robot 101 fly when a preset time has arrived.

[0102] Furthermore, the control unit 407 drives the camera 103 to perform photography. For example, when the detection unit 402 detects a start trigger, the control unit 407 drives the camera 103 to start taking pictures with the camera 103. For example, the control unit 407 may drive the camera 103 to perform photography with the camera 103 while the flying robot 101 is in flight.

[0103] The control unit 407 drives and controls the camera 103 to capture omnidirectional images of the flying robot 101, for example. The control unit 407 may also capture omnidirectional images of the flying robot 101 in the horizontal direction. Depending on the flight altitude of the flying robot 101, an image of the area below the flying robot 101 may be captured. The control unit 407 may, for example, after the flying robot 101 has started flying, detect a predetermined sound such as a user's voice, and then use the camera 103 to capture an image of the direction of the source of the predetermined sound.

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

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

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

[0107] The determination of whether or not a person is a specific individual is made, for example, by determining whether the person extracted from the image taken by the image taking unit 403 is a person who has been photographed by the image taking unit 403 for a predetermined amount of time or a predetermined number of times in the past or up to a predetermined period of time from the present. If the person extracted from the image taken by the image taking unit 403 is a person who has been photographed for a predetermined amount of time or a predetermined number of times in the past or up to a predetermined period of time from the present, then it is determined that the person recognized from the image is a specific individual.

[0108] Furthermore, the determination of whether or not a person is a specific individual may be made, for example, by determining whether the person extracted from the image captured by the imaging unit 403 was photographed within a specific range in the past or within a predetermined period preceding the present. If the person extracted from the image captured by the imaging unit 403 was photographed within a specific range in the past or within a predetermined period preceding the present, then the person recognized from the image is determined to be a specific individual.

[0109] When the control unit 407 recognizes a user, it flies the flying robot 101 (drone) to land on the user's body. Specifically, for example, if it recognizes a user who is stationary with their arms extended forward, it performs a landing operation by flying the flying robot 101 (drone) to land on the user's arm. The inventor named the flying robot 101 that flies to land on the user's body "Dorotakajo." The inventor also named the flying robot 101 that recognizes a user as its owner and acts in accordance with the owner's actions "Doropet."

[0110] The "landed" state can be defined as a state in which, for example, the flying robot 101 (drone) makes contact with the user's body and then continuously stops the rotation of its propellers 102 for a predetermined landing time, preventing it from falling from the user's body. The landing time threshold for determining whether the robot is landed can be arbitrarily set, for example, to 5 seconds, 10 seconds, or 30 seconds.

[0111] The landing time, which serves as the threshold for determining whether the robot should land, may be adjusted according to the difficulty level of the physical activity using the flying robot 101 (hereinafter referred to as the "falconry game" as appropriate). Specifically, for example, the landing time can be set to be longer the higher the difficulty level of the falconry game.

[0112] Furthermore, the difficulty level of the falconry game may be set, for example, by the part of the body on which the flying robot 101 is placed. Specifically, for example, if the difficulty level of the falconry game is low, the robot may be placed on a relatively easy part of the body, such as the palm of the hand, while if the difficulty level of the falconry game is high, the robot may be placed on a more difficult part of the body, such as on the shoulder, on the elbow when the arm is extended at shoulder height with the elbow bent in a clenched fist position, or on the top of the head.

[0113] The difficulty level of the falconry game can be set, for example, by communication between a terminal device such as a smartphone with a predetermined application installed and the flying robot 101. Alternatively, the difficulty level of the falconry game may be set by receiving input operations to the flying robot 101 via an input / output device such as a key or button.

[0114] The control unit 407 may execute a predetermined process if the landing operation is successful, that is, if it is able to maintain a state in which the propeller 102 does not fall from the user's body while continuously stopping the rotation of the propeller 102 for a landing time which is the threshold for determining landing. The predetermined process can be realized, for example, by outputting a sound that imitates a bird's call from the speaker 304, or by outputting a sound such as "Landing successful!". Alternatively, the predetermined process can be realized, for example, by circling above the user's head or by flashing the LED lamp 104.

[0115] If the control unit 407 detects that the flying robot 101 is in a falling state after contact with the user's body but before the resting time has elapsed, it controls the drive unit 405 to make the flying robot 101 fly again. This prevents the flying robot 101 from falling to the ground and being damaged if the user is unable to keep the flying robot 101 on their arm for the resting time.

