JP2016101774A - Vertically taking off and flying table - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vertically taking off and flying table which moves in the air to follow a user while vertically taking off and flying.SOLUTION: A vertically taking off and flying table includes: a midair flying mechanism part 2 for vertically taking off, flying, and hovering in the air; one or a plurality of cameras CM1-CM6 for taking an image of a person to be followed and his/her surroundings; a placing table 9 on which goods can be placed; one or a plurality of sensors for controlling the posture of the placing table to keep it in the horizontal state; recognition means for recognizing the person to be followed from information on the image taken by the one or the plurality of cameras; and main control means. The main control means controls the midair flying mechanism part so that the vertically taking off and flying table hovers while keeping the placing table in the horizontal state and flies to follow the person to be followed, who is moving, in the state of keeping a predetermined distance from him/her at a height position with reference to the position of a predetermined region of his/her body or a predetermined part of his/her clothes which has been recognized by the recognition means, based on the information on the image taken by the one or the plurality of cameras.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a levitation moving table that can float and be used as a table on which various articles are placed in the vicinity of a user.

  For example, when a fluorescent lamp fixture such as a fluorescent lamp of a lighting fixture provided on a ceiling is replaced by an operator alone, the worker has traditionally been required to go up to a step board and replace it. Remove the fluorescent tube from the fluorescent lamp fixture, get off the platform, and place the old fluorescent tube (fluorescent lamp or fluorescent lamp) somewhere. After that, the worker takes a part such as a new fluorescent tube and goes up again to the platform or the like, and attaches the new part or the like to the fluorescent lamp fixture. Therefore, the worker has to repeat ups and downs such as steps, which is troublesome.

  If there is an assist person, the operator can hand over the old fluorescent tube to the assist person or hand over a new fluorescent tube. Can work. However, since the assistant is not always present, the above problem remains.

  Therefore, in addition to the platform, a mounting table is prepared, and the old fluorescent tube and new fluorescent tube to be replaced are placed on the mounting table, thereby minimizing the number of times the operator goes up and down the platform. I can do it.

  However, it is desirable that such a mounting table has a height corresponding to the height of the ceiling and is suitable for the operator, but there is no medium for such a mounting table. . For this reason, even when using a mounting table, if the mounting table is too low, the operator must place a stepping table to place an old fluorescent tube to be replaced or take up a new fluorescent tube. If the vehicle is not lowered and then climbed again, it is difficult to work without damaging the fluorescent tube, and there is a problem that the work efficiency is poor and the work is troublesome.

  As a solution to this problem, for example, it is conceivable to use a mounting table that can be moved up and down as described in Patent Document 1 (Japanese Patent Laid-Open No. 2006-20866). That is, this is a method in which the height of the mounting table that can be raised and lowered in Patent Document 1 is adjusted in advance to a height that is considered appropriate for the worker.

  However, the method using the mounting table that can be raised and lowered described in Patent Document 1 requires installation space for the mounting table in addition to the installation space for the operator's step platform. In such a situation where such installation space cannot be secured. Not available. In addition, it is necessary to adjust the height of the mounting table to the optimal height in advance according to the height of the ceiling and the operator. It is necessary to adjust the height while checking the height, which is relatively troublesome. Furthermore, when the work is continuously performed, the operator has to move not only the platform but also the mounting table, which is troublesome.

  Also, for example, when cooking in a kitchen, the person who cooks usually has a place where ingredients such as vegetables and meat are prepared, and a place where cooking utensils such as a stove and oven are located. Do cooking while moving. In addition, if a place where cooking containers such as pans and frying pans are placed and where seasonings are placed are also determined, place where ingredients are prepared, place where cooking utensils are located, and those places There is also a need to move between. Furthermore, for example, when cooking while looking at a recipe book or the like, in addition to the plurality of places as described above, an operation of viewing the recipe book or the like for confirming the cooking work is further added.

  However, the place where the ingredients are prepared and the place where there are cooking utensils such as a stove or oven cannot be moved. It is also possible to move on the mounting table, and some cooks do so.

  In this case, if the mounting table has movable wheels or the like and is movable, the cooker can move it appropriately, but the cooker's hands are blocked. Cannot move the mounting table along with the movement of the cook. For this reason, even if there is a movable mounting table, it is difficult to move the mounting table appropriately in accordance with the movement of the cook.

