JP2016135625A - Levitation movable carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a levitation movable carriage which does not require an additional space for arranging, or displaying an article, and which eliminates need of going for the article.SOLUTION: A levitation movable carriage comprises: an aerial flight mechanism part for moving in the air and levitating, and hovering in the air; a mount table for mounting an article thereon; one or plural sensors for controlling a posture for keeping a horizontal state of the mount table; a storage part for storing information of a space area which is moved by the aerial flight mechanism part; one or plural cameras for imaging inside of the space area; determination means for determining whether or not, a predetermined state occurs, based on imaged image information obtained by the one or plural cameras; and control means for controlling the aerial flight mechanism part so as to move to the vicinity of a person who exists in the place where the predetermined state occurs, perform hovering, when the determination means determines that the predetermined state occurs.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a levitating platform suitable for use in providing food, drinks, etc., and cleaning up empty containers such as dishes and glasses, for example, at a party.

  For example, as a method of providing food and drinks at restaurants and hotels, a reception party listens to your orders and transports the ordered food and drinks to your customers. For example, there is also known a method called a buffet style in which foods and drinks to be provided are arranged in advance on a table and customers themselves pick up the foods and drinks arranged.

  As the latter way of providing food and drinks, we also propose a method that allows customers and customer service staff to be saved by presenting food and drinks to customers using a rotating table or belt conveyor system. (See, for example, Patent Document 1 (Japanese Patent Laid-Open No. 11-299626) and Patent Document 2 (Japanese Patent Laid-Open No. 2003-199654)).

JP-A-11-299626 JP 2003-199654 A

  In the case of a buffet style in which food and drinks are arranged in a predetermined place, the customer has to go to get foods and drinks one by one. In addition, when we were in talks with other customers, we sometimes suspended (interrupted) those talks, or gave up taking food and drinks if we didn't want to pause. In addition, it is necessary to set a place where food and drinks are arranged, and there is also a problem that the space available to customers is narrowed by that place.

  As in Patent Document 1 and Patent Document 2, when providing food and drinks using a rotary table or a belt conveyor system, customers do not have to go to the dishes and drinks every time, which is convenient. . However, the installation position of the rotary table and the belt conveyor is necessary, and the space available to the customer is reduced by that amount, and a special providing device such as the rotary table and the belt conveyor is required. There's a problem. You also have to wait until what you want is carried on a turntable or belt conveyor.

  The above problems are not limited to articles such as dishes and drinks, and are the same in an environment where various articles are displayed and sold.

  In view of the above points, the present invention does not require a separate space for arranging and displaying articles, and a person goes to a predetermined place by himself / herself. An object of the present invention is to provide a levitating platform that can be eliminated.

In order to solve the above problems, the invention of claim 1
An aerial flight mechanism for levitating and moving in the air, and hovering in the air;
A mounting table on which an article can be mounted;
One or more sensors for controlling the posture so as to maintain the horizontal state of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
One or a plurality of cameras for photographing in the space area;
A discriminating means for discriminating whether or not a predetermined situation has occurred from captured image information from the one or more cameras;
When the determination means determines that a predetermined situation has occurred, the aerial flight mechanism unit is controlled to move to and hover over a person in the place where the predetermined condition has occurred. Control means to
A levitation moving table is provided.

  The levitation moving table of the present invention having the above-described configuration includes a mounting table on which an article can be placed, and an article such as a dish or a drink is placed on the mounting table and stored in the storage unit. It can move in the air in the spatial domain. In other words, the levitation moving table moves while placing articles such as dishes and drinks on the mounting table and presenting them to the recipient of the articles, so that a space for arranging the articles such as dishes and drinks becomes unnecessary.

  In addition, the levitating platform of the present invention is, for example, whether or not a predetermined situation has occurred, such as the person to whom the article is provided calls, or the food container is empty or the drink container is empty at the party venue, for example. If it is determined that such a predetermined situation has occurred, hovering is performed beside the person in the place where the predetermined situation has occurred. As a result, a person who is hovering beside the levitating mobile stand picks up and acquires items such as dishes and drinks that are on the stand of the levitating mobile stand according to his / her preference. Or an empty container can be placed on a mounting table for collection. Therefore, by using the levitating platform according to the present invention, it is not necessary for a person to go to a predetermined place to pick up an item by himself / herself.

  According to the apparatus of the present invention, it is possible to provide a levitating platform that allows a customer to avoid taking food, drinks, and other items by himself without narrowing the space available to the customer. it can. Also, even if you are in talks with other customers, you do not need to suspend the talk to get food and drinks, and you do not have to give up food and drinks.

It is a figure which shows the example of a mechanical structure of embodiment of the levitation moving base by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving base by this invention. It is a figure used in order to demonstrate the operation example of embodiment of the levitating movement stand by this invention. It is a figure used in order to demonstrate the operation example of embodiment of the levitating movement stand by this invention. It is a figure used in order to demonstrate the operation example of embodiment of the levitating movement stand by this invention. It is a figure used in order to demonstrate the operation example of embodiment of the levitating movement stand by this invention. It is a figure for demonstrating an example of the other utilization aspect of embodiment of the levitation moving base by this invention.

  Hereinafter, an embodiment of a levitating platform according to the present invention will be described with reference to the drawings. In the embodiments described below, the levitating platform is used for serving food and drinks and collecting empty containers at a standing party venue. However, it goes without saying that the levitating platform of the present invention is not limited to this example.

  The levitating platform 1 of this embodiment has a configuration of a flying object that can autonomously fly in the air and move. FIG. 1 (A) is a view of the levitating platform 1 of this embodiment as viewed from above, and FIG. 1 (B) is a diagram of the levitating platform 1 of this embodiment as viewed from the front side. It is a figure.

  The levitating platform 1 of this embodiment includes an aerial flight mechanism unit 2 having a so-called quadcopter structure and a drive control unit 3. The aerial flight mechanism unit 2 is driven and controlled by a drive control unit 3. As shown in FIG. 1, the aerial flight mechanism unit 2 is provided with rotary wing (rotor) mechanisms 5A, 5B, 5C, 5D attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. Is configured.

  The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blade shafts (not shown) by the motor drive units 51A, 51B, 51C, and 51D, thereby rotating the rotary blades 52A, 52B, 52C, and 52D. It is configured to rotate. The motor drive units 51 </ b> A, 51 </ b> B, 51 </ b> C, 51 </ b> D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotational driving and a power source for driving control. A camera, a microphone, various sensors, a control unit, and the like, which will be described later, are also supplied with power from the battery. As the battery, for example, a rechargeable secondary battery is used. A solar cell may be used.

  In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by a drive control signal from the drive control unit 3, so that the levitation moving platform 1 that is a flying object takes off and landing. , Various movements such as ascending (directly above, diagonally up), descending (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, etc. In addition, posture control such as an inclination angle with respect to the vertical direction and position control of the hovering position can be performed.

  In the levitating platform 1 of this embodiment, a camera, an omnidirectional microphone, various sensors, and the like, which will be described later, are attached integrally with the drive control unit 3, and a drive control device unit 10 including a control unit is incorporated. A housing 6 is formed. In this example, the housing 6 has a box shape as a whole.

  Two legs 7A and 7B are attached to the housing 6 so as to face each other. In this example, the leg portions 7A and 7B are made of pipe members formed in a trapezoidal shape, and are formed so as to stably hold the levitation moving table 1 on the landing surface 8, as shown in FIG. Has been. The shape and members of the leg are not limited to this, and various types are conceivable. For example, it may be a wood or metal material in which four legs are formed in a cylindrical shape at the four corners of the housing 6. In order to facilitate movement on the landing surface 8, a movable wheel may be attached to the leg portion.

