Robot

Abstract

This robot (100) comprises: a plurality of legs (12a, 12b, 12c, 12d) that operate so as to enable walking; and a takeoff / landing section (11) that is supported by the plurality of legs and allows a flying body (200) to take off and land.

Description

robot

[0001] The present invention relates to a robot.

[0002] 2. Description of the Related Art Conventionally, robots have been known. A robot is disclosed, for example, in Japanese Patent Application Laid-Open No. 2016-049864.

[0003] The above-mentioned Japanese Patent Application Laid-Open Publication No. 2016-049864 discloses a first robot having a landing port for a second robot, which is a helicopter, to take off and land, and four running wheels. The first robot is a running vehicle that can run on the ground below the second robot. The first robot is also constantly connected to the second robot by a cable.

[0004] JP 2016-049864 A

[0005] The first robot in JP 2016-049864 A is a vehicle that can travel on the ground below the second robot, which is a helicopter. Therefore, the first robot cannot move on uneven ground or steep slopes, which can make it difficult to move the second robot, which is a helicopter, close to a desired position.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a robot that can easily move an aircraft close to a desired position.

[0007] In order to achieve the above object, a robot according to one aspect of the present invention comprises a plurality of legs that can move and walk, and a takeoff and landing unit that is supported by the plurality of legs and on which an aircraft can take off and land.

[0008] In a robot according to one aspect of the present invention, as described above, the robot includes a plurality of legs that can move and walk, so that after the flying object has landed on the landing section, the flying object can easily approach a desired position by walking using the legs, even on an uneven surface or a steep slope.

[0009] According to the present invention, as described above, it is possible to easily bring the flying object close to a desired position.

[0010] 1 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a first embodiment; FIG. 2 is a block diagram showing the control configuration of the robot system according to the first embodiment; FIG. 3 is a diagram for explaining an example of movement of the robot and the air vehicle according to the first embodiment; FIG. 4 is a perspective view showing a running mode of the robot according to the first embodiment; FIG. 5 is a diagram for explaining a storage unit of the robot according to the first embodiment; FIG. 6 is a diagram for explaining takeoff and landing of the air vehicle of the robot on a slope according to the first embodiment; FIG. 7 is a diagram for explaining flight of the robot according to the first embodiment; FIG. 8 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a second embodiment; FIG. 9 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a first modified example of the second embodiment; FIG. 10 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a second modified example of the second embodiment; FIG. 11 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a third modified example of the second embodiment; FIG. 12 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a fourth modified example of the second embodiment; FIG. 13 is a perspective view showing an outline of a robot system including a robot and an air vehicle according to a fifth modified example of the second embodiment.

[0011] First Embodiment A first embodiment will be described with reference to the drawings.

[0012] The configuration of a robot system 300 including a robot 100 according to the first embodiment will be described with reference to FIGS.

[0013] As shown in FIG. 1, the robot system 300 includes a robot 100 and an air vehicle 200 that takes off and lands on the robot 100 .

[0014] As shown in FIG. 2, the robot 100 includes a main body 100a (see FIG. 1), a control unit 10, a takeoff and landing unit 11 (see FIG. 1), a plurality of legs 12a, 12b, 12c, and 12d, wheels 13, a plurality of arms 14a and 14b, a camera 15, a communication unit 16, a charging unit 17, and a battery 18.

[0015] The control unit 10 controls each unit of the robot 100. Specifically, the control unit 10 includes a CPU (Central Processing Unit) 101 and a memory 102. The control unit 10 controls the driving of the multiple legs 12a, 12b, 12c, and 12d to cause the robot 100 to walk. The control unit 10 controls the movement of each of the multiple legs 12a, 12b, 12c, and 12d by controlling the power supplied to a driving unit 121 provided at each joint of the multiple legs 12a, 12b, 12c, and 12d. The control unit 10 also controls the driving of the driving unit 121 based on the detection results of a sensor 122 that detects the rotation angle of the joint provided at each joint of the multiple legs 12a, 12b, 12c, and 12d.

[0016] Furthermore, in a traveling mode in which the robot 100 travels using the wheels 13, the control unit 10 controls the driving of the wheels 13. The control unit 10 drives and rotates the plurality of wheels 13 by controlling the power supplied to the driving units 131 provided in each of the plurality of wheels 13. Furthermore, the control unit 10 controls the driving of the driving units 131 based on the detection result of the sensor 132 provided in each of the plurality of wheels 13 to detect the rotation angle.

