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

Abstract

To provide a pet robot which is hygienic, relieves the mind of a user, and provides a sense of satisfaction to the user.SOLUTION: A flying robot 100 is a robot serving as a pet and includes: a drone 101 which flies by automatic driving; and a camera 103. The flying robot 100 realizes a specific user 600 based on images captured by the camera 103, and flies around the specific user 600 as if it has autonomy. The action allows the flying robot 100 to conduct, not as an inorganic and impersonal robot, operations imitating a pet which causes the specific user 600 to feel interaction with a living creature with mind, such as requiring the specific user 600 to communicate with it as an owner, to relieve the mind of the user 600 and provide a feeling of fullness to the user 600. Further, the flying robot 100 flies in air to prevent germs, viruses, and dirt from adhering to it from a floor etc. and is hygienic.SELECTED DRAWING: Figure 6C

Description

Technical Field

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

Background Art

[0002] Conventionally, there are pet-type robots that are shaped like animals such as dogs and cats and perform actions mimicking the actions of animals, such as moving on their own and making sounds. Such pet-type robots are not for practical functions requiring convenience, but are mainly designed to heal and entertain the user's mind through their appearance and actions. Specifically, conventionally, for example, there has been a technology that enables the sharing (joint attention) of a learning

[0003] object by identifying the learning object, storing the information of the identified learning object in an associative memory unit, and acting based on the information of the learning object stored in the associative memory unit and the newly detected object, so that the learning object can be appropriately identified (for example, refer to Patent Document 1 below). .

Prior Art Documents

Patent Documents

[0004]

Patent Document1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, animals have their own will and do not necessarily act only in response to the actions of their owners, and sometimes do not listen to their owners' instructions or move freely even when the owner is not present. Although they may be used in various ways, the conventional technologies mentioned above all respond uniformly to communication with the user. It operates autonomously and lacks autonomy.

[0006] This invention aims to solve the problems of the prior art described above, by providing a way to soothe the user's mind. A flying robot that can give users a sense of satisfaction, and a control program for the flying robot. The objective is to provide a control method for mobile and flying robots. [Means for solving the problem]

[0007] To solve the above-mentioned problems and achieve the objective, the flying robot according to this invention is self The system comprises an unmanned aerial vehicle that flies by manual control, and a camera mounted on the unmanned aerial vehicle, Based on the image captured by the camera, a specific user is identified, and that specific user It is characterized by flying around -.

[0008] Furthermore, the flying robot according to this invention, in the above invention, the specific user However, it is not possible to determine whether a person has been photographed by the aforementioned camera for a predetermined period of time or a predetermined number of times. To use as a sign.

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

[0010] Furthermore, the flying robot according to this invention, in the above invention, the specific user If at least some of the specific users approach the unmanned aircraft while it is flying around it In addition, it is characterized by flying in a manner that moves away from the specific user.

[0011] Also, in the above invention, the flying robot according to this invention flies so as to approach the specific user when the specific user does not visually recognize the unmanned aircraft during flight around the specific user. When the specific user does not visually recognize the unmanned aircraft during flight around the specific user, it is characterized by flying so as to approach the specific user.

[0012] Also, in the above invention, the flying robot according to this invention is characterized by flying away from the specific user after flying around the specific user a predetermined number of times. After flying around the specific user a predetermined number of times, it is characterized by flying away from the specific user.

[0013] Also, in the above invention, the flying robot according to this invention is equipped with a wireless communication interface mounted on the unmanned aircraft, and is characterized by flying around the specific user when a predetermined piece of information is acquired via the wireless communication interface. Equipped with a wireless communication interface mounted on the unmanned aircraft, when a predetermined piece of information is acquired via the wireless communication interface, it is characterized by flying around the specific user. <000008​​​​​​​​​​​​​​​​​​​​​​​​​​​​Furthermore, the flying robot according to this invention is mounted on the aforementioned unmanned aerial vehicle in the above invention. Equipped with a mounted microphone, when a predetermined sound is picked up by the microphone, the specific It is characterized by flying around the generator.

[0018] Furthermore, in the flying robot according to this invention, the predetermined sound is, A ringtone that notifies the phone that at least one of the following is coming in: phone call and / or email. It has a certain characteristic.

[0019] Furthermore, in the flying robot according to this invention, the predetermined sound is, This is characterized by being the voice of the aforementioned specific user.

[0020] Furthermore, the flying robot according to this invention is mounted on the aforementioned unmanned aerial vehicle in the above invention. Equipped with a mounted speaker, when a predetermined sound is picked up by the microphone, the specific The speaker outputs sound to the user of that specific user. It is characterized by flying around the surrounding area.

[0021] Furthermore, the flying robot according to this invention, in the above invention, from the speaker The output sound is characterized by being a sound that imitates the sounds of animals.

[0022] Furthermore, the control program for the flying robot according to this invention is equipped with a camera and is automatic The computer of the unmanned aerial vehicle, which is being flown by a pilot, receives images taken by the aforementioned camera. The system recognizes a specific user based on an image and flies around the recognized specific user. Characterized by causing a process to be executed.

[0023] Furthermore, the control program for the flying robot according to this invention is, in the above invention, While flying around a specified user, at least a portion of the specified user's unmanned aircraft If an aircraft approaches an airborne aircraft, it will be directed to fly away from the specific user in question, and the necessary actions will be taken. It is characterized by the following.

[0024] Furthermore, the control program for the flying robot according to this invention is, in the above invention, While flying around a specified user, if the specified user does not visually see the unmanned aerial vehicle In this case, the aircraft is characterized by flying to approach the specific user and performing the necessary actions. do.

[0025] Furthermore, the control program for the flying robot according to this invention is, in the above invention, After flying around a specified user a predetermined number of times, the aircraft will fly away from that user. It is characterized by causing an action to be performed and executing a process.

[0026] Furthermore, the control method for the flying robot according to this invention is equipped with a camera and is automatically piloted. Images captured by the aforementioned camera are taken by a flying robot equipped with a more advanced unmanned aerial vehicle. Based on this, the system recognizes a specific user and flies around the recognized specific user. It is characterized by the following:

[0027] Furthermore, the control method for a flying robot according to this invention is, in the above invention, the specified While flying around the user, at least some of the users of the unmanned aircraft A key feature is that, upon approaching a specific user, the aircraft is directed to fly away from that user.

[0028] Furthermore, the control method for a flying robot according to this invention is, in the above invention, the specified If the unmanned aircraft is flying around a user and that user does not see the unmanned aircraft, The aircraft is characterized by being flown in a manner that approaches the specific user in question.

[0029] Furthermore, the control method for a flying robot according to this invention is, in the above invention, the specified After flying around a user a predetermined number of times, the aircraft will fly away from that specific user. It is characterized by the following:

[0030] Furthermore, the flying robot according to this invention is an unmanned aerial vehicle that flies by automatic piloting, and The system comprises a camera mounted on the unmanned aerial vehicle and a microphone mounted on the unmanned aerial vehicle, Based on the image captured by the camera, a specific user is recognized, and the microphone is used to... When a predetermined voice is collected, the system recognizes the specific user in accordance with that predetermined voice. It is characterized by flying between the vicinity of a certain sound source and a predetermined sound source.

[0031] When a predetermined sound is collected by the microphone, the system recognizes the predetermined sound accordingly. After circling around the specific user, the vicinity of the specific user and a predetermined sound The flying robot according to claim 24, characterized in that it flies between itself and the source of the emission.

[0032] Furthermore, in the flying robot according to this invention, the predetermined sound is, A ringtone that notifies the phone that at least one of the following is coming in: phone call and / or email.

[0033] Furthermore, in the flying robot according to this invention, the predetermined sound is, At the entrance to the building or premises, visitors to the building or premises are present. It is characterized by being the sound of a doorbell installed to call a person or manager.

[0034] Furthermore, in the flying robot according to this invention, the predetermined sound is, It is characterized by being an audio sound with a sound pressure level above a predetermined threshold.

[0035] Furthermore, in the flying robot according to this invention, the predetermined sound is, The voice is characterized by being generated within a predetermined range from the aforementioned specific user.

[0036] Furthermore, the flying robot according to this invention responds to the predetermined sound in the above invention. Then, in a flight mode corresponding to the predetermined voice, it flies around the recognized specific user. It is characterized by doing so.

[0037] Furthermore, the flying robot according to this invention is mounted on the aforementioned unmanned aerial vehicle in the above invention. Equipped with a mounted projector, when a predetermined sound is picked up by the microphone, recognition The projector displays an image corresponding to the predetermined sound in front of the identified specific user. It is characterized by projecting from.

[0038] Furthermore, the flying robot according to this invention is mounted on the aforementioned unmanned aerial vehicle in the above invention. It is equipped with a wireless communication interface, and via the wireless communication interface, the This system is characterized by acquiring image data related to the image projected from the projector.

[0039] Furthermore, the flying robot according to this invention, in the above invention, by the microphone When a predetermined sound is collected, the predetermined sound is directed in front of the recognized specific user. The projector is characterized by projecting characters corresponding to the specified value.

[0040] Furthermore, the control program for the flying robot according to this invention is equipped with a camera and microphone. A flying robot equipped with an unmanned aerial vehicle that flies by autopilot... The camera recognizes a specific user based on the image captured by the camera, and the My When a predetermined sound is collected by the device, the recognized specific The system is designed to fly between the user's vicinity and a designated sound source, and to perform processing. To use as a sign.

[0041] Furthermore, the control method for the flying robot according to this invention is equipped with a camera and a microphone. A flying robot equipped with an unmanned aerial vehicle that flies by autopilot, and the aforementioned camera captures Based on the projected image, a specific user is recognized, and predetermined audio is collected by the microphone. When sound is heard, the vicinity of the recognized specific user and a predetermined voice are determined in accordance with the predetermined voice. It is characterized by flying between the sound source and the device.

[0042] Furthermore, the control program for the flying robot according to this invention includes a camera, microphone and... A flying robot equipped with a projector and an unmanned aerial vehicle that flies by autopilot. The computer equipped with the camera identifies a specific user based on the image captured by the camera. Upon recognition, and when a predetermined sound is collected by the microphone, in accordance with the predetermined sound, The aircraft is made to fly between the vicinity of the recognized specific user and a predetermined sound source, The projector displays an image corresponding to the predetermined voice in front of the recognized specific user. It is characterized by projecting from and executing processing.

[0043] Furthermore, the control method for the flying robot according to this invention includes a camera, microphone, and projector. A flying robot equipped with a drone and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the camera, a specific user is recognized, and the microphone is used to... When a predetermined voice is collected, the system recognizes the specific user in accordance with that predetermined voice. The aircraft flies between the vicinity of the designated sound source and the recognized specific user - To project an image corresponding to the predetermined sound from the projector in front of - It is characterized by.