  In this example, as shown in FIGS. 1A and 1B, a camera CM <b> 1 and an omnidirectional microphone MC are provided on the upper surface of the housing 6 of the drive control unit 3. Further, as shown in FIGS. 1A and 1B, cameras CM <b> 2 to CM <b> 5 are respectively provided on the four side surfaces of the housing 6. Further, a camera CM 6 is provided on the bottom surface of the housing 6 as shown in FIG.

  The optical axes (corresponding to the shooting directions) of the cameras CM1 to CM6 are orthogonal to the respective mounting surfaces of the cameras CM1 to CM6, and a predetermined field angle range can be shot around the optical axis direction.

  The mounting table 9 on which the article is placed is placed on the upper surface of the housing 6 at a position above the rotating blades 52A, 52B, 52C, 52D so as not to interfere with the rotation of the rotating blades 52A, 52B, 52C, 52D. Are supported by being fixed to four support legs 9A, 9B, 9C, and 9D planted from. In this example, the mounting table 9 is configured in a bowl shape having an upper opening and a U-shaped cross section. The mounting table 9 has holes formed in a mesh shape on the bottom and side surfaces of the cage so that it does not affect the air flow generated by the rotation of the rotary blades 52A, 52B, 52C, and 52D as much as possible. ing.

  Although not shown in the drawings, the upper surface of the housing 6 can be identified so that the article can be identified even when the article placed on the mounting table 9 is illuminated and the illumination is turned down to darken or when the illumination is moody. LED (Light Emitting Diode) light is provided.

  A drive control unit 10 is provided in the housing 6. FIG. 2 is a block diagram showing a configuration example of the drive control unit 10 in the levitating platform 1 of this embodiment. In FIG. 2, the battery is omitted.

  As shown in FIG. 2, the drive control unit 10 in this embodiment includes an aerial flight drive unit 102, a gyro sensor, and a control unit 101 including a microcomputer (omitted from a microcomputer in FIG. 2) through a system bus 100. 103, geomagnetic sensor 104, gravity sensor 105, altitude sensor 106, obstacle sensor 107, weight sensor 108, sound emission processing unit 109, moving space memory 110, current position detection unit 111, flight drive signal generation unit 112, position and orientation Control signal generator 113, cameras CM1 to CM6, omnidirectional microphone (abbreviated as omnidirectional microphone in FIG. 2) MC, image recognition unit 114, voice recognition unit 115, alarm notification unit 116, order voice information storage unit 117, Each of the prediction unit 118, the operation unit 119, and the voice message storage unit 120 is connected. It has been constructed by. The control unit 101 constitutes main control means for controlling the entire levitating platform 1.

  The aerial flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, and 51D of the rotary wing mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism unit 2 in accordance with the control of the control unit 101. To do.

  The gyro sensor 103 detects a change in acceleration during the flight of the levitation moving table 1 and is used to detect the flight traveling direction, the speed, and the posture of the levitation moving table 1. The geomagnetic sensor 104 is used to detect in which direction of the east, west, south, and north the levitation moving platform 1 is directed and in which direction it is flying.

  The gravity sensor 105 is for detecting the direction of gravity (vertical direction), and is composed of, for example, an acceleration sensor, and is used for control so as to keep the bottom surface of the mounting table 9 of the levitation moving table 1 horizontal.

  The altitude sensor 106 is for detecting the altitude at which the levitating platform 1 is located at that time, and is composed of, for example, an atmospheric pressure sensor.

  The obstacle sensor 107 emits light, infrared rays, or ultrasonic waves, and detects reflected waves from obstacles such as people and walls, thereby detecting the presence of the obstacles, as well as light, infrared rays, or ultrasonic waves. It is supposed that the time from when a sound wave is emitted until the reflected wave is received and the amount of attenuation can be detected, and the distance to the detected obstacle can be calculated from the time and the amount of attenuation. In this embodiment, the obstacle sensor 107 is used to control the levitation mobile platform 1 so as to avoid a collision with an obstacle in a space in which it is used.

  Further, in this embodiment, the obstacle sensor 107 is a person who is in the vicinity of the place where the levitation moving table 1 should go, as will be described later (in this example, a party or a receptionist (serving person) of a buffet party), When hovering near the person who called the moving table 1 (in this example, a party party or a customer service representative), the hovering platform 1 is hovered at a predetermined distance, for example, about 40 cm. It is also used for ring control. At this time, image information from a camera that captures a person among the cameras CM1 to CM6 is also used.

  The weight sensor 108 is for detecting the weight of an article placed on the mounting table 9 or detecting a change in weight after the article is picked up from the mounting table 9. In this embodiment, the weight of the article detected by the weight sensor 108 when the article is placed on the placement table 9 is taken by the camera CM1 and the weight of the article placed on the placement table 9 is taken. It is stored in association with the placement position on the bottom surface. In this embodiment, as will be described later, the height position of the hover ring is controlled according to the weight of the article detected by the weight sensor 108.

  A speaker 121 is connected to the sound emission processing unit 109, and as will be described later, the stored voice message and the reproduced sound signal are acoustically converted and released by the speaker under the control of the control unit 101. Make a sound.

  The moving space memory 110 stores information related to a moving space such as a room where the levitating platform 1 is used. The memory of the control unit 101 of the levitating platform 1 of this embodiment stores an application program for panoramic photographs (for example, Photosynth), and the levitating platform 1 flies in the room to be used in advance. Using all or part of the cameras CM1 to CM6, the room is photographed in a range of 360 degrees. Then, the control unit 101 generates indoor 3D image information from the photographed captured image information using an application program for panoramic photographs, and stores the generated 3D image information in the moving space memory 110.

  In this case, the moving space memory 110 also stores in advance three-dimensional information such as the shape, vertical, horizontal, and height of the room such as the party venue used. Furthermore, structural information of the room used, such as a beam, a pipe space, and a pillar, may be stored in advance. The moving space may include a moving space from the kitchen or tableware washing place to the eating party hall, as well as the eating party hall. Furthermore, the stored information in the moving space memory 110 includes moving route information (route guidance information) in the moving space of the levitating platform 1.

  The current position detection unit 111 includes a GPS (Global Positioning System) receiver, for example, and detects the latitude, longitude, and altitude of the current position of the levitating platform 1. In order to obtain more accurate position information, the current position may be detected using a radio wave from a mobile phone base station or a radio wave from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . Further, the entire area of the levitating platform 1 is photographed using all or a part of the cameras CM1 to CM6, and the photographed image information is compared with the 3D image information stored in the moving space memory 110 for image recognition. Thus, the relative position in the 3D image space may be grasped and the current position may be detected. In order to detect the current position after movement, the current position detection unit 111 also uses the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 106.

  The flight drive signal generation unit 112 performs the following processing operation under the control of the control unit 101.

  First, when starting a levitating flight based on an activation command from the control unit 101, the flight drive signal generating unit 112 is a flight for moving in the air according to the movement path information stored in the moving space memory 110. A drive signal is generated. In this case, the flight drive signal generation unit 112 determines the movement direction and the movement distance from the position information of the current position detected by the current position detection unit 111 and the movement space information stored in the movement space memory 110. calculate.

  The flight drive signal generation unit 112 uses information on the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, and the like based on the calculated direction and distance, and further uses the cameras CM1 to CM1. While referring to the photographed image from the CM 6, a flight drive signal for moving is generated while avoiding a collision with an obstacle and avoiding a place that should not fly.

  This flight drive signal is composed of signals for driving the motor drive units 51A to 51D of the four rotary wing mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51 </ b> A to 51 </ b> D of the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In response to this flight drive signal, the aerial flight mechanism unit 2 rotationally drives each of the rotor blades 52A to 52D to move by aerial flight.