[0017] The control unit 10 also controls the operation of each of the arms 14 a and 14 b by controlling the power supplied to a drive unit 141 provided at each joint of the arms 14 a and 14 b. The control unit 10 also controls the driving of the drive unit 141 based on the detection result of a sensor 142 that detects the rotation angle of the joint provided at each joint of the arms 14 a and 14 b.

[0018] The control unit 10 also controls the opening and closing operation of the opening / closing unit 11a, which opens and closes the storage unit 110 (see FIG. 5) provided in the takeoff and landing unit 11 (see FIG. 1). Specifically, the control unit 10 opens and closes the opening / closing unit 11a by controlling the power supplied to the drive units 111 provided in each of the multiple joints of the opening / closing unit 11a. The control unit 10 also controls the drive of the drive units 111 based on the detection results of sensors 112 that detect the rotation angles of the joints provided in each of the multiple joints of the opening / closing unit 11a.

[0019] The control unit 10 also controls the coupling operation of the coupling units 11b provided on the takeoff and landing unit 11 (see FIG. 1 ). Specifically, the control unit 10 controls the coupling and decoupling operations of the coupling units 11b by controlling the power supplied to the drive units 113 provided on each of the multiple coupling units 11b. The control unit 10 also controls the drive units 113 based on the detection results of the sensors 114 that detect the rotation angles provided on each of the multiple coupling units 11b. The control unit 10, for example, controls the coupling units 11b to switch between a state in which they engage with the flying vehicle 200 and a state in which they disengage.

[0020] The control unit 10 also controls the imaging operation of the camera 15 .

[0021] The control unit 10 also controls the sending and receiving of information to and from the flying object 200 via the communication unit 16 .

[0022] The control unit 10 also controls the charging unit 17 to control charging from the outside to the battery 18. The control unit 10 also controls the charging unit 17 to control charging from the battery 18 to the battery 260 of the flying object 200.

[0023] 1, in the first embodiment, the takeoff and landing section 11 is supported by a plurality of legs 12a to 12d, enabling takeoff and landing of the aircraft 200. Specifically, the takeoff and landing section 11 is disposed on the upper surface of the main body 100a, which is supported by a plurality of legs 12a, 12b, 12c, and 12d.

[0024] 3 , the robot 100 moves from a starting point P1 where a facility A1 where a worker is located to a destination P2 that is difficult for people to reach, carrying an air vehicle 200. After the robot 100 reaches the vicinity of the facility A2 at the destination P2, the air vehicle 200 takes off from the robot 100 and performs operations such as inspection, work, and transporting supplies to the facility A2. That is, the control unit 10 controls the air vehicle 200 to land on the takeoff and landing unit 11, and then moves the air vehicle 200 by the multiple legs 12 a, 12 b, 12 c, and 12 d so as to approach the destination P2, and then takes off from the takeoff and landing unit 11 near the destination P2.

[0025] The multiple legs 12a, 12b, 12c, and 12d operate to enable the robot 100 to walk. Specifically, the robot 100 is provided with four legs 12a, 12b, 12c, and 12d. The leg 12a is provided on the front right of the robot 100. The leg 12b is provided on the front left of the robot 100. The leg 12c is provided on the rear right of the robot 100. The leg 12d is provided on the rear left of the robot 100. The robot 100 can be switched to a walking mode in which it walks using the multiple legs 12a, 12b, 12c, and 12d. The multiple legs 12a, 12b, 12c, and 12d enable the robot 100 to walk on uneven paths. In other words, the robot 100 can traverse areas with large unevenness, large steps, and obstacles such as fallen trees, rubble, and rocks. Furthermore, as shown in FIG. 6, the robot 100 can travel along a route that goes up and down a steep slope and a route that has unevenness.

[0026] As shown in FIG. 1 , wheels 13 are provided on each of the multiple legs 12 a, 12 b, 12 c, and 12 d. The wheels 13 operate to enable the robot 100 to run. The rolling direction of the wheels 13 is changed by the legs 12 a, 12 b, 12 c, and 12 d. The robot 100 can also be switched to a running mode in which it runs using the multiple wheels 13. Specifically, as shown in FIG. 4 , the tips of the legs 12 a, 12 b, 12 c, and 12 d are bent to allow the wheels 13 located midway between the legs 12 a, 12 b, 12 c, and 12 d to be able to contact the ground. In this state, the wheels 13 are driven to allow the robot 100 to run using the wheels 13. In other words, the robot 100 can move smoothly using the wheels 13 on a path with little unevenness and a relatively flat surface.