  In addition, at a construction site, a worker working at a high place wants to receive necessary tools and materials at a low place, or works at a remote place even at the same high place. Conventionally, when borrowing tools or receiving materials from workers, other workers have handed over tools or materials to workers who exist at the requested height, or bothered to request them. I moved to a high place where there was a worker and handed it.

  However, if a worker at high altitude fails to receive the thrown-in tool or material, the tool or material will fall and be very dangerous, and the worker at high altitude will also receive it. Due to the work, there are many accidents that fall out of balance and fall. In addition, if another worker moves to a high place where the requesting worker is present and hands it over, the other worker is forced to take an action other than the original work and is inefficient. There is a problem.

JP 2006-20866 A

  As described above, conventionally, when the mounting table is used, the work load can be reduced, but the above-described problems remain. In addition, there were environments where the mounting table could not be used, such as construction sites.

  In view of the above, an object of the present invention is to provide a levitating platform that can eliminate the above-mentioned problems.

In order to solve the above problems, the present invention provides:
An aerial flight mechanism for levitating and moving in the air, and hovering in the air;
One or a plurality of cameras for photographing the person to be followed and photographing the surrounding environment of the person to be followed;
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;
Recognizing means for recognizing the person to be followed from captured image information from the one or more cameras;
Based on the captured image information from the one or more cameras at the height position based on the position of the part or location specified in advance in relation to the tracking target person recognized by the recognition means The hovering is performed while maintaining the horizontal state of the mounting table at a predetermined distance from the target person, and the aerial flight mechanism unit is controlled to move following the movement of the following target person. Main control means;
A levitation moving table is provided.

  The levitating platform of the present invention having the above-described configuration floats in the vertical direction, for example, searches for a tracking target person, and recognizes the presence of the tracking target person from captured image information from the camera. The main control means wears the position of the part or location specified in advance in relation to the follow-up person recognized by the recognition means, for example, the position of the lower jaw (jaw) or shoulder of the follow-up person, or the follow-up person. Predetermined by the person to be tracked at a specific position of the clothes, the jewelry / name tag worn by the person, and the height position based on the wheelchair or arm of the chair when the person to be tracked is sitting on the wheelchair or chair. The aerial flight mechanism is controlled so as to hover while maintaining the horizontal state of the mounting table at a distance.

  When the follower moves in this state, the main control means detects the movement from the captured image information of the camera and controls the aerial flight mechanism unit so as to move following the move of the follower. To do.

  According to the levitating platform according to the present invention, the hovering is performed at the height position based on the position of the part or the location specified in advance in relation to the follow target person, and the follow target person moves following the move. Therefore, the mounting table is always located at a space position that can be suitably used by the follow-up target person, and the articles can be raised and lowered with respect to the mounting table. For this reason, according to the levitation moving table according to the present invention, it is possible to provide a useful and user-friendly mounting table that eliminates the drawbacks of the conventional mounting table.

It is a figure which shows the structural example of 1st 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 1st Embodiment of the levitating movement stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of 1st 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 1st Embodiment of the levitation moving base by this invention. It is a figure for demonstrating an example of the utilization aspect of 1st Embodiment of the levitating movement stand by this invention. It is a figure for demonstrating another example of the utilization aspect of 1st Embodiment of the levitating movement stand by this invention. It is a figure for demonstrating another example of the utilization aspect of 1st Embodiment of the levitating movement stand by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of 2nd Embodiment of the levitating movement stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of 2nd 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 2nd Embodiment of the levitation moving base by this invention. It is a figure for demonstrating an example of the utilization aspect of 2nd Embodiment of the levitating movement stand by this invention.

[First Embodiment]
Hereinafter, a first embodiment of a levitating platform according to the present invention will be described with reference to the drawings.

  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, an LED (Light Emitting Diode) light is provided on the upper surface of the housing 6 so that an article placed on the mounting table 9 can be illuminated and work can be performed even in a dark place. .

  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, temperature sensor 108, weight sensor 109, moving space memory 110, current position detection unit 111, flight drive signal generation unit 112, position and orientation control signal generation Unit 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, learning unit 117, prediction unit 118, operation unit 119 are connected to each other. 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 a person to be followed or a wall, thereby detecting the presence of obstacles, as well as light, infrared rays, Alternatively, it is possible to detect a time from when an ultrasonic wave is emitted until a reflected wave is received, and to calculate the distance to the detected obstacle from that time. In this embodiment, the obstacle sensor 107 is used in the indoor / outdoor space where the levitating platform 1 is used, a person to be followed, a person other than the person to be followed, an animal such as a pet, a wall, a dresser, a bed, a desk. It is used to be controlled to fly while avoiding collision with obstacles such as garden trees.