[0044] Furthermore, the flying robot according to this invention is an unmanned aerial vehicle that flies by automatic piloting, and A camera mounted on the unmanned aerial vehicle and a wireless communication interface mounted on the said unmanned aerial vehicle It includes a camera and recognizes a specific user based on an image captured by the camera. The system recognizes, and via the wireless communication interface, detects a disaster, earthquake, or tsunami within a predetermined time period from the present moment. Get information indicating the possibility of waves, thunderstorms, rainfall, strong winds, and sudden weather changes. In that case, in response to the predetermined voice, the vicinity of the recognized specific user and the predetermined voice It is characterized by flying between the source of the phenomenon and the device.

[0045] Furthermore, the control program for the flying robot according to this invention includes a camera and wireless communication. A flying robot equipped with an interface and an unmanned aerial vehicle that flies by autopilot. The computer equipped with the camera, based on the image captured by the camera, identifies a specific user Recognizing the disaster, and via the wireless communication interface, within a predetermined time from now, an earthquake Information indicating the possibility of tsunamis, lightning, rainfall, strong winds, and sudden weather changes. When acquired, in accordance with the predetermined voice, the vicinity of the recognized specific user and predetermined The system is characterized by flying between the system and the source of the sound and performing processing.

[0046] Furthermore, the control method for the flying robot according to this invention includes a camera and a wireless communication interface. A flying robot equipped with a face and an unmanned aerial vehicle that flies by autopilot, Based on the image captured by the camera, a specific user is recognized, and the wireless communication input Through TAFACE, within a specified time from now, disasters, earthquakes, tsunamis, lightning, rainfall, strong winds, When information is obtained indicating that there is a possibility of sudden weather changes, the prescribed In response to the voice, the aircraft flies between the vicinity of the recognized specific user and a predetermined source of sound. It is characterized by being able to do so. [Effects of the Invention]

[0047] Flying robot, control program for flying robot and flying robot according to this invention Depending on the control method, it is possible to soothe the user's mind and give them a sense of satisfaction. This produces the effect of [doing something]. [Brief explanation of the drawing]

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

[0049] The following describes the flying robot according to this invention and the control of the flying robot, with reference to the attached drawings. Preferred embodiments of the program and the control method for the flying robot will be described in detail.

[0050] <Embodiment 1> (An example of the appearance of a flying robot) First, an example of the appearance of the flying robot according to Embodiment 1 of this invention will be described. Figures 1A and 1B show an example of the appearance of a flying robot according to Embodiment 1 of the present invention. This is an explanatory diagram illustrating the following. As shown in Figures 1A and 1B, the flying robot 100 is a drone. It is equipped with a 101 unmanned aerial vehicle (UAV).

[0051] Drone 101, specifically, is a quadco with four propellers 102, for example. A quadcopter can be used. Drone 101 is not limited to quadcopters. Hexacopters have six propellers, and octocopters have eight propellers. Various types of multirotors can be used.

[0052] Furthermore, the flying robot 100 is equipped with a camera 103. As shown in Figures 1A and 1B. In a flying robot 100 that resembles a sea urchin or an animal, the camera 103 is, for example, It can be installed in the part corresponding to the eye. Alternatively, the camera 103 is located on the drone 101. It may be installed on the underside of the enclosure.

[0053] Camera 103 takes images of the area around the flying robot 100. 0, for example, recognizes a specific user based on an image captured by camera 103. To recognize. Camera 103 can be realized, for example, by a general-purpose digital camera. Cut.

[0054] A specific user, for example, is exposed to camera 103 for a predetermined time or a predetermined number of times. The people photographed are those who had a reasonable opportunity to interact with the flying robot 100. It is possible. Also, certain users can, for example, take photos within a certain range. The opportunity for a person to be in a specific area, such as inside their home, on school grounds, or inside a store. Because they are present to a certain extent, they can be considered people who are likely to be photographed by camera 103. A specific range may be defined as being within a predetermined range from the charging spot (see Figures 4A and 4B). good.

[0055] Alternatively, a particular user may, for example, use camera 103 within a specific range. A person who has been photographed for a specified period of time or more than a specified number of times may also be considered. There are a reasonable number of opportunities to be in specific areas such as inside one's home, on school grounds, or inside a store, and Since this person can be considered to have had a reasonable opportunity to interact with flying robots, within a certain range Individuals who have had the opportunity to interact with flying robots for extended periods and at high frequency will be identified as specific users. It is possible.

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

[0057] Furthermore, certain users, within a certain range, between the present time and a predetermined period prior to that time. In this context, a person who has been photographed by camera 103 for a predetermined time or for a predetermined number of times or more is considered to be a person who has been photographed by camera 103 for a predetermined time or more than a predetermined number of times. This is also acceptable. This allows for operations that limit the number of individuals designated as specific users to a predetermined number. The flying robot 100 was transferred from one person to another, after it had been previously designated as a specific user. When the number of people entering a specific area changes due to promotion to the next grade or graduation from school or daycare, In such cases, we will specially select individuals who have had a significant opportunity to interact with Flying Robot 100 in recent times. It allows for the use of a fixed user base, enabling operation tailored to the current situation.

[0058] Camera 103, as an alternative to general-purpose digital cameras, amplifies sensitivity to light. Night vision cameras that photograph in dark places, infrared cameras that are sensitive to infrared light, infrared cameras Infrared color imaging analyzes the grayscale in images captured by the camera to capture color images. This can be achieved using cameras such as night vision cameras, infrared cameras, and infrared color night vision cameras. By taking images using a camera, etc., even at night or in dimly lit rooms, It can accurately recognize specific users.

[0059] The camera 103 on the flying robot 100 may be one or multiple. This is also good. In a flying robot 100 equipped with multiple cameras 103, one type of camera It is not limited to camera 103, and may be equipped with multiple different types of cameras 103.

[0060] Camera 103 is attached to drone 101 in a manner that allows for attitude adjustment. Alternatively, the camera 103 may be, for example, mounted on the bottom surface of the drone 101 with a ball joint. It can be connected via universal joints such as ints. Camera 103 is connected via ball joint By connecting to the drone 101 via a flexible joint such as a tow joint, the attitude of the camera 103 can be controlled. This allows for a high degree of flexibility in making adjustments.

[0061] Furthermore, the flying robot 100 changes the attitude of the camera 103 relative to the drone 101. It may also be equipped with a drive mechanism that allows the drone 101 to move without human intervention. The camera 103's orientation can be adjusted. The drive mechanism is, for example, a motor and gear It can be composed of rows such as A. The attitude of camera 103 relative to drone 101 By making it possible to adjust without human intervention, the flight type of the drone 101 can be controlled regardless of its attitude. The shooting direction can be adjusted arbitrarily while the robot 100 is in flight. Camera 103 is It would be good if it also had a zoom function.

[0062] The flying robot 100 has a wireless power transmission system (Wire) inside the housing of the drone 101. Less Power Transfer, Contactless Power Tr It is equipped with a power receiving coil in the (anchor). Wireless power transfer is battery - (See Figure 2) This is a technology for receiving power without going through charging contacts, It is also called contactless power supply or wireless power supply.

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

[0064] Furthermore, as shown in Figures 1A and 1B, the flying robot 100 has an animal-like shape. For example, an LED lamp 104 may be provided in the part corresponding to the eye. The amplifier 104, for example, has a part corresponding to the eyeball, and the camera 103 has a part corresponding to the eyeball. If there is a lens, it can be provided to frame the lens. Such a flying type Robot 100 is equipped with features of birds and animals, such as a tail, ears, wings, feet (legs, limbs), horns, fangs, and whiskers. It may also include a member 105 corresponding to a distinctive part.

[0065] The component 105, which corresponds to the characteristic parts possessed by birds and mammals, is based on birds and mammals that actually exist in modern times. This includes not only parts corresponding to the body parts of a species, but also parts of extinct animals such as dinosaurs. It may also be a component corresponding to a part found in mythical creatures such as dragons or unicorns. These components may be movable and may be equipped with a drive mechanism such as a motor for operation. This allows the flying robot 100 to mimic actions such as wagging its tail or moving its ears. It is possible.

[0066] The flying robot 100 is further equipped with solar cells that generate electricity from ambient light such as sunlight. The drone may be equipped with a solar cell 106. The solar cell 106 may be, for example, a drone 10 It is installed on the upper surface of the housing of 1. This ensures that ambient light is reliably taken in during flight and efficiently. It can generate electricity efficiently. Furthermore, by incorporating solar cell 106, it can be charged even during flight. Because it can be recharged, it allows for longer flight times per flight.

[0067] (Hardware configuration of the flying robot 100) Next, we will explain the hardware configuration of the flying robot 100. Figure 2 shows this This is an explanatory diagram showing the hardware configuration of the flying robot 100 according to the first embodiment described above. As shown in Figure 2, the hardware of the flying robot 100 includes a battery 201, motor 202, Camera 103, Microphone 203, Speaker 204, GPS sensor 205, Object sensor 206, control circuit 207, communication I / F 208, LED lamp 104, solar - Composed of cells 106, etc. Each part 103, 10 of the flying robot 100 Units 4, 106, and 201-208 are connected by bus 200.

[0068] Battery 201 supplies power to the various parts of the flying robot 100 that are required to operate. Battery 201 is a secondary battery (rechargeable battery, storage battery) such as a lithium battery. This can be achieved by a secondary battery. Battery 201, which is realized by a secondary battery, It may be detachable from Loan 101.

[0069] Motor 202 is controlled by control circuit 207 and rotates to power the propeller. Rotate 102. Motor 202, specifically, for example, has a rotor made of permanent magnets. Therefore, a brushless motor can be used, in which the stator is composed of coils. The number of motors 202 is the same as the number of propellers 102, so that each propeller 102 is controlled accordingly. These rotate independently, allowing the flying robot 100 to move forward, backward, and left and right. It can be made to rotate.

[0070] If the flying robot 100 is equipped with a drive mechanism to adjust the attitude of the camera 103, The control circuit 207 also controls the operation of the motor that constitutes the drive mechanism. The mobile robot 100 adjusts the posture of the camera 103 while moving, without human intervention. It can capture images of any range or a wide area.

[0071] Camera 103 is equipped with an image sensor and receives light that has passed through the photographic lens onto the image sensor. By doing so, an image is captured. The camera 103 also takes the captured image, i.e., the image sensor. The image information (capture data) obtained by converting the received optical signal into an electrical signal is output to the control circuit 207. To exert force.