  During this movement, the control unit 101 refers to the captured images from the cameras CM1 to CM6 and performs image recognition to be described later, so that the levitating mobile platform 1 is a person (participant or attendant at a party). ) To determine whether there is a situation that should be asked. Here, in this example, whether or not the levitation mobile platform 1 should be crawl beside a person, the container such as a plate or glass in the vicinity of a participant of the buffet party or the receptionist is empty (cooking or cooking). (Including when the drinks are very small), or a party at the party will make a move to the levitation stand 1 or the customer service (such as a gesture to raise the hand), or the customer service Doing works (calling up hands, etc.) to bring up the stand 1, or taking a work (participants looking around the surroundings) to find the levitation table 1 or customer service, etc. It is determined by determining whether or not it has started.

  In the following explanation, in order to avoid becoming a verbal, “situation that should be visited beside a person (participant of a party or a customer service representative)” is simply referred to as “situation to be ugly”.

  When the control unit 101 determines that a situation where the levitation moving base 1 should be crawled, the flight drive signal generation unit 112 has generated a situation where the levitation movement base 1 should crawl according to the control of the control unit 101. Move to the side of the person who is near the place or the person who did the work to call the levitation platform 1 and hover there. In this case, the flight drive signal generation unit 112 performs the control according to the control of the control unit 101 at the height position based on the position of the person's lower jaw in this example, the specific physical part of the person hovering alongside. A flight drive signal is generated so as to hover while maintaining the horizontal state of the mounting table 9 while being separated from a person by a predetermined distance, and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In this case, the height position at which the hovering is performed is high enough for a person to take out articles such as food and drink from the mounting table 9 and to place empty dishes or glasses on the mounting table 9. Position. The position / orientation control signal generation unit 113 generates a signal for controlling the height position to be hovered, as will be described later.

  Then, when a movement start command or a return command to the kitchen or washing place is issued from the control unit 101, the flight drive signal generation unit 112 stops hovering and starts further movement in the buffet party venue. Alternatively, a flight drive signal for moving back to the kitchen or washing place is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  The control unit 101 detects a leave-permission operation (such as a gesture of shaking hands) from a person who is hovering beside the levitating platform 1 or a sound of permission to leave ("I'm fine" When a hovering state is continued for a predetermined time or more without receiving any action from a person, a movement start command is issued. In addition, in the mode in which food and drink are provided, the controller 101 issues a return instruction to the kitchen when food or drink is exhausted or low on the mounting table 9. Further, when it is determined that the weight of the container placed on the placing table 9 exceeds the predetermined weight in the mode for collecting the empty container, the control unit 101 issues a return instruction to the washing place. Furthermore, when the container placed on the placing table 9 falls down and the contents are spilled, the control unit 101 recognizes that from the photographed image information of the camera CM 1 and moves the floating moving table 1 to the kitchen. Or control to return to the washing area.

  Under the control of the control unit 101, the position / orientation control signal generation unit 113 is based on the images taken by the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the weight sensor 108, and the cameras CM1 to CM6. Signals for height position control of the levitation moving table 1 and horizontal state maintenance control of the bottom surface of the mounting table 9 are generated.

  The position / orientation control signal generation unit 113 detects the article being placed on the placement table 9 of the levitation moving table 1 from the captured images of the cameras CM <b> 1 to CM <b> 5 under the control of the control unit 101. Generates a posture control signal for keeping the bottom surface of the mounting table 9 horizontal by using the sensor output of the gravity sensor 105 not only when the ring is moving but also when moving by levitation flight. To do.

  Then, as an example of the reference height position, the position / orientation control signal generation unit 113 detects the height position of the lower jaw of a human face image photographed by any of the cameras CM2 to CM5 in this example, After temporarily hovering to the height position, a position / posture control signal is generated so as to hover at a height position, for example, 20 cm below the height position. As will be described later, this height position can be adjusted by human actions (gestures) or voice commands.

  The position / orientation control signal generation unit 113 is also used when a person places an article such as a dish or a drink on the placing table 9 of the levitating moving table 1 or takes out an article such as a dish or a drink from the placing table 9. Generation of the position and orientation control signal for correcting the hovering height position described above is performed based on the control of the control unit 101.

  Each of the cameras CM1 to CM6 outputs the captured image information of the moving image to the system bus 100. Identification information for identifying from which camera the captured image information is added to the captured image information sent to the system bus 100 from each of the cameras CM1 to CM6. Note that the captured image information from each of the cameras CM1 to CM6 may be captured image information of still images at predetermined time intervals, for example, 0.5 second intervals, instead of moving image captured image information.

  The omnidirectional microphone MC is for collecting voice information such as a command word issued by a participant in a buffet party or a person serving as a customer service. Although illustration is omitted, in the levitating platform 1 of this embodiment, only the acoustic information of the human conversation voice band (for example, 200 Hz to 4 KHz) among the acoustic information collected by the omnidirectional microphone MC, The data is sent to the system bus 100 through a band pass filter.

  In addition, it is also possible to use a sound that is picked up by a person or a finger that is picked up by a non-directional microphone MC as a command that a person emits. In this case, the levitating platform 1 moves in flight in response to the sound of a caller who picks up the sound from the omnidirectional microphone MC, or the sound of a finger or finger of a food or drink orderer described later. In general, a clapping sound has a frequency power peak at 0 to 2 KHz, and a fingering sound has a frequency power peak at 2 to 4 KHz. Therefore, the band is sent to the system bus 100 through a bandpass filter, and a clapping hand sound. Or the sound of a finger ringing may be recognized.

  The image recognition unit 114 includes an image memory 114M that stores image recognition target image information to be recognized from the captured image information from the cameras CM1 to CM6. As a result, whether or not the container in the vicinity of the party or the receptionist at the lunch party is empty, whether the levitation moving table 1 is called by the person (the party or receptionist at the dinner party), the search work, the leave permission work And so on.

  In this embodiment, as will be described later, the control unit 101 is configured to receive a food or drink order from a person in a hovering state. When the order is received, The face image of the ordering party can be registered in the ordering party storage area (not shown) of the image memory 114M in association with the position information (position information in the movement space). .

  Then, the levitating platform 1 of this embodiment returns to the location of the position information stored in the order orderer storage area of the image memory 114M in order to deliver food and drink to the order orderer, and the image recognition unit 114 The ordering person is recognized based on the face image of the ordering person stored in the ordering person storage area of the image memory 114M.

  Further, in this embodiment, a person in the vicinity of the levitation moving table 1 that is hovering may cause the levitation moving table 1 to “lower the height a little” or “raise the height a little by its gesture (gesture). ”,“ Rotate the mounting table 9 ”,“ Change the hovering position (centered around the person to be followed) to the right ”,“ Change the hovering position (about the person to be followed) to the left ” Etc. can be issued. The image memory 114M is provided with the control command storage area (not shown), and in the control command storage area, correspondence information between the control command described above and the image of the corresponding operation (gesture) is stored. It is remembered.

  In addition, although illustration is abbreviate | omitted that a person touches the levitation moving base 1 lightly, it detects with a capacitive touch sensor etc., and the position and the direction of pressure which a person touches are up and down, right and left, and diagonal directions. It may be possible to control it.

  The control unit 101 monitors the captured image information of the cameras CM1 to CM6, and in the image recognition unit 114, a person in the vicinity of the floating moving table 1 that is hovering stores it in the control command storage area of the image memory 114M. It is determined whether or not the same operation (or similar operation) as the operation being performed is performed. Then, the control unit 101 has the same operation (or an approximate operation) as the control command stored in the control command storage area of the image memory 114M by a person in the vicinity of the floating moving table 1 that is hovering. When it is determined that it has been made, a control command corresponding to the operation is acquired from the control command storage area of the image memory 114M, and the flying platform 1 performs an operation in accordance with the acquired control command. A control signal is supplied to the unit 2.