[0027] Each of the arms 14a and 14b has multiple joints. The arms 14a and 14b have, for example, six vertical articulated joints. The arms 14a and 14b are provided on the main body 100a. The arm 14a is provided to the right of the main body 100a. The arm 14b is provided to the left of the main body 100a. For example, when an obstacle is present in the movement path of the robot 100, the arms 14a and 14b perform an operation to remove the obstacle. Furthermore, when a door or the like is present in the movement path of the robot 100, the arms 14a and 14b perform an operation to open the door.

[0028] The camera 15 is capable of capturing still images and moving images and is provided on the top of the main body 100a.

[0029] The communication unit 16 is capable of communicating with external devices. The communication unit 16 exchanges signals with the flying object 200. The communication unit 16 receives information acquired by the flying object 200. The communication unit 16 is also capable of communicating with a control unit (not shown) that controls the robot 100.

[0030] The control unit 10 then determines the surrounding conditions based on information received from the flying object 200 via the communication unit 16. For example, the control unit 10 determines a movement route based on information received from the flying object 200 via the communication unit 16. In other words, the control unit 10 searches for routes and identifies difficult-to-pass locations based on images and videos captured from the sky by the flying object 200, thereby determining an easy-to-pass route for the movement route of the robot 100.

[0031] Furthermore, for example, the control unit 10 searches for people, animals, objects, etc. based on information received from the flying object 200 via the communication unit 16. In other words, the control unit 10 performs image analysis based on images and videos captured from the sky by the flying object 200, and identifies the positions of people, animals, objects, etc.

[0032] The charging unit 17 charges the battery 18 of the robot 100 with power from an external power source. The charging unit 17 also supplies power from the battery 18 of the robot 100 to the battery 260 of the flying object 200. This charges the battery 260 of the flying object 200. As shown in FIG. 1 , the charging unit 17 is provided in the takeoff and landing section 11.

[0033] The memory unit 19 stores information. The memory unit 19 includes, for example, a storage medium such as an SSD, an HDD, a flash memory, or an optical disk. The memory unit 19 stores information acquired by the robot 100. For example, the memory unit 19 stores images and videos captured by the camera 15 of the robot 100. The memory unit 19 also stores information received from the flying object 200 via the communication unit 16. For example, the memory unit 19 stores images and videos captured by the camera 230 of the flying object 200.

[0034] As shown in Fig. 1, the flying object 200 is a drone that flies using a propeller. As shown in Fig. 2, the flying object 200 includes a control unit 210, a propulsion unit 220, a camera 230, a communication unit 240, a charging unit 250, and a battery 260.

[0035] The control unit 210 controls each unit of the flying object 200. Specifically, the control unit 210 includes a CPU (Central Processing Unit) 211 and a memory 212. The control unit 210 controls the drive of the multiple propulsion units 220 to fly the flying object 200. The control unit 210 controls the operation of each of the multiple propulsion units 220 by controlling the power supplied to a drive unit 221 provided in each of the multiple propulsion units 220. The control unit 210 also controls the drive of the drive unit 221 based on the detection result of a sensor 222 that detects the number of rotations provided in each of the multiple propulsion units 220.

[0036] The control unit 210 also controls the imaging operation of the camera 230 .

[0037] The control unit 210 also controls the sending and receiving of information to and from the robot 100 via the communication unit 240 .

[0038] The control unit 210 also controls the charging unit 250 to control charging from the outside to the battery 260. Specifically, the control unit 210 controls the charging unit 250 to control charging from the battery 18 of the robot 100 to the battery 260.

[0039] The propulsion units 220 generate a propulsive force that propels the flying object 200 to fly. As shown in Fig. 1, four propulsion units 220 are provided. Each propulsion unit 220 includes a propeller, and generates lift by rotating the propeller. This causes the flying object 200 to rise and move.

[0040] The camera 230 is capable of capturing still images and moving images and is provided on the top of the main body 100a.