  In this embodiment, the obstacle sensor 107 is also used when the levitation moving table 1 is controlled to hover while maintaining a predetermined distance, for example, about 40 cm, with the subject to be followed. At this time, captured image information from a camera that captures the tracking target person among the cameras CM1 to CM6 is also used.

  The temperature sensor 108 is used to detect a high temperature atmosphere so that the levitating platform 1 is used in a kitchen and the levitating platform 1 is kept away from a stove that is in an ignition state. In addition, when controlling the levitating platform 1 so as not to approach the stove or the like in the ignition state, the captured image information in the ignition state of the stove is also used by the cameras CM1 to CM6. is there.

  The weight sensor 109 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 109 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 109.

  The moving space memory 110 stores space information regarding the 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 information on the length, width, and height of a room such as a kitchen to be used. Furthermore, structural information of the room used, such as a beam, a pipe space, and a pillar, may be stored in advance.

  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, first, a flight drive signal for generating a tracking target person is generated. In this case, when the moving space in which the levitating platform 1 is used is a moving space stored in the moving space memory 110, the position information of the current position detected by the current position detecting unit 111 and the moving space memory In order to generate a flight drive signal for moving so as to search for the tracking target person from the information on the moving space stored in 110, the moving direction and moving distance are calculated.

  The flight drive signal generation unit 112 uses information such as the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, and the temperature sensor 108 based on the calculated direction and distance. The flight drive signal for moving so as to detect the tracking target person is generated while referring to the captured images from the cameras CM1 to CM6.

  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 rotary wings 52A to 52D and performs a movement by aerial flight so as to detect the subject to be followed.

  When the levitating platform 1 detects the follow-up person, the flight drive signal generation unit 112 follows the specific body part of the follow-up person, in this example, the position of the lower jaw of the follow-up person in accordance with the control of the control unit 101. At the height position, a flight drive signal is generated so as to hover while maintaining the horizontal state of the mounting table 9 at a predetermined distance from the subject to be followed, and the aerial flight mechanism unit through the aerial flight drive unit 102 2 is supplied. 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 the follower moves, the flight drive signal generator 112 generates a flight drive signal that causes the follower to move in accordance with the movement of the follower according to the control of the controller 101, and the aerial flight driver 102. To be supplied to the aerial flight mechanism unit 2. During this movement, the levitating platform 1 uses information from the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, the temperature sensor 108, and the like, and further from the cameras CM1 to CM6. Referring to the captured image, the robot moves following the movement of the tracking target person while avoiding a collision with an obstacle and avoiding a place that should not fly. Therefore, during this movement, the levitation moving table 1 does not take into consideration the holding of the height position and the separation of a strict predetermined distance from the tracking target.

  When the tracking target person stops moving, the levitating platform 1 is based on the aforementioned relationship with the tracking target person, that is, the position of the lower jaw of the tracking target person in a state that is a predetermined distance away from the tracking target person. A flight drive signal that causes the vehicle to hover at the height position is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  Note that the flight drive signal generation unit 112 moves while avoiding the top of a stove where the fire is lit based on the sensor output of the temperature sensor 108 when moving and hovering as described above, A flight drive signal is generated so as to hover.

  Then, when an end command (landing command) is issued from the control unit 101, the flight drive signal generation unit 112 cancels the above-described relationship with the follow-up target person and is in a predetermined place or near the current position. Then, a flight drive signal for moving and landing at any place where landing is possible is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  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 109, 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 the face image of the tracking target person photographed by one of the cameras CM2 to CM5 in this example. Then, after temporarily hovering at the height position, a position / attitude control signal for generating hovering at a height position, for example, 20 cm below the height position is generated. As will be described later, this height position can be adjusted by an action (gesture) by the follow-up target person or a voice command.

  And as a horizontal hovering position centering on a tracking subject person, it is set as the diagonal left front or diagonally right front of a tracking subject person. However, if it is in the way of the follower's original work (fluorescent tube replacement work or cooking work), the position is set so as not to get in the way.

  The position / orientation control signal generation unit 113 also sets the above-described hovering height position when the article is placed on the placing table 9 of the levitation moving table 1 or taken out from the placing table 9 by the subject to be followed. A position / orientation control signal for correction is generated 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 of a command word issued by the tracking target person. 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.