  Further, in this embodiment, the control command and the like as described above can be recognized with respect to the levitating platform 1 by the voices generated by the participants of the buffet party and the customer service.

  The voice recognition unit 115 is for recognizing a voice control command or the like by a participant or a customer attendant of the eating party, and stores correspondence information between the control command and the voice information of the phrase corresponding thereto. The voice memory 115M is provided.

  The control unit 101 monitors the voice information collected by the omnidirectional microphone MC, and is stored in the control command storage area of the voice memory 115M by the participant of the eating party or the customer service in the voice recognition unit 115. It is determined whether or not the same phrase (or an approximate phrase) as the voice phrase of the control command is uttered. When the control unit 101 determines that the same voice phrase (or approximate phrase) as the control command stored in the control command storage area of the voice memory 115M has been uttered by a participant of the buffet party or the customer service, A control command corresponding to the voice phrase is acquired from the control command storage area of the voice memory 115M, and a control signal is sent to the aerial flight mechanism unit 2 so that the levitating platform 1 performs an operation according to the acquired control command. Supply.

  In this case, when there is a command to “lower the height a little”, the control unit 101 performs control to lower the height by, for example, 2 cm from the current height position, and a command to “raise the height a little”. For example, control is performed so as to increase, for example, 2 cm from the current height position. Further, when there is a command “rotate the mounting table 9”, the control unit 101 keeps the mounting table 9 in a horizontal state, for example, 90 degrees to 180 degrees with respect to the center position of the mounting table 9. Control to rotate. When the mounting table 9 itself has a rotating mechanism (not shown), the mounting table 9 is controlled to rotate, and the mounting table 9 does not rotate and is fixed to the housing 6 of the levitation moving table 1. If it is, the levitation moving table 1 itself controls the position of the mounting table 9 by performing position control such as rotation.

  Also, “Change the hovering position to the right (centered around the party and the receptionist at the buffet party)” and “Change the hovering position (to the party and the receptionist at the lunch party) to the left. , The control unit 101 controls the left and right positions of the levitating platform 1 with respect to the participants and the reception staff of the standing party to be changed to a side different from the current state. Other voice commands may include “Come Here”, “This is Here”, “Separate”, and the like.

  When the weight of the article placed on the placing table 9 of the levitation moving table 1 is such that the hovering cannot be held by the levitation moving table 1 (overweight), the alarm notification unit 116 stands up. This is notified to a party participant, a chef, and a customer service representative through a speaker (not shown) as a sound alarm such as a buzzer sound. Alternatively, a voice message such as “Overweight” may be emitted as a voice alarm through a speaker and notified. Whether the weight is over or not is determined based on the weight detected by the weight sensor 108. Even in a slightly light state before the weight is exceeded, an audio alarm may be used to notify that further placement is dangerous.

  Further, the image recognition unit 114 recognizes that the image information of the article that is overweight is registered in the image memory 114M in advance, and the registered article is about to be placed on the placing table 9. In some cases, before the placement, the alarm notification unit 116 may emit a voice message such as “There is a danger of overweight” or “There is a danger of overweight” as a voice alarm and notify the user. Good.

  The alarm notification unit 116 may be an indicator (not shown) or a display unit (not shown) that is turned on or blinking, or a message display. Assign multiple colors to the indicator and display, for example, `` blue '' when there is enough weight, `` yellow '' when approaching overweight, `` red '' when there is a danger of overweight, The color may be controlled.

  Further, the weight balance can also be detected by arranging the weight sensors 108 at a plurality of places on the mounting table 9. When it is detected that the weight balance has been lost, the alarm notification unit 116 notifies the speaker that a voice message such as “Weight balance has been lost” or “Place it on the opposite side” as a sound alarm. You may make it do.

  The order audio information storage unit 117 stores the audio information of the order in the audio memory 117M when a food or drink order is made by a participant in the buffet party. The order voice information storage unit 117 reads out and reproduces the order voice information stored in the voice memory 117M when the levitating platform 1 returns to the kitchen according to the control of the control unit 101. The reproduced order sound information is emitted by the speaker 121 through the sound emission processing unit 109, and the order by the participant of the buffet party is transmitted to the kitchen. In this example, the order voice for food and drink is an example of the voice for requesting the provision service.

  The predicting unit 118 controls the levitation moving table 1 according to a matter predicted from the captured image information of any of the cameras CM <b> 2 to CM <b> 5 when the levitation moving table 1 is used.

  That is, when the levitation moving table 1 is hovering in the air, an article may be picked up from the placing table 9 by a participant of the eating party, or an article may be placed by a participant of the eating party or a customer attendant. When expected, control is performed so that the increase by the weight of the picked-up article and the decrease by the weight of the article to be placed are as small as possible.

  In this case, the prediction unit 118 stores the weight measured by the weight sensor 108 of the article placed on the levitation moving table 1 together with the image information of the article photographed by the cameras CM1 to CM6. When the same article as the taken article is picked up from the levitating platform 1, the weight of the article is known, so that the levitating platform 1 is corrected so as not to rise as much as possible even if the article is picked up. But it can be done easily.

  Further, as described above, when containers such as empty plates and glasses are placed on the placing table 9 of the levitation moving table 1, the weights of these containers are stored in the storage unit of the prediction unit 118 in advance. Thus, the prediction unit 118 controls the levitation moving table 1 so that the amount of descent is as small as possible.

  The operation unit 119 is for the user to input the start of flight of the levitating platform 1, the creation of moving space information, the storage instruction to the moving space memory 110, and other operation instructions. Furthermore, the levitating mobile stand 1 of this embodiment is in one of a providing mode for providing dishes and drinks to participants of a standing party and a collecting mode for collecting containers such as empty plates and glasses. Selection and setting are possible, and the setting operation of the mode is also performed through the operation unit 119.

  In this example, the operation unit 119 includes a plurality of buttons associated with each mode, and a mode can be selected and set by operating any one of the plurality of buttons. Note that a list of selectable modes may be displayed on a display unit (not shown) so that selection can be made from the list of modes.

  The voice message storage unit 120 stores voice message information that is emitted from the levitating platform 1 to participants of the buffet party. The voice message storage unit 120 stores a voice message such as “please have a meal or a drink”, for example, “please have a meal or a drink” when the hovering is performed for the provision mode. In addition, for the collection mode, a voice message such as “I will collect an empty container” is stored, for example, that should be emitted to participants of the eating party when hovering.

  In FIG. 2, the flight drive signal generation unit 112, the position / orientation control signal generation unit 113, the image recognition unit 114, the voice recognition unit 115, the alarm notification unit 116, the order voice information storage unit 117, and the prediction unit 118 101 can also be realized as a software processing function.

[Operation example of levitating platform 1]
Next, an example of processing operation of the levitating platform 1 of this embodiment will be described with reference to the flowcharts of FIGS. 3 to 8 and the explanatory diagrams of FIGS. In the following description, the control unit 101 includes a flight drive signal generation unit 112, a position / attitude control signal generation unit 113, an image recognition unit 114, a voice recognition unit 115, an alarm notification unit 116, an order voice information storage unit 117, A case will be described where the processing functions of the respective units of the prediction unit 118 are realized as software processing functions.

  Note that for the levitating platform 1, either the above-described provision mode or the collection mode is set through the operation unit 119 before the start of use.