[0041] The communication unit 240 can communicate with external devices. The communication unit 240 exchanges signals with the robot 100. The communication unit 240 transmits images and videos captured by the camera 230 of the flying object 200 to the robot 100. The communication unit 240 also communicates with the robot 100 and a control unit (not shown) to acquire control information. This allows the flying object 200 to fly by control.

[0042] The charging unit 250 charges the battery 260 with power.

[0043] As shown in FIG. 5 , the main body 100a of the robot 100 includes a storage section 110 that stores the takeoff and landing section 11. The storage section 110 can expose the takeoff and landing section 11 by unfolding its top and sides. The storage section 110 can cover the takeoff and landing section 11 by folding its top and sides. The storage section 110 may be provided on the top surface of the main body 100a. In this case, the storage section 110 may cover the sides and above of the takeoff and landing section 11 by folding its top and sides. The storage section 110 may also be provided inside the main body 100a. In this case, the storage section 110 may expose the takeoff and landing section 11 by opening its top.

[0044] 6, the control unit 10 operates the multiple legs 12a, 12b, 12c, and 12d so that the upper surface of the takeoff and landing section 11 is horizontal when the flying object 200 lands. Specifically, the control unit 10 uses a sensor such as a gyro sensor (not shown) to flex and extend the joints of each of the multiple legs 12a, 12b, 12c, and 12d so that the upper surface of the takeoff and landing section 11 is horizontal. Similarly, the control unit 10 operates the multiple legs 12a, 12b, 12c, and 12d so that the upper surface of the takeoff and landing section 11 is horizontal when the flying object 200 takes off.

[0045] 7, the robot 100 is provided with a connecting portion 11b that connects the flying object 200 so that the main body 100a can fly using the flying object 200. The connecting portion 11b is provided on the takeoff and landing portion 11. The connecting portion 11b connects the flying object 200 via a wire 115. A plurality of connecting portions 11b are provided so that a plurality of flying objects 200 can be connected. When the flying object 200 is flown with the flying object 200 connected to the connecting portion 11b, the robot 100 can fly.

[0046] (Effects of First Embodiment) In the first embodiment, the following effects can be obtained.

[0047] In the first embodiment, as described above, the robot 100 includes a plurality of legs 12a to 12d that can move and walk, and a takeoff and landing unit 11 that is supported by the plurality of legs 12a to 12d and on which the flying object 200 can take off and land. With this, once the flying object 200 has landed on the takeoff and landing unit 11, the flying object 200 can easily approach a desired position by walking using the legs 12a to 12d, even on an uneven surface or a steep slope.

[0048] Furthermore, in the first embodiment, as described above, the control unit 10 is provided which controls the robot 100 to move the aircraft 200 by the legs 12a to 12d so as to approach the destination P2 after the aircraft 200 has landed on the takeoff and landing unit 11, and to take off the aircraft 200 from the takeoff and landing unit 11 near the destination P2. This allows the robot 100 to transport the aircraft 200 close to the destination P2, so that the aircraft 200 can be reliably transported close to the destination P2 without falling before arriving at the destination or consuming power for flight.

[0049] Furthermore, in the first embodiment, as described above, the main body 100a is supported by the plurality of legs 12a to 12d and has the takeoff and landing unit 11 disposed on the upper surface thereof, thereby allowing the aircraft 200 to easily take off and land on the takeoff and landing unit 11 disposed on the upper surface of the main body 100a.

[0050] Furthermore, in the first embodiment, as described above, the main body 100a includes the storage section 110 that stores the takeoff and landing section 11. This allows the flying object 200 to be stored in the storage section 110 when the flying object 200 is transported by the robot 100, thereby preventing the flying object 200 from coming into contact with external objects.

[0051] Furthermore, as described above, the first embodiment includes the connecting portion 11b that connects the flying body 200. This allows the main body 100a to fly, so that the robot 100 can easily move even if there are extremely large steps or valleys in relation to the legs 12a to 12d.

[0052] Furthermore, in the first embodiment, as described above, the robot 100 is provided with wheels 13 provided on the plurality of legs 12a to 12d, and can switch between a walking mode in which the robot 100 walks using the plurality of legs 12a to 12d and a running mode in which the robot 100 runs using the wheels 13. This allows the robot 100 to move in the running mode on flat ground, allowing the robot 100 to move more efficiently and at higher speeds than when walking.