[0072] Camera 103 may be for taking still images or for taking videos. This is also acceptable. Videos include those that play back still images taken at predetermined time intervals in sequence. The information is a standard specification for a given video / audio data compression method (for example, MPEG (Movi)). Compressed by (ng Picture Experts Group, etc.) It's okay to have it.

[0073] Microphone 203 collects sounds from around the flying robot 100. Microphone 203 is It converts audio input as analog data into electrical signals. Specifically, microphone 203, The analog audio signal, which is input as analog data, is converted from analog to digital, and then... Generates digital audio data.

[0074] Speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. Furthermore, speaker 204 may also be an output terminal that outputs an audio signal. Alternatively, an external speaker 204 can be connected to the power terminal to generate sound.

[0075] The GPS sensor 205 determines the current position of the flying robot 100. -205 specifically refers to, for example, GPS antennas, RF (Radio Frequencies). It is equipped with an NCY section, a baseband section, etc. The GPS antenna is used when GPS satellites broadcast. It receives radio waves. The RF section receives the unmodulated signal received by the GPS antenna as a baseband signal. The RF section demodulates the baseband signal based on the demodulated baseband signal. The current position of robot 100 is calculated. The GPS sensor 205 further removes unwanted components. Filters, LNAs (Low Noise Amplifiers), and power amplifiers are used to remove noise. It may also be equipped with an amplifier such as a PA (Power Amplifier).

[0076] The current position of the flying robot 100 is determined by measuring radio waves transmitted from multiple GPS satellites. It can be identified by its position. The baseband section is determined by its distance from the four GPS satellites. Positioning is performed by calculating each of these distances and determining the point where they intersect. Based on radio waves received from GPS satellites, the geometry between the GPS satellites and the flying robot 100 Instead of GPS for determining scientific location, we use Michibiki, GLONASS, and Galileo The current position of the flying robot 100 is determined using satellite positioning systems such as Galileo. It is acceptable to specify.

[0077] The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. It detects obstacles. Obstacles are objects that hinder the flight of the flying robot 100, and are specific. Examples include walls, ceilings, furniture, and people. Flying robot 100 outdoors When flying, for example, vehicles, flying robots other than the device itself 100, trees, buildings, etc. Any object that hinders the flight of the flying robot 100 is considered an obstacle.

[0078] The object sensor 206 specifically includes, for example, an infrared sensor, a capacitive sensor, This can be achieved using non-contact sensors such as ultrasonic sensors. Object sensor 20 6 is among non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. This can be achieved by at least one of the following means. The flying robot 100 is of multiple types. The non-contact sensor may be mounted as the object sensor 206. Also, the flying robot Based on the images captured by camera 103, the flying robot 100 The presence or absence of obstacles within a predetermined range may also be detected.

[0079] Solar cell 106 uses a P-type silicon semiconductor that tends to become positively charged and a negatively charged... It is constructed by bonding an N-type silicon semiconductor and a PN junction surface. In solar cell 106, light energy from external light such as sunlight is absorbed by the PN junction. When combined, P-type silicon semiconductors become positively charged, and N-type silicon semiconductors become negatively charged. In solar cell 106, the P-type silicon semiconductor and the N-type silicon semiconductor are... Each electrode is connected, and the power generated is transmitted through the wires connected to each electrode. It can be extracted.

[0080] The control circuit 207 drives and controls various parts of the flying robot 100. 7 can be implemented by a microcontroller consisting of a CPU, memory, and other components. The control circuit 207 specifically includes, for example, an LSI (Large Scale Integra). (gration) and FPGA (Field-Programmable Gate Ar This can be achieved using methods such as ray.

[0081] The CPU executes the program stored in memory, thereby controlling the flying robot 1 It controls the entire system. Memory is used, for example, for programs executed by the CPU, Information regarding various conditions related to the operation of the flying robot 100, and images captured by camera 103. It stores various types of information, such as information about the statue.

[0082] Memory specifically refers to, for example, IC memory or SSDs (Solid State Drives). This can be achieved by means of (rive), etc. Also, the memory is for the flying robot 100 In contrast, a memory that can be attached and detached via a card slot provided in the flying robot 100 It can also be a card. A memory card is, for example, an SD (Secure Digital) card. l) This function can be realized by IC cards such as memory cards. Alternatively, this functionality could be achieved using an external USB memory stick or similar device.

[0083] The control circuit 207 converts the power generated by the solar cell 106 into the battery 201. It is equipped with a charging circuit for charging. The charging circuit uses the electricity generated by the solar cell 106. This includes DC / DC converters and other components that adjust the voltage.

[0084] Furthermore, the control circuit 207 is an IMU (Inertial Measurement Unit). it), ESC (Electronic Speed ​​Controller), BE C (Battery Elimination Circuit) or UBEC (U It includes circuits such as a universal BEC.

[0085] The IMU is a set of sensors necessary for drone 101 to acquire external information. For example, gyroscopes, accelerometers, barometric pressure sensors, ultrasonic sensors, magnetic sensors It consists of a position sensor (compass), etc. Also, the GPS sensor 205 mentioned above It is included in the IMU.

[0086] The gyro sensor detects the change in angle of the drone 101. For example, by using the Coriolis force to measure the angular velocity of the drone 101 The degree of change is detected. The gyro sensor ensures stable flight of the drone 101. It is possible.

[0087] The accelerometer detects the change in the speed of the drone 101. The gyroscope also detects the change in speed. The accelerometer detects both the tilt of the drone 101 and the speed of the drone 101. Since the amount of change can be calculated, even if the drone 101 remains tilted, it will continue to fly. It is possible to do so.

[0088] The barometric pressure sensor detects the altitude of drone 101. The barometric pressure sensor, for example, measures atmospheric pressure. The altitude of drone 101 is detected by detecting changes in the barometric pressure sensor. By measuring the altitude of drone 101, it is possible to maintain the altitude of drone 101. can.

[0089] The ultrasonic sensor detects objects located below the drone 101 (such as the floor or obstacles). Distance is detected. The ultrasonic sensor is, for example, located on the underside of the drone 101. By utilizing the reflection of ultrasonic waves emitted below drone 101, a drone located below drone 101 It detects the distance from the object. This allows the drone 101 to track the ground (floor, ground, etc.). It can leave tracks and perform stable landings. An ultrasonic sensor is used as the object sensor 206. When using this, the drone 101 emits ultrasonic waves in all directions, and the ultrasonic sensor detects, It is possible to achieve both the function of an object sensor 206 and the function of being part of an IMU. .

[0090] The magnetic compass sensor detects which direction (north, south, east, or west) the drone 101 is facing. The flying robot 100 is affected by magnetism depending on the location where it is flown, therefore, operation Furthermore, when changing the location where the aircraft will be flown, perform compass calibration and magnetic field calibration. It is preferable to adjust the position sensor.

[0091] The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The roller performs calculations related to the rotation control of motor 202 and sends a signal to the ESC regarding the propeller It outputs control signals to control the rotation direction and rotation speed of the propeller motor (202). The SC controls the rotation of motor 202 based on control signals output from the flight controller. Control. The flight controller controls the flight of the flying robot 100. The system repeatedly performs calculations by detecting the slope of 0, and then re-establishes the control signal for motor 202. Outputs recursively.

[0092] Specifically, the flight controller can, for example, make adjacent propellers rotate in opposite directions. By outputting a control signal that controls the flying robot 100 to rotate, rotation is prevented. Also, for example, the propellers in the direction of travel rotate slower than the propellers in the direction of travel. The flying robot 100 is moved forward by controlling it to turn. Then, the propeller on the right side in the direction of travel is controlled to rotate slower than the propeller on the left side in the direction of travel. This causes the flying robot 100 to turn to the right.

[0093] Furthermore, the control circuit 207 includes a remaining charge measurement circuit for measuring the remaining charge of the battery 201. The remaining charge measurement circuit uses, for example, an impedance track method, a voltage measurement method, or a coolant. Using various known methods such as the meter counter method or the battery cell modeling method Then measure the remaining charge of battery 201.

[0094] The communication interface 208 connects the flying robot 100 to network N via a communication line. A wireless communication interface that connects network N and the internal network of the flying robot 100. It controls the interface with external devices connected via network N. It controls the input of data and the output of data to external devices. Network N, even Internet, LAN (Local Area Network), WAN (Wi-Fi) This is achieved through technologies such as the de Area Network.

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

[0096] Communication via the communication I / F208 is performed periodically, such as at predetermined times or at predetermined intervals. This is also acceptable, and can be done at any time depending on the communication line conditions, etc. (See above memo) The device may store information obtained through communication via the communication I / F208. Mori stores information that has been pre-entered by users of the flying robot 100. That's fine.

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

[0098] The flying robot 100, although not shown in the diagram, has Input / output devices such as keys or buttons for giving input instructions, and the flying robot 100 A power switch to turn the power ON / OFF, and in a location other than the eye area. It may also be equipped with LED lamps or the like. Input / output devices are other information processing devices. This may also be achieved by connecting terminals or other means that can be used to connect them.

[0099] (Functional configuration of flying robot 100) Next, the functional configuration of the flying robot 100 will be described. Figure 3 shows the functional configuration of this invention. This is an explanatory diagram showing the functional configuration of the flying robot 100 of one embodiment 1. (Figure 3) Thus, the functions of the flying robot 100 are: memory unit 301, detection unit 302, and imaging unit 30 3, acquisition unit 304, drive unit 305, output unit 306, and control unit 307 are used to implement It will be revealed.

[0100] The memory unit 301 stores various programs related to control by the control unit 307, and the actual programs. It stores various information, including thresholds used for rows. Furthermore, the memory unit 301 is used by the imaging unit 303. It stores the captured image information and the information acquired by the acquisition unit 304. The storage unit 301 stores the image information and other information. The memory unit 301302 may store information about battery charging spots, etc. In terms of physical aspects, for example, the memory in the control circuit 207 shown in Figure 2, It is possible to achieve this.

[0101] The detection unit 302 detects the presence or absence of obstacles within a predetermined range from the flying robot 100. Specifically, the detection unit 302 detects, for example, the object sensor 206 shown in Figure 2. Therefore, that function can be realized. Also, the detection unit 302 is, specifically, even Alternatively, instead of the object sensor 206, or in addition to the object sensor 206, as shown in Figure 2 This function may be implemented using a camera 103 or similar device.

[0102] The detection of obstacles by camera 103 is performed, for example, when the flying robot 100 is moving. The parallax obtained by doing this in each image taken at multiple different locations (each image We will use a moving stereo method that determines the distance to obstacles based on the difference between the images. Therefore, this can be achieved. By using a moving stereo method, a monocular camera can be used. The flying robot 100 can detect the presence or absence of obstacles within a predetermined range. Cut.