  Further, it is also possible to use a sound that is picked up by the omnidirectional microphone MC and a sound of clapping the hand of the person to be followed or a sound of a finger. In this case, the levitating platform 1 flies and moves in response to the sound of clapping the hand of the caller or the person to be followed or the sound of the finger being picked up by the omnidirectional microphone MC. 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. In this embodiment, it is configured such that face images of one to a plurality of persons can be registered in advance in the registrant storage area of the image memory 114M as follow-up subjects to which the levitating platform 1 should follow. .

  And the levitating mobile stand 1 of this embodiment automatically creates a list of follow-up subjects with registered face images, and prior to the start of use of the levitating move stand 1, the list of follow-up subjects is The information is displayed on a display unit (not shown). The user can select and specify the follow target person of the levitating platform 1 from the list of follow target persons through the operation unit 119. Instead of providing a display unit, a plurality of buttons capable of associating each tracking target person are provided, and the tracking target person is selected by operating one of the buttons. You can also.

  Further, in this embodiment, the levitating mobile platform 1 can be started without selecting the follow-up target person. In this case, a person in the vicinity of the levitating mobile stand 1 is determined as the follow-up target person, and the cameras CM <b> 2- The face image of the follow-up person is photographed by one of the CMs 5 and stored in the follow-up person storage area of the image memory 114M, and then stored in the follow-up person storage area until an end command is issued. The follow-up movement control described above is performed using the face image of the person who is the subject as the face image of the person to be followed.

  Further, in this embodiment, the subject to be tracked uses the gesture (gesture) to move the levitation moving table 1 to “lower the height a little”, “raise the height a little”, “rotate the mounting table 9”, It is possible to control commands such as “Change the hovering position to the right (with the subject to be followed)” and “Change the hovering position (to the subject to be followed) to the left”. Yes. The image memory 114M is provided with the control command storage area, and in the control command storage area, correspondence information between the above-described control command and an image of a corresponding operation (gesture) is stored. In addition, although illustration is abbreviate | omitted that a tracking subject person touches the levitation moving stand 1, it detects with a capacitive touch sensor etc., and the tracking target person touches up and down, right and left by the direction of pressure. It may be possible to control it.

  The control unit 101 monitors the captured image information of the cameras CM1 to CM6, and the image recognition unit 114 performs the same operation (or approximation) as the operation stored in the control command storage area of the image memory 114M by the tracking target person. It is determined whether or not (operation) has been made. When the control unit 101 determines that the subject to be tracked has performed the same operation (or similar operation) as the operation of the control command stored in the control command storage area of the image memory 114M, the control unit 101 responds to the operation. A control command is acquired from the control command storage area of the image memory 114M, and a control signal is supplied to the aerial flight mechanism unit 2 so that the levitating platform 1 performs an operation according to the acquired control command.

  In this embodiment, the control command as described above can be given to the levitating platform 1 by the sound produced by the person to be followed.

  The voice recognition unit 115 is for recognizing a voice control command by the person to be followed, and a voice memory 115M in which correspondence information between the control command described above and the voice information of the phrase corresponding thereto is stored. It has.

  The control unit 101 monitors the voice information collected by the omnidirectional microphone MC, and in the voice recognition unit 115, the voice phrase of the control command stored in the control command storage area of the voice memory 115 </ b> M by the tracking target person. It is determined whether or not the same phrase (or an approximate phrase) is uttered. When the control unit 101 determines that the same voice phrase (or an approximate phrase) as the control command stored in the control command storage area of the voice memory 115M has been uttered by the follow target person, the control unit 101 responds to the voice phrase. The control command to be acquired is acquired from the control command storage area of the image memory 114M, and a control signal is supplied to the aerial flight mechanism unit 2 so that the levitation moving base 1 performs an operation according to the acquired control command.

  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.

  In addition, when there is a command such as “change the hovering position (with the person to be followed) to the right” or “change the hovering position (to the person to be followed) to the left”, the control unit 101 controls to change the left and right positions of the levitating platform 1 with respect to the tracking target person to a side different from the current state. Other voice commands may include “Come Here”, “This is Here”, “Separate”, and the like.

  The alarm notification unit 116 follows 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 subject is notified 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 109. 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.

  In addition, image information of drinks and liquid articles is registered in the image memory 114M in advance, and the image recognition unit 114 recognizes that the registered articles are about to be placed on the placement table 9. Occasionally, the alarm notification unit 116 may emit a voice message such as “There is a risk of liquid spilling” or the like as a voice alarm before the placement.