  The control unit 101 determines whether or not a start command has been received and waits for the start command (step S101). When determining that the start command has been received, the control unit 101 checks the setting mode (step S102). Then, the control unit 101 determines whether the setting mode is the providing mode or the collection mode (step S103), and when determining that the setting mode is the providing mode, the control unit 101 mounts articles such as food and drink to be provided. 9 is checked (step S104).

  And the control part 101 discriminate | determines whether the predetermined number or more articles | goods are mounted on the mounting base 9 from the picked-up image information of camera CM1 (step S105). An alarm message such as “Please place a dish or drink” is emitted from the speaker 121 to notify the alarm (step S106). Here, the predetermined number or more in step S105 may be one or more, but it is inefficient, so it is desirable to set at least a plurality, preferably a number that does not exceed the weight.

  Next, the control unit 101 determines whether or not a predetermined number or more of articles such as dishes and drinks provided in response to the alarm notification have been mounted on the mounting table 9 (step S107). If it is determined that there is not, the process returns to step S106 to continue the alarm notification. When it is determined in step S107 that a predetermined number or more of articles such as dishes and drinks to be provided have been placed on the placing table 9, the control unit 101 stops alarm notification (step S108).

  When it is determined in step S105 that an article such as a food or drink to be provided is placed on the placing table 9, and after step S108, the control unit 101 places the article placed on the placing table 9. It is determined whether the weight exceeds the weight that can be transported, that is, whether the weight is over (step S111 in FIG. 4).

  When it is determined in step S111 that the weight is over, the control unit 101 reads out an alarm message such as “Weight over. Please reduce food and drink” from the voice message storage unit 120 and outputs it from the speaker 121. The sound is emitted and an alarm is notified (step S112). Next, the control unit 101 determines whether or not an article such as a food or drink to be provided that has been placed on the mounting table 9 in response to the alarm notification has been reduced (step S113). If so, the process returns to step S112 to continue alarm notification. In step S113, when it is determined that articles such as food and drink to be provided have been reduced, the control unit 101 further determines whether or not the weight is over. If so, the process returns to step S112. When the alarm notification is continued and it is determined that the weight is not over, the alarm notification is stopped (step S114).

  After stopping the alarm notification in step S114 or when it is determined in step S111 that the weight is not over, the control unit 101 stores the total number M of foods and drinks provided on the mounting table 9 (step S111). S116). Then, the control unit 101 controls the levitating platform 1 to move in the air at a predetermined speed along a predetermined route stored in the moving space memory 110 while avoiding an obstacle (step S117). .

  For example, as shown in FIG. 9, when a plurality of tables TB1, TB2, TB3, TB4, TB5, and TB6 are placed at the party venue, the participant party 201 of the buffet party is positioned so as to surround each table. Conceivable. Therefore, in the moving space memory 110, as shown by the space information of the party venue and the solid line 202 with an arrow in FIG. 9, the table TB1, TB2, TB3, TB4, TB5, and TB6 are uniformly distributed. A moving route that goes around is stored. The levitating platform 1 is levitated and moved along the stored movement path. However, when there is no participant as in the table TB2 in FIG. 9, for example, the surroundings are moved as shown by the dotted lines in FIG. 9 based on the captured image information of the cameras CM2 to CM5. Can be stopped and moved from the table TB1 to the moving path of the table TB3. Of course, the movement route is not limited to this, and can be set freely. For example, you may make it move centering on an area with many people. In addition, the control unit 101 waits for the floating platform 1 around the entrance of the venue at the start of the party, recognizes the visitors from the image information of the cameras CM2 to CM5, and enters the visitors in the form of a so-called welcome drink. You may control to serve drinks.

  Then, during movement along the movement path, the control unit 101 analyzes the captured image information of the cameras CM2 to CM6, performs image recognition by the function of the image recognition unit 114, and collects sound with the omnidirectional microphone MC. The voice recognition unit 115 performs voice recognition on the received voice (step S118), and determines whether or not the levitation mobile platform 1 in the provision mode is in a situation where it should be whispered (step S119).

  As described above, whether or not the situation to be asked in step S119 has occurred depends on whether the party or the customer service of the eating party is making a call to the levitation moving table 1, Doing a panoramic view of the surroundings, as well as emptying or running out of containers such as plates and glasses in the vicinity of attendees and receptionists at the party, and serving additional food and drinks It is determined from the image recognition and analysis of the photographed image information of the cameras CM2 to CM6 whether or not there is a possibility of requesting.

  In addition, conversations of participants who picked up sound with the omnidirectional microphone MC, for example, “Do n’t you drink, is n’t you empty?” “What are you going to do?” “What are you drinking next?” “What are you eating?” You can also recognize the conversation “eating?” And determine if there is a possibility of requesting additional food or drinks.

  When it is determined in this step S119 that the situation to be crawl has not occurred, the control unit 101 returns the process to step S117, and moves the levitation moving table 1 along a predetermined route while avoiding an obstacle. The state of moving in the air at a predetermined speed is continued.

  When it is determined in step S119 that a situation to be struck has occurred, the control unit 101 has made a levitation moving table 1 a person in the vicinity of the place where the situation to be sought has occurred or an action to be called or searched. It moves to the side of a person and it is made to hover (step S121 of FIG. 5).

  For example, the lower part of FIG. 10 shows the participants 201A and 201B exchanging business cards at the party venue. The control unit 101 of the levitation moving base 1 uses the captured image information of the cameras CM2 to CM5 as described above. It is determined that the situation is not a situation that should be beside the participants of the buffet party, and the levitating movement is continued.

  Then, as shown in the upper part of FIG. 10, when the participant 201C raises his hand and recognizes by the image recognition that he / she is working to call the levitation moving table 1, the control unit 101 of the levitation moving table 1 Then, it is recognized that there is a situation that needs to be visited by the participant of the buffet party, and moves to the side of the participant 201C so as to hover (see FIG. 11A).

  Then, in this hovering state, the control unit 101 reads a voice message recommending the provision of an article such as “please have a drink or a dish” from the voice message storage unit 120 as shown in FIG. Sound is emitted from the speaker 121 (step S122). Next, the control part 101 discriminate | determines whether the food and drink which are mounted in the mounting base 9 were taken based on the picked-up image information of camera CM1-CM5 (step S123).

  When it is determined in step S123 that the food or drink placed on the placing table 9 has been taken, the control unit 101 detects the number N of the taken articles based on the photographed image information of the cameras CM1 to CM5. Then, a calculation is performed to subtract the detected number N of articles from the total number M of articles placed on the mounting table 9, and the calculated total number M is stored (step S125).

  When it is determined in step S123 that the food or drink placed on the mounting table 9 has not been taken, or the storage of the total number M after the articles are taken from the mounting table 9 in step S125 is completed. Later, the control unit 101 asks the participants of the buffet party, “Is there any order for food or drink? If there is, please say the order and then the food or drink to order.” In this example, a message for inquiring about the order of an article desired to be provided is emitted from the speaker 121 (step S126).

  Next, the control unit 101 determines whether or not the order voice corresponding to the inquiry in step S126 has been recognized (step S127). In this example, whether or not the order voice is recognized in step S127 is determined based on whether or not the spoken word “order” is recognized (see FIG. 11A).

  When it is determined in step S127 that the order voice has not been recognized, whether the total number of articles placed on the placing table 9 is M = 0, that is, whether or not there are no articles placed on the placing table 9 is reached. A determination is made (step S129). When it is determined in step S129 that the total number of articles placed on the placing table 9 has reached M = 0, the control unit 101 places the levitating platform 1 in the kitchen as shown in FIG. The air movement control is performed so as to return (step S141 in FIG. 6).