[0103] The imaging unit 303 takes images of the area around the flying robot 100. The imaging unit 303 is a component Physically, this function is realized, for example, by the camera 103 shown in Figure 2. This is possible. The memory unit 301 mentioned above stores image information relating to the image captured by the shooting unit 303. do.

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

[0105] The acquisition unit 304 acquires external information of the flying robot 100. Specifically, the acquisition unit 304 acquires images of the surroundings of the flying robot 100, for example. Specifically, 304 performs its function, for example, by the camera 103 shown in Figure 2. This can be achieved. The storage unit 301, among the information acquired by the acquisition unit 304, Even if not, information about the person included in the photographed image, or the characteristics of that person, can be stored. do.

[0106] Furthermore, specifically, the acquisition unit 304 can, for example, access data from an external device via the network N. The information to be obtained may be obtained from the specified source. In this case, the acquisition unit 304 specifically, for example, as shown in the figure. This function can be realized through communication I / F208 and other means as shown in 2.

[0107] In this case, the acquisition unit 304, for example, acquires notification information output from a specific terminal device. The information is acquired as fixed information. A specific terminal device is, for example, identified in advance in the storage unit 301. A terminal device that stores information, specifically a smartphone owned by a particular user. This can be achieved through methods such as [mention specific methods].

[0108] Furthermore, in this case, the acquisition unit 304 will, for example, acquire information about disasters, etc., within a predetermined time period from the present moment. This indicates that events that may affect specific users may occur. The information may be acquired as predetermined information. The predetermined information may be, for example, the information from the present time onward. There is a possibility of disasters, earthquakes, tsunamis, lightning, rainfall, strong winds, or sudden weather changes occurring within a specified time frame. It may also be information indicating something. The acquisition unit 304, via the network N, even Then, communication is performed continuously or at predetermined intervals to acquire such predetermined information.

[0109] Furthermore, the acquisition unit 304 can, for example, acquire music and news that match the preferences of a particular user. Various types of information, such as sales information for goods, may be acquired as specified information. In this case, acquisition Specifically, part 304 uses, for example, the camera 103 and microphone 203 shown in Figure 2. And that function can be realized. Music and new music that matches the preferences of specific users. For example, sales information for goods is transmitted to a specific user via microphone 203. Audio collected from a specific user, items frequently used by a particular user, and items within a specific user's field of vision. This can be determined based on factors such as the frequency of use of certain items.

[0110] Items that frequently come into a particular user's field of vision include, for example, movies, news, and variety shows. Television programs such as [program name], hobby-related items such as gardening supplies and tableware, and specific users Similar to items that are used frequently, the decision is made based on images taken by the camera unit 303. The storage unit 301 can, of the information acquired by the acquisition unit 304, at least It can store information about a specific user's preferences.

[0111] Furthermore, the acquisition unit 304 may acquire, for example, the voice of a specific user. The sound of the noise is, for example, the sound picked up by microphone 203, or by microphone 203 The decision is made based on the collected audio and images captured by the camera at the same time. This is possible. In this case, the acquisition unit 304 specifically, for example, the camera 1 shown in Figure 2 This function can be realized by 03 and microphone 203, etc. The above memory unit 30 1 stores information related to the voice of a specific user from the information acquired by the acquisition unit 304. It is possible.

[0112] Furthermore, the acquisition unit 304, for example, acquires information learned by another flying robot 100, This information may be obtained through the learning of a single flying robot 100. The collected information can be shared among multiple other flying robots 100, and the flying robots 100% allows for actions that are more closely aligned with the preferences of specific users.

[0113] The drive unit 305 controls the flight of the drone 101. Specifically, the drive unit 305... For example, the drone 101 shown in Figure 1 can realize this function. Part 305, more specifically, includes, for example, the propeller 102 shown in Figure 1 and the control shown in Figure 2. The flight controller, ESC, BEC (UBEC), and motor in circuit 207 This function can be realized through components such as the sensor 202 and object sensor 206.

[0114] The output unit 306 operates in conjunction with the flight movements of the flying robot 100. The 306 operates according to the state of the flying robot 100. The output unit 306 is, for example, The flying robot 100 operates in conjunction with the flight actions of flying around a specific user. , the battery when the flying robot 100 is flying around a specific user It operates according to the remaining amount.

[0115] Specifically, the output unit 306 is, for example, used when a flying robot 100 is near a specific user. When flying, the LED lamps 104 located in the area corresponding to the eyes are lit, or the lights are turned on. It destroys or otherwise destroys. In this case, the output unit 306 is specifically, for example, as shown in Figures 1 and 2. This function can be achieved using LED lamps 104, etc.

[0116] Furthermore, the output unit 306 is used, for example, when a flying robot 100 flies around a specific user. During operation, sound may be output from speaker 204. This could be, for example, a sound that mimics an animal's cry, and it could be used to address a specific user. It may be a voice, or it may be music. In this case, the output unit 306 is, specifically, for example For example, this function can be realized by a speaker 204, as shown in Figure 2.

[0117] Furthermore, the output unit 306 can detect, for example, disasters, earthquakes, tsunamis, lightning, rainfall, strong winds, and sudden weather changes. Changes or other events may occur that could affect specific users. In response to the acquisition of information indicating this, the flying robot 100 moves to the vicinity of a specific user. When approaching, it will emit an audio message informing you that the event may occur, or The LED lamp 104 may be made to light up or blink in a predetermined pattern or color.

[0118] The control unit 307 controls the entire flying robot 100. Specifically, the control unit 307 controls the entire flying robot 100. For example, this function can be realized by the control circuit 207 shown in Figure 2. The control unit 307, more specifically, controls, for example, the control circuit 207 shown in Figure 2. The PU executes programs stored in memory, etc., thereby performing its function. It can be achieved.

[0119] The control unit 307 controls the drone 101, for example, by controlling the drive unit 305. To fly. Specifically, the control unit 307, when the battery is fully charged, will start the drone. Flight 101 commences. The control unit 307 also responds, for example, to calls from a specific user. If detected, the flight will begin. The control unit 307 also uses, for example, the communication I / F 208 Based on the information obtained through [the system], the system will commence flight when it acquires the required information.

[0120] Furthermore, the control unit 307 performs, for example, special actions based on the image captured by the imaging unit 303. Recognizes a specific user. When recognizing a specific user, the control unit 307, for example, takes The shadow unit 303 removes noise and distortion from the image captured, and the contents of the image By emphasizing the outline of an object or adjusting the brightness and hue of the image, This makes it easier to identify the person.

[0121] Furthermore, when recognizing a specific user, the control unit 307, for example, uses the imaging unit 303 From the captured image, the smallest elements that make up the image, such as eyes, mouth, nose, etc., are extracted at the pixel level. Which features are extracted, and based on various information such as color and brightness assigned to the pixels, Identify the person captured in the image.

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

[0123] Furthermore, when recognizing a specific user, the control unit 307, for example, uses the imaging unit 303 Based on the images taken and the extracted information about the person stored in the memory unit 301 And the person recognized from the image taken by camera unit 303 was identified by camera unit 303 It is determined whether or not the person has been photographed for a specified period of time or more than the specified number of times. A person extracted from an image captured by the shadow unit 303 is detected for a predetermined period of time or a predetermined number of times. If the person in the photograph is identified as a specific user, then the person identified from the image is a specific user. That is my understanding.

[0124] The control unit 307 determines whether the person was photographed by the imaging unit 303 within a specific range. By determining whether or not a particular user exists, it may be possible to identify that specific user. Specifically, for example, Individuals who have a reasonable opportunity to be in a specific area, such as inside their home, on school grounds, or inside a store. It can be recognized as a specific user.

[0125] The control unit 307 further processes the images captured by the imaging unit 303 within a specific range. The person recognized from the image is photographed by the camera unit 303 for a predetermined time or a predetermined number of times. A specific user may be identified by determining whether or not they are a person who has been identified. In particular, within a specific area such as inside one's home, school grounds, or inside a store, A person recognized from an image captured by the camera unit 303 is detected for a predetermined period of time or a predetermined number of times. If a person is photographed multiple times, and the person recognized from the image is a specific user... They recognize that.

[0126] Furthermore, the control unit 307, for example, when it recognizes a specific user, will activate the drive unit 305. By controlling it, the flying robot 100 will fly around the specific user. The control unit 307, specifically, for example, allows a particular user to reach out and fly. The robot 100 is positioned so close to the specific user that it cannot be touched. Then, the flying robot 100 is made to fly.

[0127] More specifically, the control unit 307 controls, for example, an inflatable robot above a specific user's head. You can make Bot 100 turn around, or position the flying robot 100 directly in front of a specific user. They might try to make it difficult to control or playfully interact with a specific user, or they might use flying aircraft to interact with that specific user. The flying robot 100 is made to move closer to and further away from robot 100. The control unit 307 detects that a specific user has sighted the flying robot 100. In addition, the flying robot 100 will move away from the specific user and return to the charging spot. It may be allowed to fly. In this way, the flying robot 100 patrols around the nest and checks the situation. This is essentially mimicking "territorial behavior," where the bird recognizes the charging spot and returns to its nest, treating it as a makeshift nest. This makes it appear to those around the user, including certain users, that the flying robot 100 is its own It can give the impression of being a living being with meaning.

[0128] By controlling the drive unit 305, the control unit 307 may only fly around a specific user of the flying robot 100, or may interlock the drive unit 305 and the output unit 306 to fly around a specific user of the flying robot 100 while causing the LED lamp 10 4 to emit light (blink) or output sound from the speaker 204.

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

[0130] The charging pad 401 includes a power transmission coil 401a. The power transmission coil 401a is encapsulated in a cover 401b formed using ABS resin, silicone rubber, or the like. In addition, a power cable 401c with a plug provided at its tip is connected to the charging pad 401 (power transmission coil 401a). By connecting the plug provided at the tip of the power cable 401c to a commercial power supply and passing electricity through the power transmission coil 401a, a magnetic field can be generated in the power transmission coil 401a.

[0131] The charging pad 401 may be provided with a terminal to which a charging cable, such as a female ​ Using a power cable that can be obtained or an adapter for converting commercial power to USB power, an electric current is passed through the power transmission coil 401a to generate a magnetic field in the power transmission coil 401a. Thereby, a power cable of any length according to the installation location of the charging spot 400 or the like can be used. It can be used.