[0053] Furthermore, in the first embodiment, as described above, the arms 14a and 14b each have multiple joints. This allows the arms 14a and 14b to operate and remove any obstacles that may be present along the flight path. Furthermore, the arms 14a and 14b can easily adjust the position of the aircraft 200 relative to the takeoff and landing section 11 without the aircraft 200 being in flight.

[0054] Furthermore, in the first embodiment, as described above, the multiple legs 12a to 12d are operated so that the upper surface of the takeoff and landing section 11 is horizontal when the flying body 200 lands. As a result, even if the ground is inclined, the upper surface of the takeoff and landing section 11 can be easily made horizontal by operating the multiple legs 12a to 12d, so that the attitude of the flying body 200 can easily be made horizontal when taking off.

[0055] Furthermore, as described above, the first embodiment includes a charging unit 17 that is provided in the takeoff and landing section 11 and supplies power to the battery 260 of the flying vehicle 200. This allows the flying vehicle 200 to land on the takeoff and landing section 11 and charge the battery 260 when the remaining charge of the battery 260 of the flying vehicle 200 becomes low.

[0056] Furthermore, as described above, the first embodiment includes a communication unit 16 that receives information acquired by the flying object 200, and a storage unit 19 that stores information received from the flying object 200 via the communication unit 16. This eliminates the need to provide a large-capacity storage medium in the flying object 200, thereby preventing the weight of the flying object 200 from increasing.

[0057] Furthermore, as described above, the first embodiment includes the communication unit 16 that receives information acquired by the flying object 200, and the control unit 10 that determines the surrounding conditions based on the information received from the flying object 200 via the communication unit 16. This allows the control unit 10 to easily determine the surrounding conditions of the robot 100 based on information such as images acquired from above by the flying object 200.

[0058] Furthermore, in the first embodiment, as described above, the control unit 10 determines a travel route based on information received from the flying object 200 via the communication unit 16. This makes it possible to easily determine a travel route that is possible or easy to travel along based on information such as images acquired from above by the flying object 200.

[0059] In the first embodiment, as described above, four legs 12a to 12d are provided, which allows for balanced and rapid movement by the four legs 12a to 12d.

[0060] Second Embodiment Next, a configuration of a robot system 400 including a robot 410 according to a second embodiment of the present invention will be described with reference to Figures 2 and 8. In the second embodiment, unlike the first embodiment in which the robot 100 includes four legs 12a, 12b, 12c, and 12d, an example of a configuration in which the robot 410 includes two legs 412 will be described. Note that a description of the same configuration as the first embodiment will be omitted.

[0061] As shown in FIG. 8, the robot system 400 includes a robot 410 and an air vehicle 420 that takes off and lands on the robot 410 .

[0062] The robot 410 includes a torso 410a, a control unit 10 (see Figure 2), a takeoff and landing unit 411, multiple legs 412, a head 413, multiple arms 414, a camera 15 (see Figure 2), a communication unit 16 (see Figure 2), a charging unit 17 (see Figure 2), and a battery 18 (see Figure 2).

[0063] The body 410a is supported by a plurality of legs 412. The body 410a is connected to a plurality of legs 412, a head 413, and a plurality of arms 414. The body 410a is also provided with a takeoff and landing section 411.

[0064] The control unit 10 controls each part of the robot 410. Specifically, as shown in Fig. 2, the control unit 10 includes a CPU (Central Processing Unit) 101 and a memory 102. The control unit 10 controls the driving of the multiple legs 412 to make the robot 410 walk. The control unit 10 also controls the operation of each of the multiple arms 414.

[0065] In the second embodiment, as shown in FIG. 8 , the takeoff and landing section 411 is supported by a plurality of legs 412, enabling the aircraft 420 to take off and land. Specifically, the takeoff and landing section 411 is provided on a fuselage section 410a supported by the plurality of legs 412. The takeoff and landing section 411 is disposed on the back of the fuselage section 410a. The takeoff and landing section 411 is attached so as to be perpendicular to the fuselage section 410a. The takeoff and landing section 411 is provided on the fuselage section 410a so as to be horizontal when the robot 410 is in an upright position. The takeoff and landing section 411 may be disposed on a portion other than the back of the fuselage section 410a. For example, the takeoff and landing section 411 may be disposed on the abdominal portion on the front side of the fuselage section 410a. The takeoff and landing section 411 may also be disposed on the side surface of the fuselage section 410a.