  It should be noted that instead of returning to the kitchen when there are no articles placed on the mounting table 9, return to the kitchen when the number of articles placed on the mounting table 9 is less than a predetermined number. May be. Also, when troubles such as spilling food and drinks occur, you may return to the kitchen. Further, when it is detected that a dish or drink has been spilled, it may be landed at a place that does not interfere with the participants of the buffet party and collected by a customer service representative.

  When it is determined in step S129 that the total number of articles placed on the placing table 9 is not M = 0, the control unit 101 performs a leave permission operation or sound by a person in the vicinity of the hovering place. 4 is detected (step S130), and when it is determined that an action or voice permitted to leave has been detected, the process returns to step S117 in FIG. 4 to resume air movement according to a predetermined route. To do.

  If it is determined in step S130 that no leave-permission action or voice has been detected, the control unit 101 remains in a state where there is no action on the levitating platform 1 by a person in a hovering state for a predetermined time or more. It is determined whether or not it has been done (step S131). If it is determined in step S131 that no action has been taken by the person on the levitating platform 1 for a predetermined time or longer, the process returns to step S117 in FIG. When the movement is resumed and it is determined that the predetermined time or more has not elapsed, the process returns to step S123, and the processes after step S123 are repeated.

  Also, as shown in FIG. 11A, in response to the participant 201C uttering the order sound, when it is determined in step S127 that the order sound has been recognized, the control unit 101 displays the order sound. The face image of the person who issued the image (participant 201C in the case of FIG. 11A) is photographed using the cameras CM2 to CM5, and the photographed image information of the face image is hovered in the image memory 114M. The voice information 117M of the order voice information storage unit 117 is stored in association with the information on the current position, and the order voice information collected by the omnidirectional microphone MC is associated with the information on the hovering position. (Step S128). Then, after this step S128, the process proceeds to step S141 in FIG. 6, and the control unit 101 controls the movement in the air so as to return the levitating platform 1 to the kitchen.

  After step S141, the control unit 101 determines whether or not the stored information of the order voice exists (step S142). When it is determined that the stored information of the order voice does not exist, the control unit 101 performs the process. Returning to step S104 of step 3, the processing after step S104 is repeated.

  When it is determined in step S142 that the stored information of the order voice exists, the control unit 101 reads the order voice information from the voice memory 117M, supplies the order voice information to the voice sound emission processing unit 109, and the speaker 121 The sound is emitted (step S143).

  The kitchen chef or customer service staff listens to the order audio to obtain the ordered food or drink, prepares the ordered food or drink, and places it on the mounting table 9 of the levitating platform 1. Put it on.

  The order is not limited to voice. For example, the levitation moving base 1 may be provided with a display screen so that various dishes and drinks are displayed, and the user can make an order by selecting them by touch operation.

  The control unit 101 refers to the captured image information of the camera CM1 and the detection output of the weight sensor 108 to determine whether or not a dish or drink has been additionally placed on the placement table 9 (step S144). When it is determined in step S144 that no food or drink is additionally placed on the mounting table 9, the control unit 101 waits for additional food or drink to be placed on the mounting table 9, and then waits for step S144. Thus, when it is determined that the food or drink is additionally placed on the placing table 9, the weight of the article placed on the placing table 9 exceeds the transportable weight, that is, whether the weight is over. (Step S145).

  When it is determined in step S145 that the weight is over, the control unit 101 reads out an alarm voice message such as “Over weight. Please reduce food and drink” from the voice message storage unit 120, and outputs it to the speaker. A sound is emitted from 121 and an alarm is notified (step S146). Next, the control unit 101 determines whether or not an article such as a food or drink to be provided placed on the mounting table 9 in response to the alarm notification has been reduced (step S147), and determines that it has not been reduced. If so, the process returns to step S146 to continue alarm notification. When it is determined in step S147 that articles such as food and drink to be provided have been reduced, the control unit 101 further determines whether or not the weight is over. If so, the process returns to step S146. When the alarm notification is continued and it is determined that the weight is not over, the alarm notification is stopped (step S149).

  After stopping the alarm notification in step S149 or when it is determined in step S145 that the weight is not over, the control unit 101 determines the levitation moving platform based on the position information stored in the image memory 114M and the sound memory 117M. 1 is moved to the person who made the order voice and is controlled to hover near the person (step S150). At this time, the control unit 101 recognizes the person who has made the order sound using the face image of the person who has made the order sound stored in the image memory 114M, and hoveres beside the recognized person. To control. After step S150, the control unit 101 shifts the processing to step S122 in FIG. 5, and repeats the processing after step S122. In step S22 at this time, a voice message such as “I have ordered food or drink” can be read from the voice message storage unit 120 and emitted from the speaker 121. .

  Next, when it is determined in step S103 of FIG. 3 that the set mode is the collection mode, the control unit 101 determines whether or not an article (a container such as a plate or a glass) is placed on the placement table 9. When it is determined (step S161 in FIG. 7) and it is determined that the article is placed, an alarm voice message such as “Please lower the container” is read from the voice message storage unit 120, Sound is emitted from the speaker 121 through the sound emission processing unit 109 and an alarm is notified (step S162).

  Then, the control unit 101 determines whether or not nothing has been placed on the mounting table 9 with reference to the captured image information of the camera CM1 and the detection output of the weight sensor 108 (step S163). When the control unit 101 determines in step S163 that nothing is placed on the mounting table 9, the control unit 101 returns the process to step S162, continues alarm notification, and returns to the mounting table 9. When it is determined that nothing has been placed, the alarm notification is stopped (step S164).

  After stopping the alarm notification in step S164 or when determining in step S161 that the article is not placed on the placing table 9, the control unit 101 moves the levitation moving table 1 while avoiding an obstacle. Control is performed so that a predetermined route is moved in the air at a predetermined speed (step S165).

  Then, the control unit 101 analyzes the captured image information of the cameras CM <b> 2 to CM <b> 6, performs image recognition by the function of the image recognition unit 114, and the voice collected by the omnidirectional microphone MC is voiced by the voice recognition unit 115. Recognition is performed (step S166), and it is determined whether or not there is a situation in which the levitation moving base 1 in the recovery mode should go (step S167). As described above, whether or not the situation to be asked in step S167 has occurred is determined by calling the levitation table 1 so that the participants of the eating party can clean up empty containers such as plates and glasses. And whether a container such as a plate or a glass in the vicinity of a participant or a customer attendant at the buffet party is empty based on image recognition and analysis of the captured image information of the cameras CM2 to CM6.

  When it is determined in this step S167 that the situation to be crawl has not occurred, the control unit 101 returns the process to step S165 and moves the levitation moving table 1 along a predetermined route while avoiding an obstacle. The state of moving in the air at a predetermined speed is continued.

  When it is determined in step S167 that the situation to be crawled has occurred, the control unit 101 has made the levitation mobile platform 1 a person in the vicinity of the place where the crawl situation has occurred, or an act of calling or searching. It moves to the side of a person and makes it hover (step S168) (refer FIG. 11 (B)).

  Then, in this hovering state, the control unit 101 collects empty containers such as “Please drop the empty container and place it on the mounting table” as shown in FIG. 11B. A voice message for informing the user is read from the voice message storage unit 120 and emitted from the speaker 121 (step S169).

  Next, the control unit 101 determines whether or not an article, in this example, an empty container, is placed on the placement table 9 based on the captured image information of the cameras CM1 to CM5 (step S171 in FIG. 8). When it is determined in this step S171 that an empty container is placed, the total weight of the empty containers placed on the placing table 9 is detected by the weight sensor 108 (step S172), and the total weight is determined in advance. It is determined whether or not the threshold is exceeded (step S173). In this case, the weight threshold in the empty container recovery mode is set to be relatively low. This is in order to avoid a situation where the empty container must be taken down if the empty container is overloaded when a participant of the buffet party places the empty container.