[0132] The exterior part 402 has, for example, an appearance imitating the nests of birds and beasts and is installed so as to cover the charging pad 401. The exterior part 402 has an opening that allows the flying robot 100 to land on and take off from the charging pad 401. The exterior part 402 may have a shape with an opening above the charging spot 400 as shown in FIGS. 4A and 4B, for example, or may have a shape like a cave with an opening covering directly above the charging spot 40 0 and opening the sides. When the flying robot 100 has an opening provided above the charging pad 401, it approaches the charging pad 401 from above the charging pad 401 and takes off above the charging pad 401. When the flying robot 100 has an exterior part 402 in the shape of a cave, it approaches from the upper side of the charging pad 401 and takes off from the upper side of the charging pad 401. It approaches from the upper side of the charging pad 401 and takes off from the upper side of the charging pad 401.

[0133] The charging spot 400 may include a wireless router such as a Wi-Fi router. Thereby, the charging spot 400 can function as a communication spot, and the flying robot 100 can communicate via the charging spot 400. By connecting the charging spot 400 to the Internet line drawn into a house or the like and having the flying robot 1 00 communicate via the charging spot 400, one charging spot 40 0 can be used for communication. ​​​By installing unit 0, multiple flying robots 100 can be used.

[0134] (An example of the processing procedure for flying robot 100) Next, an example of the processing procedure for the flying robot 100 will be described. Figure 5 shows this invention. This flowchart shows an example of the processing procedure for the flying robot 100 of Embodiment 1. Yes. In the flowchart of Figure 5, first, a decision is made as to whether or not to start the flight (step Step S501). In step S501, for example, based on the remaining battery level, The system will determine to begin flight when the battery is fully charged. Also, step S50 In case 1, for example, based on the sound picked up via microphone 203, a specific user If a "Zar" sound is detected, it may be decided to begin flight. Also, step S5 In 01, for example, based on information obtained via the communication I / F208, If information is obtained, it may be decided to commence flight.

[0135] In step S501, wait until it is determined that flight should commence (step S5 01: No). On the other hand, if it is determined in step S501 to start flight (step Step S501: Yes), commence flight (Step S502). For example, you could power drone 101, take off from charging spot 400, and navigate through obstacles. The aircraft will fly within a designated area while avoiding obstacles. This designated area could be, for example, inside a house or on school grounds. It can be any range, including specific areas such as inside a store or within a shop.

[0136] Next, specific users were detected based on images captured by cameras during flight. Determine whether or not (step S503). In step S503, for example, as described above , by performing predetermined image processing to extract a person, and determining whether the person has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, it is possible to determine whether or not a specific user has been detected. Also, in step S503 , for example, as described above, within a specific range, by determining whether the person recognized from the image photographed by the photographing unit 303 has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, it is also possible to determine whether or not a specific user has been detected. , for example, as described above, within a specific range, by determining whether the person recognized from the image photographed by the photographing unit 303 has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, it is also possible to determine whether or not a specific user has been detected. image is a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, it is possible to determine whether or not a specific user has been detected. by determining whether the person recognized from the image photographed by the photographing unit 303 has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, it is possible to determine whether or not a specific user has been detected. It may be determined.

[0137] In step S503, if a specific user has not been detected (step S503 : No), the process proceeds to step S505. On the other hand, in step S503, if it is determined that a specific user has been detected (step S503: Yes), the execution of a predetermined process is started (step S504). In step S504, for example, the execution of a process arbitrarily selected from a plurality of predetermined processes is started. The process to be started in step S504 can be selected based on, for example, the remaining battery level,

[0138] the current position of the flying robot, the specific user detected in step S503: Yes, etc. Also, in step S504, for example, after arbitrarily turning around the periphery of a specific user a predetermined number of times, the execution of a process of returning to the charging spot 400 may be started. The process to be started in step S504 can be selected based on, for example, the remaining battery level, the current position of the flying robot, the specific user detected in step S503: Yes, etc. Also, in step S504, for example, after arbitrarily turning around the periphery of a specific user a predetermined number of times, the execution of a process of returning to the charging spot 400 may be started. It may be started.

[0139] Specifically, in step S504, for example, when approaching a particular user The LED lamp 104 located in the area corresponding to the eye is turned on or blinked, or This starts the execution of a process that outputs sounds that mimic the sounds of animals. It can replicate the endearing movements of animals such as bats.

[0140] Furthermore, if a specific user is moving, in step S504, the specific You may start the process of tracking the user. Executed in step S504. The process that starts this may be one or more. When starting a line, you may start multiple processes simultaneously, staggering their start times. That's good too.

[0141] Furthermore, in step S504, for example, music that matches the preferences of a particular user It may also output or announce news. Also, in step S504, For example, based on a profile of a particular user, such as their past behavior and preferences, 100 flying robots used by other users whose behavior and preferences are similar to that of the user in question. Information such as action patterns is obtained via network N, and based on the obtained information... You may decide on the process to execute.

[0142] Next, it is determined whether the battery level has fallen below a pre-set first threshold. The first threshold is, for example, when the flying robot 100 is flying. From the position furthest from the charging spot 400 within the specified range, the flying robot 1 00 can be set to the amount of battery required to return to charging spot 400. .

[0143] In step S505, if the battery level is not below the first threshold ( Step S505: No), proceed to step S503, while detecting a specific user. The process is executed. Meanwhile, in step S505, the remaining battery level is the first threshold. If it falls below (Step S505: Yes), the professional that started in Step S504 Determine whether Seth is running or not (step S506). In step S506 If the process is not running (step S506: No), proceed to step S511. do.

[0144] On the other hand, in step S506, if the process is running (step S506: Yes), output a warning (step S507). In step S507, even If, the LED lamps 104 located in the area corresponding to the eyes are illuminated in a specific color such as red. It will flash or emit a warning sound from speaker 204. Alternatively, step In the S507, for example, it might say things like, "The battery is running low," or "I'm hungry." For example, it outputs audio to inform a specific user of the status of the flying robot 100 in words. Alternatively, in step S507, for example, staggering and unsteady Flight maneuvers that mimic such movements are also permitted.

[0145] Next, check whether the process that was determined to be running in step S506:Yes has completed. Determine whether or not (step S508), and if the process is completed (step S508: Yes), proceed to step S511. In step S508, the process is completed. If not (Step S508: No), the battery level will be set to the preset value. It is determined whether the value has fallen below the second threshold (step S509). The second threshold is the same as the first threshold. The value is set to a smaller amount, and the flying robot 100 flies to the charging spot 400. The second threshold can be set to the amount of battery required for the line. It can be set based on the current location of the 100 charging station and the location of the 400 charging stations. .

[0146] In step S509, if the battery level is not below the second threshold ( Step S509: No), proceed to step S508, then to step S506: Yes. It is determined whether the process that was determined to be running has completed. In this case, if the battery level falls below the second threshold (Step S509: Yes) Then, terminate the running process (step S510) and return to charging spot 400. The process is executed (step S511), and the series of processes is terminated.

[0147] In step S510, if multiple processes are running, all of the running processes are... The process is terminated. In step S511, the failure of drone 101 occurs. By activating the RTH (Return To Home) function, The process of returning to electric spot 400 can be executed. While RTH is active, camera 10 Obstacle avoidance is based on images captured by 3 and detection results from object sensor 206. .

[0148] In the above-described embodiment 1, when the remaining battery level falls below the first threshold, A warning is issued, and if the value falls below a second threshold (which is lower than the first threshold), a feedback process is initiated. However, this is not the only option. Instead of making a decision based on battery level, In addition to the above judgment, a warning may be issued based on the elapsed time since the start of the flight, or You can also terminate the process in the line and perform a return process.

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

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

[0151] The flying robot 100 can, for example, start flying at any time and be used by a specific user. - Upon recognizing user 600, it approaches the specific user 600 and moves around the area of ​​that specific user 600. It flies around the enclosure (see Figure 6A). And, for example, around a specific user 600. After completing a certain number of laps, or when a specific user (600) takes their eyes off the flying robot (100), When this happens, the vehicle returns to Charging Spot 400.

[0152] In this way, the flying robot 100 operates independently of the will of a specific user 600. By doing so, it is as if the flying robot 100, of its own volition, suddenly left its nest. It gives 600 specific users the feeling of having come back and, before they know it, returning to their nest. It is possible for the flying robot 100 to operate independently of the user's will. As a result, it is as if a bored flying robot 100 has come along with no purpose and nothing It was possible to give 600 specific users the feeling of flying around aimlessly. Cut.

[0153] And the flying robot 100 can make predictions regardless of the will of specific users 600. By performing an action that does not occur, the flying robot 100 will move of its own volition, It feels like I'm trying to find 600 specific users and communicate with them. It can be held by 600 specific users. This allows for situations where a pet is owned. This creates a situation similar to that, and by cherishing the flying robot 100, certain people The 600 can alleviate feelings of loneliness and isolation, and reduce stress. Furthermore, it aims to provide mental satisfaction and a sense of calm to 600 specific users. It is possible.

[0154] Furthermore, the ability to predict the outcome of 100 flying robots, regardless of the intentions of 600 specific users. For actions that are not yet performed, specific users 600 are asked to consider the intent behind the actions of the flying robot 100. This allows a specific user 600 to receive a flying robot 100. It's not about interacting with inorganic, lifeless robots, but rather about creating a feeling of connecting with living beings with hearts and minds. This can be done. And by doing so, the loneliness and feelings of isolation of 600 specific users can be alleviated. It can reduce stress, increase mental well-being, and calm the mind. It is possible.

[0155] The flying robot 100 will, if a specific user 600 performs a specific action, Depending on the action, you may want to execute a different process. Specifically, for example, 600 users approached the flying robot 100, such as by bringing their hands closer to it. If any action is taken in response, the system will fly away from that specific user 600. It is also possible to do so (see Figure 6B). In this way, the flying robot 100 may deliberately choose to do so. By performing actions contrary to the user 600's wishes, it appears as if the flying robot 10 0, however, doesn't pander to any particular user (600), behaving like a capricious cat. It can give a certain 600 users that kind of feeling.

[0156] Alternatively, more specifically, for example, even if you circle around a specific user 600, 600 users were unresponsive (they did not turn their faces towards the flying robot 100). If (i) is the case, the aircraft may fly to get closer to a specific user 600 (Figure 6C (See reference). By performing such actions, the flying robot 100 appears as if it were flying. A robot 100 is approaching a specific user 600 because it wants attention (to interact with them) It can give a certain 600 users the feeling of being (approached).