[0066] The robot 410 is provided with two legs 412. The robot 410 walks by alternately moving the two legs 412 forward. The legs 412 have multiple joints.

[0067] The head 413 is supported by the body 410a and is provided with a camera 15 (see FIG. 2).

[0068] Two arms 414 are provided. The arms 414 perform operations to remove obstacles or to push aside obstacles to avoid them. Alternatively, the arms 414 perform operations to enable the robot 410 to climb slopes. Furthermore, the arms 414 perform operations to open doors when there are doors or the like in the path of the robot 410's movement.

[0069] The flying object 420 is a drone that flies using a propeller and includes a control unit 210 (see FIG. 2), a propulsion unit 421, a camera 230 (see FIG. 2), a communication unit 240 (see FIG. 2), a charging unit 250 (see FIG. 2), and a battery 260 (see FIG. 2).

[0070] The control unit 210 controls each part of the flying object 420. Specifically, the control unit 210 includes a CPU (Central Processing Unit) 211 and a memory 212. The control unit 210 controls the driving of a plurality of propulsion units 421 to fly the flying object 420.

[0071] The other configurations of the second embodiment are similar to those of the first embodiment.

[0072] Effect of Second Embodiment In the second embodiment, similarly to the first embodiment, the robot 410 includes a plurality of legs 412 that can move and walk, and a takeoff and landing unit 411 that is supported by the plurality of legs 412 and on which the flying object 420 can take off and land. With this, after the flying object 420 has landed on the takeoff and landing unit 411, the flying object 420 can easily approach a desired position by walking using the legs 412, even on an uneven surface or a steep slope.

[0073] In the second embodiment, as described above, two legs 412 are provided as the plurality of legs 412. This allows the robot to move quickly and in a balanced manner using the minimum number of legs 412 that are capable of walking.

[0074] Other effects of the second embodiment are similar to those of the first embodiment.

[0075] (First Modification of Second Embodiment) Next, the configuration of a robot system 400a including a robot 410b according to a first modification of the second embodiment of the present invention will be described with reference to Fig. 9. In the first modification of the second embodiment, an example of a configuration will be described in which a takeoff and landing section 411a on which an aircraft 420 can take off and land is parallel to a fuselage section 410a.

[0076] As shown in FIG. 9 , in the first modified example, the takeoff and landing section 411a is supported by multiple legs 412, enabling the flying object 420 to take off and land. Specifically, the takeoff and landing section 411a is provided on a body section 410a supported by multiple legs 412. The takeoff and landing section 411a is also located on the back portion of the body section 410a. The takeoff and landing section 411a may be located on a portion other than the back portion of the body section 410a. For example, the takeoff and landing section 411a may be located on the abdominal portion on the front side of the body section 410a. The takeoff and landing section 411a may also be located on the side surface of the body section 410a. The takeoff and landing section 411a is provided parallel to the body section 410a. In other words, the takeoff and landing section 411a is provided on the body section 410a so as to extend in the vertical direction when the robot 410b is in an upright position. By bending its back, robot 410b can orient takeoff and landing section 411a in a nearly horizontal direction. When takeoff and landing section 411a is in a nearly horizontal direction, flying vehicle 420 takes off and lands. For example, robot 410b may be in a so-called crawling position with arms 414 on the ground and legs 412 and arms 414 in contact with the ground at four points, allowing flying vehicle 420 to take off and land.

[0077] (Second Modification of Second Embodiment) Next, the configuration of a robot system 400b including a robot 410c according to a second modification of the second embodiment of the present invention will be described with reference to Fig. 10. In the second modification of the second embodiment, an example of a configuration in which a takeoff and landing section 411b on which an aircraft 420 can take off and land is provided on a head 413 will be described.

[0078] 10 , in the second modified example, the takeoff and landing section 411b is supported by a plurality of legs 412, enabling the flying body 420 to take off and land. Specifically, the takeoff and landing section 411b is provided on a head 413 supported by a body 410a. The body 410a is supported by a plurality of legs 412. The takeoff and landing section 411b is also disposed above the head 413. The takeoff and landing section 411b is also provided on the head 413 so as to extend horizontally when the robot 410c is in an upright position.