  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.

  The learning unit 117 includes a history memory 117M that stores past usage history information (history information) of the levitating platform 1. In this case, the history information includes image information of the tracking target person photographed by the cameras CM <b> 1 to CM <b> 6, and the history memory together with the position information of the usage location and the face image information of the tracking target person using the levitating platform 1. Stored in 117M. When the tracking target person is a user registered in the image memory 114M, the identification information of the registered tracking target person is also stored.

  As a result, when a registered user is selected as a follow target at the start of use of the levitating platform 1, information on past use history by the follow target can be referred to in the learning unit 117. In addition, when the user registered as the tracking target person is not selected at the start of use of the levitating platform 1, when the tracking target person is recognized by any of the cameras CM2 to CM5, the face image and history When the face image stored in the memory 117M matches, the past history information of the person to be tracked of the matched face image is referred to in the learning unit 117.

  The learning unit 117 learns the usability of the follow-up target person by learning the past use history of the follow-up target person stored in the history memory 117M, and based on the learning result, the levitating platform 1 Control. For example, as a result of referring to the past use history, if the dominant hand of the follow target person is found, the levitating platform 1 is hovered on the dominant hand side of the follow target person. In addition, for example, in a cooking operation in a kitchen, after cutting ingredients such as vegetables, there is a tendency to put it on a plate and place it on the mounting table 9 of the levitation moving table 1 with a non-dominant hand. When the situation is predicted by learning, when such a situation is predicted from the captured image information of any of the cameras CM2 to CM5 at the time of use, the levitating platform 1 moves forward to the opposite side from the dominant hand. Hover and wait.

  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 it is predicted that an article will be placed on the mounting table 9 by the person to be followed while the levitation moving base 1 is hovering in the air, the descent due to the weight of the placed article is minimized. Control so that the amount of descent is sufficient. In this case, the history memory 117M stores the weight measured by the weight sensor 109 of the article placed on the levitating platform 1 together with the image information of the article photographed by the cameras CM1 to CM6. Since the weight of the article is known when the same article as the placed article is to be placed on the levitation moving table 1, the levitation moving table 1 is not lowered as much as possible even when the article is placed. It can be easily corrected.

  Further, as described above, when an article is picked up from the levitation moving table 1, it can be recognized as a weight stored in association with the placement position of the picked-up article on the bottom surface of the placement table 9, so that prediction is possible. Based on the certified weight, the unit 118 controls the levitation moving table 1 so that the amount of lift is as small as possible.

  When the next action can be predicted from the action of the following user, the prediction unit 118 moves the levitating platform 1 to the action of the person to be followed, such as moving to the optimal hovering position according to the predicted action. Before that, the optimum control can be performed.

  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 platform 1 of this embodiment allows the user to set a mode according to the place of use and purpose of use of the past history stored in the history memory 117M. For example, if the place of use is a kitchen, the kitchen mode, if the purpose of use is to replace a fluorescent tube, if the purpose of use is to replace the fluorescent tube, the laundry drying mode if the purpose of washing is to be dried, The laundry uptake mode can be set.

  Then, the levitating platform 1 of this embodiment automatically creates a list of set modes and displays the list of modes on a display unit (not shown) prior to the start of use of the levitating platform 1. To do. The user can select from the list of modes according to the place and purpose of starting use through the operation unit 119. Instead of providing a display unit, a plurality of buttons that can be associated with each mode are provided, and a mode can be selected by operating one of the plurality of buttons. When a mode is selected through the operation unit 119, the learning unit 117 uses the learning result obtained by referring to the history information corresponding to the mode for controlling the levitating platform 1.

  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 learning unit 117, and the prediction unit 118 are controlled by the control unit 101. It can also be realized as a software processing function.

[Operation example of levitating platform 1]
Next, an example of the processing operation of the levitating platform 1 of the first embodiment will be described with reference to the flowcharts of FIGS. In the following description, the control unit 101 includes a flight drive signal generation unit 112, a position and orientation control signal generation unit 113, an image recognition unit 114, a voice recognition unit 115, an alarm notification unit 116, a learning unit 117, and a prediction unit 118. A case will be described in which the processing functions of these units are implemented as software processing functions. It should be noted that an article necessary for the work may be placed in advance on the mounting table 9 of the levitation moving base 1 or an article necessary for the work may be placed after the use is started.