[0157] In this way, the flying robot 100 monitors a specific user 600. Based on the monitoring results, a predetermined action is performed for a specific user 600. Based on the actions of specific users 600 in response to that action, the following actions will be performed: Therefore, for 600 specific users, instead of inorganic, impersonal robots, we want to create living, heart-powered robots. It can give children the feeling of interacting with animals, such as pets.

[0158] The flying robot 100 will always perform the same action in response to the same actions of a specific user 600. It does not have to be something that does that. For example, last time, a specific user 600 used a flying robot In response to bringing a hand closer to the 100, the action moves even closer to the specific user 600. Even if this is done, the next time a specific user 600 performs the same action, The aircraft may fly away from the specific user 600. -600 may be made to not clearly understand the intent behind the actions of the flying robot 100. This allows us to simulate the inexplicable nature that often arises in interactions between living beings. It is possible.

[0159] If a specific user 600 does not clearly understand the intent behind the flying robot 100's actions Even with that, you can enjoy the operation of the flying robot 100 itself, and the interaction between living creatures In this way, pet By recreating the relationships with organisms such as these, a specific group of 600 users can find the correct answer to an unknown question. The very act of considering the intent behind the actions of the flying robot 100 (whether there is a correct answer or not is unknown) You can enjoy it.

[0160] Furthermore, if the flying robot 100 is equipped with a night vision camera or infrared camera, at night... Even if present, the image of the area around the flying robot 100 is clear without the use of a light source for imaging assistance. It can take clear pictures. This allows for the detection of people (such as thieves) in the dark. In this case, it will emit a loud sound or communicate with external parties such as security companies via the communication I / F208. You can do that.

[0161] In the above-described embodiment 1, the user (a specific user 600) is provided with relaxation. I have explained the flying robot 100, but the way to use the flying robot 100 is as follows: It's not limited to that. The flying robot 100 can, for example, perform martial arts such as boxing and karate. A fighting simulator that provides support for simulating actual combat and matches. It can be used as such.

[0162] The flying robot 100, which will be used as a fighting simulator, specifically... For example, in martial arts such as boxing and karate, a suitable place for practicing striking techniques. It flies in a way that guides the user. In this case, the user shoots at the flying robot 100. By conducting practice sessions that simulate actual combat or match situations (so-called sparring), It is possible to do this.

[0163] During sparring, you may turn on or flash LED lights, adjust the light color, or use sound. The timing of the strike can be guided by the output of the device, etc. Specifically, in sparring For example, the area where you strike with your hand (fist) will be illuminated with a red LED light. The guide will then use a green LED light to indicate the spot where you will strike (kick) with your foot. Therefore, we will provide guidance. Also, during sparring, famous players will be introduced via Network N. Information regarding its movements is acquired, and based on that information, flight maneuvers that mimic the movements of famous athletes are performed. You may do that.

[0164] Furthermore, the flying robot 100 can be used, for example, in performances by orchestras and wind ensembles. It can be used as a flying conductor to direct. The flying robot 100 used as a conductor's baton (tak) is, specifically, for example, a conductor's baton (tak). The performance involves flying movements that mimic the movement of the tip of a baton. Also, the parts are cut off in the middle of the performance. When switching parts, you can make it so that it flies near the corresponding part (instrument). This ensures reliable support for the performance in each part.

[0165] Furthermore, the flying robot 100 can, for example, control the progress of songs in karaoke. Flying Puffs also provide interjections and fly around as if dancing in time with the music. It can be used as a warmer. A flying type used as a flying performer. Robot 100 further outputs the song being played in karaoke through speaker 204. This is also good. This allows users to use the device even in places where it is difficult to secure a power source, such as outdoors. You can enjoy karaoke anywhere you like.

[0166] As described above, the flying robot 100 of this embodiment of the present invention is automatically operated A drone (unmanned aerial vehicle) 101 flying vertically, and a camera mounted on the drone 101. A camera 103 is provided, and a specific user 60 is selected based on the image captured by the camera 103. It is characterized by recognizing 0 and flying around that specific user 600. ru.

[0167] According to the first embodiment of the present invention, the flying robot 100 is provided with a camera 103. Based on the images captured, the aircraft automatically flies around a specific user (600) that it has recognized. By doing so, the system recognizes 600 specific users as pet owners and communicates with them. It can perform actions similar to those of animal pets, such as demanding to urinate. This allows it to do so. It can heal the hearts of 600 specific users and give 600 specific users a sense of fulfillment. ru.

[0168] Furthermore, according to the flying robot 100, it can maintain a clean environment, making it suitable for keeping animals. Compared to raising them, hygiene issues can be eliminated. Also, flying robots According to T100, because it does not cause problems with animal allergies, it is suitable for the constitution of 600 specific users. Regardless, you can experience communication with pets.

[0169] Furthermore, according to the flying robot 100, there will be no issues regarding hygiene or animal allergies. In addition, by flying through the air, bacteria, viruses, and dirt can attach to the surface from the floor, etc. Because it does not cause any problems, it can be used in places such as hospitals and nursing homes. This can be expected to have a greater therapeutic effect on users of hospitals and nursing care facilities.

[0170] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is equipped with a camera 103. The system recognizes individuals who have been photographed for a specified period of time or a specified number of times as specific users 600. It is characterized by doing so.

[0171] According to the first embodiment of the present invention, the flying robot 10 It flies autonomously around 600 specific users who have had a significant opportunity to interact with 0. By doing so, it will mimic the behavior of a pet, becoming accustomed to the user through appropriate interaction. This makes it possible to provide 600 specific users with long-term insights into flying robots. To pique interest, soothe the hearts of 600 specific users, and give 600 specific users a sense of fulfillment. It can be given.

[0172] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is capable of operating within a specific range. The system recognizes the person photographed by camera 103 as a specific user 600. It is characterized by the following.

[0173] According to the first embodiment of this invention, the flying robot 100 can, for example, be used inside a home. Because there are a fair number of opportunities to be in specific areas such as school grounds or inside stores, cameras The aircraft will fly automatically around 600 specific users who are likely to be photographed by it. By doing so, you can become familiar with 600 specific users with whom you have had a reasonable amount of contact within a certain range. It can perform actions that mimic those of a pet. This allows for long-term interaction with a specific group of 600 users. To foster interest, familiarity, and affection for the flying robot 100 among specific users 6 It can soothe the hearts of 00 people and give a sense of fulfillment to specific users 600 people.

[0174] A flying robot 100 that performs such actions can, for example, be used inside a home. 600 specific users who had a reasonable opportunity to interact with the 100, and flying outside their homes With 600 friends of specific users who had a reasonable opportunity to interact with Robot 100, different movements To create a system that makes it easier for 600 specific users to feel a sense of familiarity and affection for flying robots This will more reliably heal the hearts of 600 specific users and give them a sense of fulfillment. It can give.

[0175] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is intended for the specific user If at least some of the specific users approach the unmanned aircraft while it is flying around it In addition, it is characterized by flying in a manner that moves away from the specific user in question.

[0176] According to the first embodiment of this invention, the flying robot 100 is called "owner (a specific user)". The dog approached the 600 (a type of electric vehicle), but wanted to avoid being touched, indicating it was an indoor dog. The flying robot 1 replicates the behavior often seen in cats, such as "coming to check on their owner's actions." It can be made to do 00, as if the flying robot 100 had its own will. It can give the impression of being a living organism.

[0177] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is intended for the specific user If the particular user does not visually observe the unmanned aircraft while it is flying around it, It is characterized by flying in a way that approaches the user.

[0178] According to the first embodiment of this invention, the flying robot 100 is called "owner (a specific user)". A pet with a needy personality that tries to get attention because its owner (a 600) doesn't pay it any attention. The flying robot 100 can perform the affectionate gestures commonly seen in humans, as if Furthermore, the flying robot 100 can give the impression of being a living creature with its own will. .

[0179] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is intended for the specific user It is characterized by flying around a certain number of times and then flying away from that specific user. That is what they say.

[0180] According to the first embodiment of this invention, the flying robot 100 can be used to care for indoor dogs and cats. The flying robot 100 will perform the common behavior of "checking on its owner's actions." It can be made to do so, as if the flying robot 100 were a living creature with its own will. It can give the impression that...

[0181] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is mounted on a drone 101. Equipped with a built-in communication I / F208, when predetermined information is acquired via the communication I / F208 In addition, it is characterized by flying around a specific user 600.

[0182] According to the first embodiment of this invention, the flying robot 100 has a communication I / F 208. When predetermined information is obtained, the aircraft will automatically fly around a specific user 600. By doing so, even if a specific user 600 is unaware of it, that specific user 6 Useful information can be transmitted to 00.

[0183] Furthermore, according to the flying robot 100 of Embodiment 1 of this invention, communication I / F2 By communicating with another flying robot 100 via 08, the other flying robot Since the information obtained through Bot100's learning can be shared, flying robot 1 This allows 00 to behave in a way that better matches the preferences of specific users 600.

[0184] Furthermore, the flying robot 100 of Embodiment 1 according to this invention has a communication I / F 208 If notification information is obtained from a specific terminal device via this method, a specific user 600 It is characterized by flying around it.

[0185] According to the first embodiment of this invention, the flying robot 100, for example, a specific The smartphone owned by the user 600 is designated as a specific terminal device, and when an incoming call is received on the smartphone... When notification information output from the tophone to the flying robot 100 is obtained, By flying autonomously around user 600, users can keep their smartphones with them at all times. Even if you are not wearing a phone, and even if your smartphone is set to silent mode, the smartphone will still... You can quickly find out when there is a notification on your phone.

[0186] Furthermore, the flying robot 100 of Embodiment 1 according to this invention can be used, for example, from the present time onward. Within the specified time frame, there is a possibility of disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden changes in weather occurring. If information is obtained indicating that there is a possibility, fly around a specific user 600. It is characterized by the following.

[0187] According to the first embodiment of this invention, the flying robot 100 allows a specific user 60 Even without 0 consciously collecting information, within a specified time frame from now on, there will be a disaster, earthquake, tsunami, or lightning strike. This allows you to quickly know that there is a possibility of rainfall, strong winds, and sudden weather changes. This allows people to live with peace of mind.

[0188] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is mounted on a drone 101. Equipped with mounted speakers 204, the speakers 204 emit sound directed towards specific users 600. It is characterized by emitting sound and flying around the specific user 600. Yes, they are.

[0189] According to the first embodiment of this invention, the flying robot 100 allows a specific user 60 By flying around 0 on autopilot while outputting sound from speaker 204, And, with 600 specific users as owners, it communicates by emitting sounds that resemble barking. It can perform pet-like actions such as requesting a command. This allows for certain user This will more reliably attract the attention of 600 users, soothe the hearts of specific 600 users, and appeal to specific users. It can give the user 600 a sense of satisfaction.