[0079] (Third Modification of Second Embodiment) Next, the configuration of a robot system 400c including a robot 410d according to a third modification of the second embodiment of the present invention will be described with reference to Fig. 11. In the third modification of the second embodiment, an example of a configuration will be described in which an aircraft 420 includes a part of a head 413, and a takeoff and landing section 411c on which the aircraft 420 can take off and land is provided on the head 413.

[0080] 11 , in the third modified example, the takeoff and landing section 411c is supported by a plurality of legs 412, enabling the flying object 420 to take off and land. Specifically, the takeoff and landing section 411c is provided on a head section 413 supported by a body section 410a. The body section 410a is supported by a plurality of legs 412. The flying object 420 is also a part of the head section 413. The takeoff and landing section 411c is provided on a lower head section 413a of the head section 413.

[0081] (Fourth Modification of Second Embodiment) Next, the configuration of a robot system 400d including a robot 410e according to a fourth modification of the second embodiment of the present invention will be described with reference to Fig. 12. In the fourth modification of the second embodiment, an example of a configuration in which an air vehicle 420 includes a head 413b will be described.

[0082] 12, in the fourth modified example, takeoff and landing section 411d is supported by multiple legs 412, allowing aircraft 420 to take off and land. Specifically, takeoff and landing section 411d is provided on body section 410a, which is supported by multiple legs 412. Aircraft 420 also includes head section 413b. Takeoff and landing section 411d is a neck section that connects body section 410a and head section 413b of aircraft 420.

[0083] (Fifth Modification of Second Embodiment) Next, the configuration of a robot system 400e including a robot 410f according to a fifth modification of the second embodiment of the present invention will be described with reference to Fig. 13. In the fifth modification of the second embodiment, an example of a configuration in which an air vehicle 420 includes a head 413b and an arm 414a will be described.

[0084] 13 , in the fifth modified example, the takeoff and landing section 411e is supported by a plurality of legs 412, allowing the flying object 420 to take off and land. Specifically, the takeoff and landing section 411e is provided on a body section 410a supported by the plurality of legs 412. The flying object 420 also includes a head section 413b. The flying object 420 is also provided with a plurality of arms 414a. When the flying object 420 is connected to a robot 410e, the plurality of arms 414a can be used as arms of the robot 410e.

[0085] (Modifications) The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the description of the above-mentioned embodiments, and includes all modifications (modifications) within the meaning and scope of the claims.

[0086] For example, in the first embodiment, an example of a configuration in which the robot is provided with four legs is shown, and in the second embodiment, an example of a configuration in which the robot is provided with two legs is shown, but this is not limiting. For example, the robot may be provided with three legs, or five or more legs.

[0087] In addition, in the first embodiment, an example of a configuration in which the robot is provided with wheels that enable it to run on wheels has been described, but this is not limiting. For example, the robot may not be provided with wheels and may not run on wheels.

[0088] In the first embodiment, the robot is provided with four wheels that can run on it, but this is not limiting. For example, the robot may be provided with one, two, three, five or more wheels that can run on it.

[0089] In the first embodiment, the robot has wheels on its legs, but the present invention is not limited to this. For example, the robot may have wheels on a position other than its legs.

[0090] In addition, in the first and second embodiments, examples have been shown in which the robot is provided with two arms, but this is not limiting. For example, the robot may be provided with no arms, or may be provided with one arm, or three or more arms.

[0091] In the first and second embodiments, the robot is driven by battery power, but the present invention is not limited to this. For example, the robot may be driven by power supplied from a wired cable.

[0092] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0093] Aspects It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0094] (Aspect 1) A robot comprising: a plurality of legs that can move and walk; and a takeoff and landing unit that is supported by the plurality of legs and allows an aircraft to take off and land.

[0095] (Aspect 2) The robot according to Aspect 1, further comprising a control unit that controls the aircraft to move using the multiple legs so as to approach a destination when the aircraft has landed on the takeoff and landing section, and to take off from the takeoff and landing section near the destination.

[0096] (Aspect 3) The robot according to aspect 1 or 2, further comprising a main body supported by the plurality of legs and having the takeoff and landing unit disposed on an upper surface thereof.

[0097] (Aspect 4) The robot according to aspect 3, wherein the main body includes a housing section that houses the takeoff and landing section.