[0116] Furthermore, if the control unit 407 detects that the flying robot 101 is in a falling state via the detection unit 402 before the landing time has elapsed after contact with the user's body, the control unit 407 flies to a predetermined distance away from the location where the falling state was detected, and then restarts imaging with the imaging unit 403 from that predetermined distance away to recognize the user. This allows the user to resume the falconry game without having to throw the flying robot 101 again.

[0117] When recognizing a user, the control unit 407 may, for example, store information regarding the characteristics of the recognized user in the storage unit 401. Information regarding the user's characteristics may include, for example, at least one of the cumulative time that a person with those characteristics has been photographed, or the cumulative number of times that person has been photographed. Information regarding the user's characteristics may also include, for example, the cumulative time that a person determined to be a user has been photographed, and the cumulative number of times that person has been photographed.

[0118] As a result, certain individuals who had a reasonable opportunity to interact with the flying robot 101 will be able to access this information. Even when the user is not in a specific posture, the flying robot can exhibit special behavior towards a specific person, such as flying around the user or following the user. In this case, the flying robot 101 may fly at a position close enough to the specific person that the person cannot touch the flying robot 101 even if they reach out their hand. This makes it possible to simulate how the flying robot 101 becomes familiar to a person who has had a reasonable opportunity to interact with it.

[0119] Furthermore, when the battery level falls below a predetermined amount, the control unit 407 may make the flying robot 101 approach the user or fly around the user's feet, regardless of whether the user is in a specific posture. By performing such a special flight, the user can be notified that the battery level is low.

[0120] Furthermore, if a dedicated accessory exists for carrying the flying robot 101, the control unit 407 may fly the flying robot 101 so that it returns to the accessory when the battery level falls below a predetermined amount. If such an accessory includes a battery, a power supply coil, and a holder, the battery can be easily and reliably charged by flying the flying robot 101 so that it fits into the holder.

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

[0122] Specifically, the output unit 406 can, for example, light up or blink an LED lamp 104 located in the part corresponding to the eye when the flying robot 101 is flying around a specific user. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 3.

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

[0124] Furthermore, the output unit 406 may, in response to information being acquired indicating that an event that could potentially affect a specific user may occur, such as a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden weather change, output an audio message informing the user that such an event may occur when the flying robot 101 approaches the vicinity of the specific user, or it may illuminate or flash the LED lamp 104 in a specific pattern or color.

[0125] The acquisition unit 404 acquires information from outside the flying robot 101. Specifically, the acquisition unit 404 acquires images of the area around the flying robot 101, for example. In this case, the acquisition unit 404 can specifically perform its function using, for example, the camera 103 shown in Figure 3. The storage unit 401 stores at least information from the information acquired by the acquisition unit 404, specifically information about people included in the captured images, or information about the characteristics of such people.

[0126] Furthermore, the acquisition unit 404 may, for example, acquire predetermined information from an external device via a network N. In this case, the acquisition unit 404 can specifically implement its function using, for example, the communication I / F 309 shown in Figure 3.

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

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

[0129] Furthermore, the acquisition unit 404 may acquire various types of information, such as music, news, and sales information for goods that match the preferences of a particular user, as predetermined information. In this case, the acquisition unit 404 can specifically implement its function using, for example, the camera 103 and microphone 303 shown in Figure 3. Music, news, and sales information for goods that match the preferences of a particular user can be determined based on, for example, audio collected around the particular user by the microphone 303, items that the particular user frequently uses, or items that frequently come into the particular user's field of vision.

[0130] Items that frequently come into a particular user's field of vision include, for example, television programs such as movies, news, and variety shows, and hobby-related items such as gardening supplies and tableware. These can be determined based on images captured by the camera unit 403, similar to items that a particular user frequently uses. The storage unit 401 can store at least information related to a particular user's preferences from the information acquired by the acquisition unit 404.

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

[0132] Furthermore, the acquisition unit 404 may, for example, acquire information learned by another flying robot 101 as predetermined information. This allows multiple other flying robots 101 to share information obtained through the learning of a single flying robot 101, enabling the flying robots 101 to perform actions that better match the preferences of a particular user.

[0133] (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 5 is a flowchart showing the processing procedure of the flying robot 101. In the flowchart of Figure 5, first, the robot waits until a start trigger is detected (step S501: No). If a start trigger is detected in step S501 (step S501: Yes), the robot starts flying (step S502). Also, if a start trigger is detected (step S501: Yes), the camera 103 starts capturing images (step S503).

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

[0135] In step S504, if a user is recognized based on the image captured by camera 103 (step S504: Yes), the placement action on the recognized user's body is initiated (step S505). In step S505, for example, if a specific posture is defined as a static position with an arm extended forward in a clenched fist, the placement action is performed on a specific part of the person, such as the extended arm, when the person assumes that specific posture.