[0190] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is mounted on a drone 101. Equipped with a mounted microphone 203, when a predetermined sound is picked up by the microphone 203, It is characterized by flying around 600 users.

[0191] According to the first embodiment of this invention, the flying robot 100 allows a specific user 60 Pre-set sounds such as the voice of a 0, the sound of a doorbell installed at the entrance or gate of a house, and the ringtone of a smartphone. If the voice is picked up, the aircraft will fly automatically around a specific user 600. As a result, a predetermined voice prompts communication with a specific user 600. For example, it may notify specific users (600) of visits from third parties or incoming calls on their smartphones. It is possible.

[0192] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is intended for a specific user 60 If a voice is detected, the aircraft will automatically fly around a specific user 600. This gives 600 specific users the feeling that "he came because I called him." This allows you to make your pet happy and experience communication with them.

[0193] This will not only soothe the hearts of 600 specific users, but also provide necessary support in necessary situations. This information can be transmitted to 600 specific users, especially those with hearing impairments. By communicating necessary information to users in the necessary situations, it becomes easier to obtain information that is otherwise difficult to obtain. Compared to receiving assistance from a hearing assistance dog, which can be burdensome to care for, this method allows the user to live a more fulfilling life. It can be provided easily and inexpensively.

[0194] Furthermore, the flying robot 100 of Embodiment 1 according to this invention is mounted on a drone 101. Equipped with a mounted speaker 204, when a predetermined sound is picked up by the microphone 203, The speaker 204 outputs audio to a specific user 600, and the specific It is characterized by flying around 600 users.

[0195] According to the first embodiment of this invention, the flying robot 100 allows a specific user 60 Pre-set sounds such as the voice of a 0, the sound of a doorbell installed at the entrance or gate of a house, and the ringtone of a smartphone. When the voice is picked up, the aircraft will fly automatically around a specific user 600. By outputting sound from speaker 204, a specific user 600 is designated as the owner. A creature that mimics a pet, making sounds like cries to request communication. 60 specific users who are working or unaware of the sound of the doorbell or incoming calls on their smartphones For every 0 people, the system communicated the arrival of a third party or incoming calls on their smartphones to 600 specific users. It is possible to do so.

[0196] This will more reliably attract the attention of 600 specific users, and 60 specific users To heal the hearts of 0, to give satisfaction to specific users 600, and to provide necessary support in necessary situations. Information can be transmitted to specific users 600. And this allows for the transmission of information to specific users 600. It can enrich the psychological state and lives of a fixed 600 users.

[0197] Furthermore, the flying robot 100 of Embodiment 1 according to this invention has a speaker 204 or A key feature is that the sounds it outputs are modeled after animal noises.

[0198] According to the first embodiment of this invention, the flying robot 100 can imitate animal sounds. By outputting a specific voice, it is possible to more reliably attract the attention of 600 specific users. This allows for communication with pets to specific users (600 people). It gives a strong sense of having something, heals the hearts of 600 specific users, and 6 specific users It can give 00 a sense of satisfaction.

[0199] Furthermore, the flying robot 100 of Embodiment 1 according to this invention has a predetermined sound, It is characterized by being the voices of 600 specific users.

[0200] According to the first embodiment of the present invention, the flying robot 100 is transmitted by the microphone 203. When the voices of specific users 600 are picked up, the system automatically controls the area around those specific users 600. It flies vertically. This makes it seem as if it is responding to the calls of 600 specific users. It mimicked actions that had been performed before, soothing the hearts of 600 specific users, and 600 specific users It can give a sense of satisfaction. Also, it will not respond to calls from anyone other than the specific 600 users. Because it does not respond, it fosters a sense of familiarity and affection for the flying robot 100, and for specific users -600 can give a sense of satisfaction.

[0201] Thus, the flying robot 100 of Embodiment 1 according to this invention is like a pet. It is designed to move autonomously and be loved by people, with natural movements that mimic those of a pet. By communicating with a specific user, the specific user It can reduce stress and provide healing. And this can, for example, help one person It can alleviate the loneliness and isolation of people living in the city and the elderly, and provide a mentally fulfilling and peaceful experience. It can be helpful in daily life.

[0202] <Embodiment 2> Next, an example of a flying robot according to Embodiment 2 of this invention will be described. The flying robot of implementation form 2 operates to achieve a specific purpose. Specifically, implementation The flying robot of form 2 recognizes a person with a hearing impairment as a specific user, and To notify a specific user of sounds necessary in their daily life and guide that user to the sound source. They work to achieve the same purpose as so-called hearing assistance dogs.

[0203] Hearing assistance dogs have a shorter history compared to guide dogs, and the number of hearing assistance dogs is relatively small compared to the number of people with hearing impairments. The reality is that there are overwhelmingly few of them. Furthermore, the time required to be able to lend them to people with hearing impairments is... The training period for hearing assistance dogs is at least 1 year and 8 months, and the training cost is around 1 million yen. It is believed that this is the case. Given this background, it is not possible to provide sufficient hearing assistance dogs to people with hearing impairments. The current situation is that it hasn't been crossed over yet.

[0204] In light of the current situation, the flying robot of Embodiment 2 is designed to receive a hearing assistance dog on loan. To enhance the motivation for independence and sense of security in daily life for people with hearing impairments who are unable to do so. This is the purpose.

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

[0206] The Projector 701 is equipped with a projector light source, optics, projection lens, and other components. (Illustrations are omitted for all cases). Projector 701 emits from the projector light source Light is guided along a predetermined path by the optical system and projected through the projection lens 701a to the projector 701 By shining light onto the outside, an image is projected onto the area where the light is shining. The optical system is professional Integrator lens that enhances the uniformity of light intensity emitted from a projector light source, non-polarized light A polarization conversion element that converts (polarizes) light emitted from a source to a predetermined polarization direction, projector 7 01 Dichroic mirror that separates light from light into the three primary colors R, G, and B, R, G, B LCD panels that display images corresponding to each color of light, and the images of each color displayed by each LCD panel are combined. It is composed of dichroic prisms and the like (illustrations are omitted).

[0207] Projector 701, for example, uses a laser as the projector light source. A laser projector can be used. By using this, the size of the projector 701 can be reduced. Specifically, A mercury lamp projector is a projector that uses a mercury lamp as its light source. Because it can keep heat generation lower than conventional projectors, it eliminates the need for cooling fans and other mechanisms. By omitting certain components, it is possible to achieve miniaturization and weight reduction.

[0208] Furthermore, by using a laser projector, it is possible to quickly start up and project images. It can be started. Also, by using a laser projector, water Compared to silver lamp projectors, it reduces power consumption while increasing the brightness of the projected image. It is possible to measure this.

[0209] Mercury lamp projectors are used with the projection (optical axis) direction horizontal. Because it is recommended to do so, the degree of freedom in projection direction is limited, while laser-based professional The projector can be used with its optical axis tilted relative to the horizontal. Therefore, Laser projectors offer a high degree of freedom in projection direction, and can project onto walls. Images can also be projected onto the ground and floor surfaces.

[0210] Projector 701 is fixed to drone 101, and the movement of drone 101 ( It moves in conjunction with the flight. Projector 701 controls the attitude of drone 101. They may be connected in a way that allows for adjustment. Specifically, for example, projector 70 1. Connecting to the bottom surface of the drone 101 via a universal joint such as a ball joint. This is possible. The projector 701 can be connected to a drone via a flexible joint such as a ball joint. By connecting to 101, a high degree of freedom is available for adjusting the orientation of the projector 701. It can be secured.

[0211] In this case, the flying robot 700 is a projector 701 relative to the drone 101. To adjust the posture without human intervention, the projector 701 is used on the drone 101. It may be equipped with a drive mechanism for changing its posture. The drive mechanism may be, for example, a motor or gears. It can be composed of rows, etc. Projector 701 relative to drone 101 By allowing for adjustable orientation, the image can be projected at the optimal angle depending on the projection location. It is possible.

[0212] (Hardware configuration of the Flying Robot 700) Next, we will explain the hardware configuration of the flying robot 700. Figure 8 shows this This is an explanatory diagram showing the hardware configuration of the flying robot 700 of the second embodiment described above. As shown in Figure 8, the hardware of the flying robot 700 includes a battery 201, motor 202, Camera 103, Microphone 203, Speaker 204, GPS sensor 205, Object sensor 206, control circuit 207, communication I / F 208, LED lamp 104, solar It consists of a cell 106, a projector 701, and other components.

[0213] As described above, the projector 701 uses an optical system to capture the light emitted from the projector light source. This guides the light along a predetermined path and illuminates the outside of the projector 701 via the projection lens 701a. By doing so, it projects an image onto the area where the light is shone. Projector 701 projects images The intensity of the light emitted from the projector light source is adjusted according to the distance from the position where the image is projected. This may be used to adjust the image quality of the projected image. Projector 70 The distance between point 1 and the position where the image is projected can be determined, for example, using a distance sensor. This is possible. Distance sensors include, for example, laser distance sensors, ultrasonic sensors, and infrared sensors. Various known sensors can be used.

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

[0215] The control unit 307 in the flying robot 700 is, for example, determined by the microphone 203. When sound is picked up, the drive unit 305 is controlled to fly the drone 101. The aircraft then flies around the recognized specific user 600 in response to the predetermined voice.

[0216] The specified voice is transmitted, for example, to a telephone (landline, smartphone, etc.) via telephone and electronic means. It can be used as a ringtone to notify that at least one of the emails has arrived. The specified voice is, for example, at the entrance of a building or premises, when a visitor enters the building or premises. The sound of a doorbell installed to call a resident or manager of the building or premises. It can be done this way.

[0217] Furthermore, the specified sound can be, for example, a sound with a sound pressure above a predetermined threshold. Physically, the designated sound is, for example, an alarm sound or siren, to be made known to an unspecified number of people. The purpose is to produce loud sound. More specifically, for example For example, it can produce audio with a sound pressure level of 70 dB or higher.

[0218] Furthermore, the specified voice is generated, for example, from a specific user 600 within a predetermined range. It can also be a voice. Specifically, this could be an alarm clock, kitchen timer, or smartphone. This includes voices emitted by objects whose relative position to a specific user (600 people) can change frequently. It can do that. Furthermore, the specified sounds include the sound of a boiling kettle, a gas leak detection buzzer, and cold It could also be an alarm to alert you if you've forgotten to close the back door or if it's ajar.

[0219] The specified audio may be an audio that has been previously stored in the memory of the control circuit 207. The voice may also be one that has been learned based on information acquired via the communication I / F208. The voice may be the voice of a specific user (600 people). The specified voice may be the voice of rain or lightning. It may also be sounds related to changes in the natural environment.