[0098] (Aspect 5) The robot according to Aspect 3 or 4, further comprising a connecting portion that connects the flying bodies.

[0099] (Aspect 6) The robot according to any one of Aspects 1 to 5, further comprising wheels provided on the plurality of legs, and being switchable between a walking mode in which the robot walks using the plurality of legs and a running mode in which the robot runs using the wheels.

[0100] (Aspect 7) The robot according to any one of Aspects 1 to 6, comprising an arm having a plurality of joints.

[0101] (Aspect 8) The robot according to any one of Aspects 1 to 7, wherein the plurality of legs are operated so that an upper surface of the takeoff and landing section is horizontal when the flying object lands.

[0102] (Aspect 9) The robot according to any one of Aspects 1 to 8, further comprising a charging unit provided on the takeoff and landing unit, which supplies power to a battery of the flying object.

[0103] (Aspect 10) The robot according to any one of Aspects 1 to 9, comprising: a communication unit that receives information acquired by the air vehicle; and a memory unit that stores information received from the air vehicle via the communication unit.

[0104] (Aspect 11) The robot according to any one of Aspects 1 to 10, comprising: a communication unit that receives information acquired by the air vehicle; and a control unit that determines a surrounding state based on the information received from the air vehicle via the communication unit.

[0105] (Aspect 12) The robot according to aspect 11, wherein the control unit determines a movement path based on information received from the air vehicle via the communication unit.

[0106] (Aspect 13) The robot according to any one of Aspects 1 to 12, wherein the number of the plurality of legs provided is four.

[0107] (Aspect 14) The robot according to any one of Aspects 1 to 13, comprising: two legs; a torso supported by the legs; and a head supported by the torso, wherein the takeoff and landing unit is provided on the torso or the head.

[0108] (Aspect 15) The robot according to aspect 14, wherein the head includes the flying object.

[0109] 10 Control unit 11, 411, 411a, 411b, 411c, 411d, 411e Take-off and landing unit 11b Connecting unit 12a, 12b, 12c, 12d, 412 Legs 13 Wheels 14a, 14b, 414, 414a Arms 16 Communication unit 17 Charging unit 19 Memory unit 100, 410, 410b, 410c, 410d, 410e, 410f Robot 100a Main body 110 Storage unit 200, 420 Aircraft 260 Battery 410a Body 413 Head

Claims

1. A robot comprising: a plurality of legs operable to walk; and a takeoff and landing unit supported by the plurality of legs and capable of allowing an aircraft to take off and land.

2. A robot as described in claim 1, further comprising a control unit that controls the aircraft to move using the multiple legs to approach a destination when the aircraft has landed on the takeoff and landing section, and to take off from the takeoff and landing section near the destination.

3. The robot according to claim 1, comprising a main body supported by said plurality of legs and having said take-off and landing section disposed on an upper surface thereof.

4. The robot according to claim 3, wherein the main body portion includes a housing portion for housing the takeoff and landing portion.

5. The robot according to claim 3, comprising a connecting portion for connecting said flying body.

6. The robot according to claim 1, further comprising wheels attached to the plurality of legs, and switchable between a walking mode in which the robot walks using the plurality of legs and a running mode in which the robot runs using the wheels.

7. The robot of claim 1, comprising an arm having multiple joints.

8. The robot according to claim 1, wherein the plurality of legs are operated so that the upper surface of the takeoff and landing section is horizontal when the flying body lands.

9. The robot according to claim 1, further comprising a charging unit provided on the takeoff and landing section for supplying power to a battery of the flying body.

10. The robot described in claim 1, comprising: a communication unit that receives information acquired by the airborne vehicle; and a memory unit that stores information received from the airborne vehicle via the communication unit.

11. The robot described in claim 1, comprising: a communication unit that receives information acquired by the airborne vehicle; and a control unit that determines the surrounding condition based on the information received from the airborne vehicle via the communication unit.

12. The robot according to claim 11, wherein the control unit determines a movement path based on information received from the flying object via the communication unit.

13. The robot according to claim 1, wherein the number of legs is four.

14. The robot described in claim 1, comprising: two of the legs; a torso supported by the legs; and a head supported by the torso, wherein the takeoff and landing section is provided on the torso or the head.

15. The robot of claim 14, wherein the head comprises the flying object.

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