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

[0137] In step S506, if the device is placed on the user's body as recognized in step S504:Yes (step S506:Yes), a predetermined process is executed (step S507), and the series of processes is terminated. By executing the predetermined process in step S507 when placement is successful, the user can be given a sense of accomplishment and encouraged to play the falconry game repeatedly.

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

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

[0140] (Overview of the falconry game) Next, an overview of the falconry game using the flying robot 101 will be described. Figures 6 to 8 are explanatory diagrams showing an overview of the falconry game using the flying robot 101. As shown in Figure 6, the falconry game using the flying robot 101 is started by throwing the flying robot 101 into the air. In the falconry game, the flying robot 101 can be made to move by the action of throwing it into the air.

[0141] The flying robot 101, which is thrown into the air, takes pictures with its camera 103 and recognizes the user 601 based on the captured images. If the captured images do not include a person, or if they include a person but do not include the user 601, the flying robot 101 changes its shooting range by turning or otherwise as appropriate.

[0142] Then, upon recognizing user 601, the device flies toward user 601, as shown in Figure 7. The flight speed toward user 601 may be faster than the speed at which it was thrown. This gives user 601 the sensation that a sentient hawk is flying toward them.

[0143] In the flying robot 101, which is modeled after birds and animals, when flying towards the user 601, it flies with its head facing the user 601, that is, with its head facing forward in the direction of travel. When the flying robot 101 approaches the user 601 to a certain extent, it may position its head upwards and tilt its underside toward the user 601. This allows it to mimic the landing motion of a hawk.

[0144] User 601 maintains a specific posture, as shown in Figure 8, from the moment the flying robot 101 makes contact with a predetermined part of their body, such as their elbow, until the settling time has elapsed, that is, until the flying robot 101 settles on the predetermined part. As a result, User 601 needs to continuously maintain a specific posture while the flying robot 101 is flying towards User 601, and from the moment the flying robot 101 makes contact with User 601's body until the settling time has elapsed.

[0145] By designating the posture used while waiting for the flying robot 101 to land as a posture that requires muscle strength and is not commonly used in daily life, it is possible to engage muscles that are not normally used, thereby achieving a greater exercise effect. Furthermore, by designing the flying robot 101 itself to be heavier, the amount of muscle used when throwing the flying robot 101 and when waiting for the flying robot 101 to land can be increased, thereby achieving a greater exercise effect.

[0146] In the process shown in Figure 5 above, user 601 was recognized in step S504 by determining whether or not a person in a specific posture was included, but this is not the only way. In step S504, user 601 may also be recognized by determining whether or not the person in the image captured by camera 103 is a specific person, in addition to determining whether or not a person in a specific posture is included. Then, only if the specific person is in a specific posture, the system may recognize that person as user 601 and operate to place the device on the person's body.

[0147] This prevents anyone other than the designated person from attaching the flying robot 101 to their body, even if they assume a specific posture. It allows the designated person, recognized as user 601, to experience a sense of trust with the hawk-like flying robot 101. This fosters an attachment in the designated person to the flying robot 101, encouraging them to repeatedly play the falconry game, thus encouraging them to move their body in a fun and easy way.

[0148] As described above, the flying robot 101 according to this embodiment of the present invention comprises an unmanned aerial vehicle (drone) that flies by automatic piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that, when it recognizes a user 601 based on an image taken by the camera, it attaches itself to the body of the user 601.

[0149] According to the flying robot 101 of this embodiment of the present invention, for example, the flying robot 101 can be attached to the body of a user 601 who is in a specific posture, such as holding an arm with a clenched fist, bent at the elbow, extended forward at the same height as the shoulder, and stationary. In other words, the user 601 must assume a specific posture in order to attach the flying robot 101 to their body. This allows children to perform exercises such as stretching their arms and expanding their chest while playing with the flying robot 101 attached to their body.

[0150] Thus, according to the flying robot 101 of this embodiment of the present invention, it is possible to support the user 601 in enjoyable and easy exercise, and to promote the user 601's health without imposing any psychological burden on the user 601.

[0151] Furthermore, because the flying robot 101 can maintain a clean state, hygiene problems can be eliminated compared to raising living creatures. In addition, because the flying robot 101 does not cause animal allergy problems, users 601 can improve their health while experiencing communication with the living creature-like flying robot 101, regardless of their physical constitution.