[0220] When a predetermined sound is picked up by the microphone 203, the control unit 307 will contact a specific user. For -600, the drone 101 is flown to guide the source of the sound. When a predetermined sound is collected by the microphone 203, unit 307 recognizes, for example, A drone flies between the vicinity of a specific user 600 and a designated source of sound. To fly 101. More specifically, for example, to fly around a specific user 600. The aircraft then attracts the attention of the specific user 600 and then flies towards the source of the sound. Repeat.

[0221] The control unit 307 flies in a flight mode corresponding to a predetermined voice. The drone 101 may be flown in this manner. Specifically, the control unit 307 may, for example, When a phone call is received, the drone 101 is moved in front of a specific user 600. It will fly in a zigzag pattern. Specifically, the control unit 307 will, for example, when the doorbell rings. First, a drone flies around a specific user (600 people) and then flies to the source of the sound (the front door). You may fly 01.

[0222] The output unit 306 in the flying robot 700 operates according to the state of the flying robot 700. It operates in conjunction with the flight movements of the flying robot 700. The output unit 306 is, for example, When a predetermined sound is collected by Ik203, a specific user will be selected in response to that predetermined sound. The projector 701 projects images in conjunction with the Zar 600's flight movements. The image is preferably projected in front of a specific user 600.

[0223] Specifically, for example, if a phone call is received, the phone's image will be projected. Physically, for example, when the doorbell rings, an image of the entrance or gate, or an image representing a visitor, would be displayed. Project. If the child is crying, you may project an image of the crying child. Project. Image data can be obtained, for example, from network N via communication I / F208. It is possible.

[0224] The image to be projected may be an image captured by camera 103. In this case, the flight For example, each time the robot 700 detects that a predetermined sound is being played, The source of the sound is photographed, and the captured image is projected. In this way, the image of the actual object is projected. By projecting the sound, we can ensure that specific users (600 people) can reliably identify the source of the sound. This allows for the selection of the appropriate image without having to store multiple image data. It can project an image.

[0225] Alternatively, the output unit 306 may, for example, output a frequency of a specific user 600 in accordance with a predetermined voice. In conjunction with the aircraft's flight within the enclosure, text may be projected from projector 701. Examples include, "You have received an email," and "The doorbell is ringing." The text (message) such as the above will be projected in front of 600 specific users. The forward position of 600 can be determined based on the image captured by camera 103. In this case, the output unit 306 specifically outputs, for example, the project shown in Figures 7 and 8. This function can be achieved using devices such as the Tar 701.

[0226] Furthermore, the output unit 306, for example, will, in response to a predetermined voice, signal the area around a specific user 600 The LED lamp 104 may be made to light up or blink in conjunction with the flight operation. In this case, the output unit 306 specifically, for example, the LED lamp 104 shown in Figure 8. This function can be achieved through various means.

[0227] When the LED lamp 104 is lit (flashed) in response to a predetermined sound, it may be red, orange, etc. It may also be a long wavelength and a light color that is easily noticed by specific users (600). The lights may be adjusted and turned on (or flashed) at a higher brightness than normal. Also, whether indoors or outdoors... Even if the daytime illumination outdoors is higher than the nighttime illumination, LED lamp 1 You may also light up (or blink) 04. Furthermore, instead of LED lamp 104, projector -701 may emit light.

[0228] (An example of the processing procedure for the Flying Robot 700) Next, an example of the processing procedure for the flying robot 700 will be described. Figure 9 shows this invention. This flowchart shows an example of the processing procedure for the flying robot 700 of Embodiment 2. Yes. In the flowchart of Figure 9, first, sound is acquired via microphone 203 (Ste Step S901) and the acquired audio is analyzed (Step S902). For example, the acquired audio data includes the strength (loudness), frequency, and interval between sounds. Generate data that shows the features.

[0229] Next, based on the analysis results in step S902, it is determined whether the acquired audio is a predetermined audio. Determine whether or not (step S903). In step S903, if the acquired audio is predetermined If the audio is not as specified (Step S903: No), proceed to Step S901 and select the audio. To obtain.

[0230] On the other hand, in step S903, if the acquired voice is a predetermined voice (step S 903: Yes), commence flight (step S904). In step S904 For example, you can drive drone 101, take off from charging spot 400, and avoid obstacles. It flies within a designated area while doing so.

[0231] Next, based on the images taken by camera 103 during flight, a specific user 60 Determine whether or not 0 was detected (step S905). A specific user 600, for example, as described above, is captured by the imaging unit 303 for a predetermined period of time. The person may be photographed above or more than a specified number of times, and the characteristic quantities (image, voice, etc.) are roughly It may be a person whose features have been stored in memory beforehand. By designating a specific user 600, you can start using the flying robot 700 immediately. This allows the system to identify the person in question as a specific user 600.

[0232] In step S905, depending on the remaining charge of battery 201, a specific user 60 Continue flying until 0 is detected (step S503: No). Specific user 600 Without detecting any issues, the battery 201 reaches the threshold at which it can return to charging spot 400. If the remaining amount decreases, a return process will be performed.

[0233] In step S905, if a specific user 600 is detected (step S905 Yes), start executing the predetermined process (step S906). Step S906 For example, flying around a specific user 600 and that specific user 60 A movement that attracts attention (0) and a back-and-forth exchange between a specific user (600) and the source of the sound. The action is repeated. Also, in step S906, for example, if sound is emitted This provides information about what is happening, the source of the sound, or the content (event) related to the sound that was produced. The characters may be projected from projector 701.

[0234] The process in step S906 is to determine that a specific user 600 is the source (cause) of the sound. Continue until you notice (Step S907: No). Alternatively, Step S9 The process in 06 involves the flying robot 700 charging according to the remaining charge of the battery 201. It may be done within the range where you can return up to Pot 400. Specifically, for example, a certain The threshold at which the 600 can return to the charging spot 400 without noticing the sound source If the remaining charge of battery 201 decreases, a return process is performed.

[0235] In step S907, if a specific user 600 notices the sound source (step S 907:Yes), perform the return process (step S908), and terminate the series of processes. In step S907, for example, based on the image taken by camera 103 Then, it determines whether a specific user 600 performed an action to approach the source of the sound. By doing so, it is possible to determine whether or not a specific user 600 noticed the source of the sound. ru.

[0236] As described above, the flying robot 700 of Embodiment 2 according to this invention is automatic A drone 101 that flies under control, a camera 103 mounted on the drone 101, and The image captured by camera 103 is equipped with microphone 203 mounted on loan 101. Based on the image, a specific user 600 is recognized, and a predetermined voice is collected by the microphone 203. If this occurs, the aircraft will fly around the recognized specific user 600 in response to the predetermined voice. It is characterized by the following.

[0237] According to the flying robot 700 of Embodiment 2 of this invention, by microphone 203 When a predetermined sound is collected, recognition is performed based on the image captured by the camera 103. By flying around a specific user 600, it is confirmed that a predetermined sound is being played. The flying robot 700 can provide visual guidance through its movements. This allows for specific guidance. Even if one of the 600 users has a hearing impairment, the system will reliably communicate that a designated sound is playing. It is possible to reach it.

[0238] This can lead to situations where people with hearing impairments have difficulty understanding their surroundings. Furthermore, fatigue and stress from constantly being aware of one's surroundings. It can alleviate the responsiveness. And even without consciously thinking about it, one can understand the situation around them. This will make it easier to understand, reduce the fear of living without being able to hear, and foster a desire for independence and life It can enhance a sense of security in daily life.

[0239] Furthermore, the flying robot 700 of Embodiment 2 according to this invention responds to a predetermined voice. and, in a flight mode corresponding to the predetermined voice, it flies around the recognized specific user 600. It is characterized by the following.

[0240] According to the flying robot 700 of Embodiment 2 of this invention, sound is produced depending on the flight mode. The type and content of the voice can be visually guided. This allows a specific group of 600 users to... Even in the case of hearing impairments, the system will ensure that a specific audio message is played for 600 specific users. Furthermore, it is possible to quickly and thoroughly provide information about the type and content of the audio. This can improve the convenience of life for 600 specific users with visual impairments.

[0241] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is mounted on the drone 101. Equipped with a mounted projector 701, and with a microphone 203 that picks up predetermined sound, In the event, the program displays an image corresponding to the predetermined voice in front of the recognized specific user 600. It is characterized by projection from the Projector 701.

[0242] According to the flying robot 700 of Embodiment 2 of this invention, by microphone 203 When a predetermined sound is collected, recognition is performed based on the image captured by the camera 103. It flies around specific users 600 and recognizes specific users 600 By projecting an image corresponding to the predetermined sound from the projector 701 forward, Furthermore, the operation of the flying robot 700 and the images indicate that a predetermined sound is being played. This allows for visual guidance. This enables a specific group of 600 users with hearing impairments. Even in such cases, it is possible to reliably and clearly communicate that the designated sound is playing.

[0243] Furthermore, the flying robot 700 of Embodiment 2 according to this invention is provided by the microphone 203 When a predetermined sound is collected, the predetermined sound is placed in front of the recognized specific user 600. A key feature is the projection of text corresponding to spoken words using the Projector 701.

[0244] According to the flying robot 700 of Embodiment 2 of this invention, by microphone 203 When a predetermined sound is collected, recognition is performed based on the image captured by the camera 103. It flies around specific users 600 and recognizes specific users 600 By projecting characters corresponding to the predetermined sound from the projector 701 in front, The operation of the flying robot 700 and the presence of a predetermined sound indicated by text are visually confirmed. It can provide guidance visually. This allows a specific group of 600 users with hearing impairments to navigate certain situations. In addition, it can reliably and clearly communicate that the designated sound is playing.

[0245] Furthermore, the control method for the flying robot described in this embodiment is pre-prepared. Run programs on computers such as personal computers and workstations. This can be achieved by doing so. This program can be installed on a hard disk, CD-ROM On computer-readable storage media such as MO, DVD, USB memory, and SSD. It is recorded and executed by being read from the recording medium by a computer. This program can be distributed via networks such as the internet. It may also be a transmission medium. [Industrial applicability]

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

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

Claims

[Claim 1] Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The microphone mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing a specific user based on an image captured by the aforementioned camera, and when a predetermined sound other than the voice of the specific user is picked up by the aforementioned microphone, flying around the specific user in a flight pattern corresponding to the predetermined sound, making the specific user aware of the cause of the predetermined sound, and returning to a predetermined position when it is determined that the specific user has become aware of the cause of the predetermined sound.

Images