  When it is determined in step S173 that the total weight does not exceed the threshold value, the control unit 101 determines whether or not an action or voice of leaving permission is detected by a person in the vicinity of the hovering place ( In step S174), when it is determined that a leave-permission action or voice has been detected, the process returns to step S165 in FIG. 7 to resume air movement according to a predetermined route.

  If it is determined in step S174 that no action or sound of permission to leave has been detected, the control unit 101 remains in a state where there is no action on the levitating platform 1 by a person in a hovering state for a predetermined time or more. It is determined whether or not it has been done (step S175). If it is determined in step S175 that no action has been taken on the levitating platform 1 by a person for a predetermined time or longer, the process returns to step S165 in FIG. When the movement is resumed and it is determined that the predetermined time or more has not elapsed, the process returns to step S171, and the processes after step S171 are repeated.

  When it is determined in step S173 that the total weight of the empty containers placed on the placing table 9 has exceeded the threshold value, the control unit 101 sets the floating moving table 1 to the tableware as shown in FIG. It is controlled to move to the washing area (step S176). After step S176, the control unit 101 returns the process to step S161 in FIG. 7, and repeats the processes after step S161.

  In the above description, in the collection mode, the provision service request from the party of the eating party, that is, the order of the food and drink is not received. The provision service request, that is, the order of food and drink may be received in the same manner as the provision mode.

  In that case, the levitation moving table 1 moves the levitation moving table 1 to the dish washing place, and then moves to the kitchen to reproduce the order sound. Then, after delivering the ordered dishes and drinks to the participants of the ordered banquet party, the levitation moving table 1 returns to the collection mode and moves to the movement for collecting empty containers.

  In the recovery mode, the levitating platform 1 does not move on the table TB1 to TB6 in the sky above the party venue, instead of moving on a moving route that goes around the tables TB1 to TB6 as shown in FIG. The situation may be moved linearly so that the situation can be photographed with a camera, and if necessary, it may be moved near a party participant or customer servicer near the empty container.

  In the above description, the total number M of articles in step 116, step 125, and step 129 and the number N of articles in step 124 and step 125 are counted regardless of the type of article, but dishes (dish) and drinks ( (Glass) may be counted separately, and further, it is possible to count by type of food and type of drink. Of course, there may also be a levitation platform 1 dedicated to cooking and a levitation platform 1 dedicated to drinks. In this case, of course, it is not necessary to separately count dishes (dish) and drinks (glass).

[Effect of the embodiment]
As described above, according to the levitating platform 1 of the above-described embodiment, dishes and drinks are placed on the placing table 9 and moved in the party venue to be presented to the party participants. Therefore, it is not necessary to arrange dishes and drinks in a predetermined place, so that space is unnecessary.

  Then, in order for the levitation moving table 1 to pass by the party participant, the party participant can place the article placed on the mounting table 9 of the moving levitation moving table 1 on the spot, It can be easily confirmed. Furthermore, the party participant and the receptionist can call the levitation mobile stand 1 by performing a call or a search work. In this case, the levitation transfer stand 1 can be used as a party participant or a customer service representative. Therefore, it is possible to easily pick up an article placed on the placing table 9 or place an article collected on the placing table 9.

  Therefore, even if a party participant wants food and drinks, it is not necessary to go to a table or the like on which foods and drinks are arranged as in the past. In addition, the situation where an empty container or an uneaten container remains untidy and becomes annoying is also improved. Moreover, in the above-mentioned embodiment, the party participant can order the food and drink which are not mounted in the mounting base 9 with a voice with respect to the levitation moving base 1, and it is very convenient.

  In addition, the party operator only needs to prepare the levitating platform 1, and does not need to install a rotary table or a belt conveyor at the party venue. In addition, food and drinks prepared in the kitchen can be placed on the levitation table 1 and provided to the party participants, so that warm items are kept warm and cold items are cold. It is possible to keep and provide the state.

[Examples of other usage modes of the levitating platform 1 of the embodiment]
The above is the description of the aspect in which the levitation moving table of the present invention is used at a standing party, but the levitation moving table of the present invention can be applied to various other utilization modes.

  FIG. 13 shows how the clothes store is used. In this example, a particularly recommended product is prepared in advance on the mounting table 9 of the levitation moving table 1 and is landed at a predetermined place in the store. When the customer 201D comes to the store, the levitating platform 1 moves to the side of the customer 201D and hovers to show a recommended product. When there are multiple customers, show them the recommended products. When the customer shows interest and makes an action or voice that signifies a stop, hover by the customer.

  Further, when a product is displayed at a height that is out of the reach of the customer, the product is placed on the mounting table 9 of the levitation moving table 1 and displayed. When the customer requests to see the product at hand, the levitating platform 1 can come to the customer and hover to present the product to the customer.

  Of course, the store clerk can call the levitating platform 1 with a work to call. In that case, the levitating platform 1 is hovered by the store clerk who called.

  This mode of use is not limited to clothes stores, but can be applied to various stores such as cosmetic stores, pharmacies, and precious metal stores, and various products.

  The levitation table 1 recognizes whether the customer is an adult or a child so that they do not pick up drugs or alcoholic beverages that are dangerous for the child. It can be controlled so that it stays at no height position.

[Other Embodiments or Modifications]
In the above-described embodiment, the case and the mounting table of the levitating moving table are configured in a box shape as a whole, but the present invention is not limited thereto, and various shapes such as a cylindrical shape and a hemispherical shape are used. It can be. Moreover, although the magnitude | size of the mounting base was comprised by the substantially same magnitude | size as the outer side part of a rotary blade mechanism, it may be smaller than the outer side part of a rotary blade mechanism, and a thing larger than this. Further, the mounting table can be exchanged, and an appropriate mounting table can be used according to the application.

  Further, in the above-described embodiment, the mounting table is configured such that the bottom surface and side surface of the ridge are formed with a mesh-like hole, but this is not limiting, and the flow of air generated by the rotation of the rotor blades is affected. A small number of configurations is sufficient.

  In addition, when the distance between the rotary blade and the mounting table 9 is large so that the air flow generated by the rotation of the rotary blade is less affected, the mounting table 9 has a mesh-shaped hole. There is no need to use, for example, a transparent plate or the like may be used.

  Furthermore, in the above-described embodiment, the mounting table is provided on the upper part of the levitation moving table. In that case, since the presence of the mounting table 9 is less likely to affect the air flow generated by the rotation of the rotor blades, it is necessary to use the mounting table 9 having a mesh-shaped hole. For example, you may be comprised by the transparent plate etc.

  In addition, the surface of the mounting table 9 on which the article is placed is a flat surface in the above-described embodiment, but a dish or drink container is placed on the surface of the mounting table 9 on which the article is placed. A recess or hole to be fitted or engaged may be formed, and a container may be placed in the recess or hole so that the dish or drink can be stabilized so as not to spill.

  In the above-described embodiment, when determining the height position of the hovering, the position of the lower jaw is used as a reference as a specific physical part of the person. However, the position of the shoulder, eyes, and ears are not limited to the lower jaw. , Nose, mouth position, elbow position, etc. Furthermore, the position of a specific part such as a collar, a first button, a breast pocket, etc. of a clothes worn by a person can be used as a reference, without being limited to a person's physical part. It is also possible to use the position of accessories such as earrings, earrings, pendant tops of necklaces, brooches and the like worn by people. Employee IDs and ID cards may be worn at company parties, and name tags may be worn at general parties. The positions of these employee ID cards, ID cards, and name tags may be used as a reference. Of course, these reference positions may be registered in advance in the levitating platform.