[0152] Furthermore, the flying robot 101 can be used in places such as hospitals and nursing homes because, in addition to not causing hygiene or animal allergy problems, it does not adhere to surfaces such as floors by flying through the air, thus preventing bacteria, viruses, and dirt from attaching to the surface. This allows it to, for example, assist in rehabilitation exercises to restore motor function and is expected to have a therapeutic effect on users of hospitals and nursing homes.

[0153] Furthermore, the flying robot 101 according to this embodiment of the invention is characterized in that it starts taking pictures with the camera 103 when it detects a start trigger. The start trigger can be detected, for example, using an inertial sensor such as an acceleration sensor 308 or an angle sensor, or the camera 103.

[0154] According to the flying robot 101 of this embodiment of the present invention, for example, by using an inertial sensor such as an acceleration sensor 308 or an angle sensor to detect that the flying robot 101 has been thrown into the air as a trigger for starting, the camera 103 starts taking pictures. This allows play to begin with the simple action of throwing the flying robot 101, and reduces battery consumption compared to when the camera is always running. Furthermore, the flying robot 101 can be made to move by the action of throwing it into the air.

[0155] This allows user 601 to exercise more easily and reduce the frequency of charging, thus promoting user 601's health without putting a burden on them.

[0156] Furthermore, the flying robot 101 according to this embodiment of the invention is equipped with a microphone 303, and is characterized by having a camera 103 capture the direction of a predetermined sound source collected by the microphone 303. The predetermined sound can be, for example, the voice of a user 601.

[0157] According to the flying robot 101 of this embodiment of the present invention, the robot determines the shooting direction (flight direction) in response to the voice of the user 601 and starts shooting, and recognizes the user 601 based on the resulting captured image. Therefore, it can reduce the consumption of the battery 301 compared to when it is constantly shooting in all directions, without unintentionally shooting a wide area.

[0158] Furthermore, according to the flying robot 101 of this embodiment of the invention, the user 601 can respond to the voice of the user 601 to determine the shooting direction (flight direction) and start shooting, and recognize the user 601 based on the resulting captured image. This allows users to experience communication with a flying robot 101 that mimics a living creature while promoting their health.

[0159] According to the embodiment of the flying robot 101 of this invention, for example, the flying robot 101 can be attached to the body of a user 601 who is in a specific posture, such as thrusting a clenched fist into the air. In other words, the user 601 must assume a specific posture in order to attach the flying robot 101 to their body. This allows the user 601 to perform an exercise of extending their arms and expanding their chest while playing with the flying robot 101 to their body.

[0160] Thus, according to the flying robot 101 of this embodiment of the present invention, the user 601 can move their body in a fun and easy way. Furthermore, this makes it possible to improve the health of the user 601 without imposing any psychological burden on them.

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

[0162] With such a flying robot 101, if it recognizes that a specific user 601 who has had a reasonable opportunity to interact with the flying robot 101 has assumed a specific posture, the flying robot 101 can be positioned on the body of that specific user 601. In this way, by having the flying robot 101 perform actions that mimic living organisms, such as building a relationship of trust and master-servant relationship with the user 601 through reasonable interaction, it is possible to promote the health of the specific user 601 and soothe and satisfy the user 601 by expressing that it recognizes the specific user 601 as its caretaker.

[0163] The control method for the flying robot described in this embodiment can be implemented by executing a pre-prepared control program for the flying robot on the computer installed in the flying robot. This program is recorded on a computer-readable recording medium such as a hard disk, flexible disk, CD-ROM, MO, or DVD, and is executed when read from the recording medium by the computer. This program may also be transmitted via a network such as the Internet. [Industrial applicability]

[0164] As described above, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention are useful for flying robots, control programs for flying robots, and control methods for flying robots that can assist with exercise, and are particularly suitable for flying robots, control programs for flying robots, and control methods for flying robots that can assist with fun and easy exercise. [Explanation of Symbols]

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

Claims

1. A flying robot that assists a user's movement by throwing and landing, comprising an unmanned aerial vehicle that flies by rotating its propellers under automatic control, and a camera mounted on the unmanned aerial vehicle, The user throws the unmanned aerial vehicle into the air, causing its propellers to rotate and the vehicle to begin flying, and the camera to begin taking pictures. A flying robot characterized in that, based on an image captured by the aforementioned camera, when it recognizes a user in a specific posture, it flies toward the user at a speed faster than the speed at which it was thrown, within the range of an appropriate speed for assisting the movement, and when it makes contact with the user's body, it stops the rotation of the propeller of the unmanned aerial vehicle, thereby landing on the user's body.

2. The body part is the user's arm, The flying robot according to claim 1, characterized in that the aforementioned specific posture is a static posture with the arms extended.

Images