  Furthermore, when a person uses a moving body such as a wheelchair, the position of the arm of the sitting wheelchair is determined in relation to the person, so the position of the arm of the wheelchair is the height position of the hover ring. It can be used as a standard for determining. For those who use a wheelchair because it is difficult to walk, it is very convenient to hover near the wheelchair, such as the work that the levitation table brings together, so you can participate in a dinner party with confidence.

  In the above-described embodiment, the aerial flight mechanism unit 2 has been described as an example of a helicopter type mechanism unit having four rotary wing mechanisms. However, the number of rotary wing mechanisms may be three or less or five or more. . Furthermore, the present invention is not limited to a helicopter type mechanism unit, and can be applied to any mechanism unit capable of hovering such as an airplane type mechanism unit.

  In the above-described embodiment, the number of cameras is six and the number of microphones is one omnidirectional microphone. However, the number is not limited. Various positions where a camera and a microphone are provided are also conceivable. Furthermore, the microphone is not limited to the omnidirectional microphone, and a voice or sound of a specific person or direction may be collected using the directional microphone. The camera may be a standard camera, a wide angle camera, a fisheye camera, or a 360 degree camera. Further, a close-up camera, a telephoto camera, an infrared camera, or the like may be used. Of course, these cameras may be used in combination.

  Furthermore, it goes without saying that there may be a plurality of gyro sensors, geomagnetic sensors, gravity sensors, altitude sensors, obstacle sensors, and weight sensors.

  In the above-described embodiment, a method of using a camera or a microphone has been described for determining a situation to be beside a person. However, the present invention is not limited to this, and a temperature sensor such as a radiation thermometer, an odor sensor, a tactile sensor, and the like. These sensors may be used or used together. For example, a temperature sensor measures whether a person is eating or drinking, or whether a warm dish or hot drink is cold, and whether a cold dish or cold drink is warm. However, in the case of a positive measurement result, it can be determined that the situation should be on the side of a person. Note that the temperature state can be measured with an infrared camera. Also, in the case of a normal camera, whether or not the situation should be met by a person by recognizing the presence or absence of steam, the melting condition of ice (presence / absence), the melting condition of ice cream or sherbet, etc. from the captured image information. A determination can be made.

  In the above-described embodiment, the aerial flight drive control and the like are performed regardless of the type of the article to be placed. However, the type of the article to be placed is determined and the aerial flight according to the determination result. Drive control or the like may be performed. For example, when moving a glass containing liquid objects such as beer, wine, juice, water, etc., the camera recognizes that it is a liquid object with a camera, etc., and it is in the air to reduce acceleration and deceleration to suppress vibrations. Control flight drive. Further, in the case of a liquid object, the extent to which the glass is filled may be recognized by a weight sensor, a camera, or the like, and aerial flight drive control with less vibration may be performed as the amount increases.

  In addition, it is difficult for the levitation platform to hover near the person who is in the vicinity of the place where the situation to be crawled occurs or the person who is calling or looking for it because of space, obstacles or battery problems. In such a case, the control unit or the like can judge the situation and land on a nearby table or the like.

  In addition, of course, various modifications of the levitating platform can be considered due to its mechanism.

DESCRIPTION OF SYMBOLS 1 ... Levitation movement stand, 2 ... Aerial flight mechanism part, 3 ... Drive control unit, 6 ... Housing | casing, 9 ... Mounting stand, 10 ... Drive control apparatus part, 101 ... Control part, CM1-CM6 ... Camera

Claims (11)

An aerial flight mechanism for levitating and moving in the air, and hovering in the air;
A mounting table on which an article can be mounted;
One or more sensors for controlling the posture so as to maintain the horizontal state of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
One or a plurality of cameras for photographing in the space area;
A discriminating means for discriminating whether or not a predetermined situation has occurred from captured image information from the one or more cameras;
When the determination means determines that a predetermined situation has occurred, the aerial flight mechanism unit is controlled to move to and hover over a person in the place where the predetermined condition has occurred. Control means to
A levitating mobile stand comprising: One or more microphones for picking up the voice of a person in the spatial region;
Voice recognition means for recognizing voice collected from the one or more microphones;
A discriminating means for discriminating whether or not a predetermined situation occurs from the voice recognition result;
The levitation moving table according to claim 1, comprising: The occurrence of the predetermined situation determined by the determination means includes whether or not a call request of a person existing in the space area has been recognized,
When the control means recognizes a call request of a person existing in the space area by the determination means, the control means moves the air flight mechanism unit so as to move and hover the person who issued the call request. The levitating platform according to claim 1, wherein the levitating platform is controlled. A placement amount detection means for detecting the presence or absence of an article placed on the placing table,
When the article placed on the mounting table is gone, or when the number of articles is less than a predetermined number, the control means moves to a predetermined place so as to move to the predetermined place. The levitating platform according to any one of claims 1 to 3, wherein the aerial flight mechanism is controlled. A placement amount detection means for detecting the presence or absence of an article placed on the placing table,
When there is an article placed on the mounting table, or when the number of the article is greater than a predetermined number, the control means moves to the predetermined location so that it moves to a predetermined location. The flying mechanism according to claim 1, wherein the flying mechanism is controlled. Comprising a total weight measuring means for detecting the total weight of one or a plurality of articles placed on the mounting table,
6. The alarm according to claim 1, wherein when the total weight of the article detected by the total weight measuring unit exceeds a predetermined value, the placement detecting unit reports an alarm. Levitation platform. Voice message storage means for storing predetermined voice message information;
Under the control of the control means, sound emitting means for emitting sound message information stored in the message storage means in the hovering state;
The levitation moving table according to any one of claims 1 to 6, further comprising: Position detecting means for detecting a position in the space area when the hovering is performed;
A sound pickup means for picking up a voice of a person who is in a place where the predetermined situation occurs when the hovering is performed;
Voice recognition means for recognizing whether or not the voice collected by the voice sound collection means is a provision service request for a predetermined article;
With
The control means, when the voice recognition means recognizes that the voice collected by the voice collection means is the provision service request, the control means of the provision service request collected by the voice collection means. The voice, the face image photographed by the one or a plurality of cameras of the person who made the provision service request, and the position in the space area where the hovering is detected detected by the position detection unit are associated with each other. And then controlling the aerial flight mechanism unit to move to a predetermined location, and at the predetermined location, reproduce the stored service request voice, After confirming the placement of the article on the mounting table in response to the sound reproduction, the aerial flight mechanism unit is controlled to move to the stored position, and the stored face image Levitation moving base according to any one of claims 1 to 7, wherein the controller controls so that hovering beside the. A leave permission recognition means for recognizing the leave permission from a person in the vicinity of the hovering position from the captured image information from the one or more cameras,
When the leaving permission recognition means recognizes the leaving permission, the control means causes the aerial flight mechanism unit to return to a state of moving at a predetermined moving speed while avoiding an obstacle in the space area. It controls. The levitation moving stand in any one of Claims 1-8 characterized by the above-mentioned. Comprising one or more second sensors for measuring the status of an article in the spatial region;
The said determination means determines whether the said predetermined | prescribed situation has generate | occur | produced also from the measurement information from one or several said 2nd sensors. Levitation platform. Comprising one or more second sensors for measuring the status of the article in the spatial region;
A second discriminating unit for discriminating whether or not the predetermined situation occurs from measurement information from one or a plurality of the second sensors;
When the control unit determines that the predetermined situation has occurred in the second determination unit, the control unit moves to the side where the predetermined situation has occurred, The levitating platform according to claim 1, wherein the aerial flight mechanism unit is controlled to do so.

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