  First, the control unit 101 determines whether or not a start command has been received (step S101). This start command may be input by an operation through the operation unit 119, or may be a command by voice or a command by gesture (gesture). In addition, the user who becomes a follow-up target can select and set any of the kitchen mode, the fluorescent tube replacement mode, the laundry drying mode, the laundry taking-in mode, and the like described above before issuing a start command. Further, the user who becomes the follow target person can select and set himself as the follow target person when his / her face image is registered.

  If it is determined in step S101 that the start command has not been received, the control unit 101 repeats step S101 and waits for the start command. When it is determined in step S101 that the start command has been received, the control unit 101 controls the aerial flight mechanism unit 2, takes off and moves upward, and searches for a follow-up target person (step S102).

  Then, the control unit 101 determines whether or not the tracking target person can be certified while performing the search flight of the tracking target person (step S103). Returning to S102, the search target person's search movement is continued. When it is determined in step S103 that the tracking target person has been authorized, the control unit 101 determines the height reference at a position spaced a predetermined distance from the certified tracking target person as described above. As an example, hovering is performed while maintaining the level of the mounting table 9 at a height position 20 cm lower than the position of the lower jaw of the tracking target person (step S104).

  In this case, when the follow target person is not selected prior to the start command, the control unit 101 searches for and recognizes a user existing in the vicinity as the follow target person. Then, the face image of the tracking target person who is photographed and certified by one or more of the cameras CM2 to CM5 is stored in the temporary storage area of the image memory 114M as the tracking target person at that time. In addition, when a follow target person is selected and specified prior to the start command, the control unit 101 selects a follow target person that matches the face image stored in the image memory 114M of the selected follow target person. Explore and certify. Then, the face image stored in the image memory 114M of the selected follow-up target person is stored in the temporary storage area of the image memory 114M as the follow-up target person at that time. In the follow-up movement of this time, the control unit 101 always recognizes a person who matches the face image stored in the temporary storage area of the image memory 114M as a follow-up target person.

  After step S104, the control unit 101 determines whether or not the article placed on the placement table 9 has been picked up based on the captured image information of the cameras CM1 to CM5 (step S105). When the determination is made, as described above, the height position correction control is performed to correct the change in the height position in accordance with the change in weight due to the article being picked up (step S106).

  When it is determined in step S105 that the article placed on the placement table 9 is not picked up, the control unit 101 places the article on the placement table 9 based on the captured image information of the cameras CM1 to CM5. (Step S107), if it is determined that it has been placed, the process proceeds to step S106, and as described above, the change in the height position according to the change in weight due to the article being placed is corrected. The height position correction control is performed (step S106).

  After step S106, the control unit 101 advances the process to step S119 in FIG. 4 to determine whether an end command by gesture (gesture) or voice from the follow target is received, and does not receive the end command. Is determined, the process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S107 that the article is not placed on the placing table 9, the control unit 101 determines whether the follow target person is based on the captured image information of the cameras CM2 to CM5 and the sensor output of the obstacle sensor 107. It is determined whether or not it has moved (step S108). When it is determined in step S108 that the tracking target person has moved, the control unit 101 maintains the horizontal state of the bottom surface of the mounting table 9 and moves so as to follow the movement of the tracking target person. The unit 2 is controlled (step S109). Then, the control unit 101 advances the process to step S119 in FIG. 4 to determine whether an operation (gesture) or a voice end command is received from the follow-up person, and when it is determined that the end command is not received. The process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S108 that the subject to be followed has not moved, the control unit 101 determines whether or not a command to change the height position for hovering has been received (step S111 in FIG. 4). When it is determined that the hovering has occurred, as described above, the hovering height position is controlled to be lowered or raised according to the command (step S112). After step S112, the control unit 101 advances the processing to step S119, determines whether or not an end command by gesture (gesture) or voice from the follow target is received, and determines that no end command is received. If so, the process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S111 that a command to change the height position to be hovered has not been received, the control unit 101 determines whether or not a rotation command for the mounting table 9 has been received (step S113) and determines that it has been received. In some cases, as described above, in accordance with the rotation command, the bottom surface of the mounting table 9 is controlled to rotate around its center position while maintaining a horizontal state (step S114). After step S114, the control unit 101 advances the process to step S119, determines whether or not an end command by gesture (gesture) or voice from the subject to be tracked has been received, and determines that no end command has been received. If so, the process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S113 that the rotation command for the mounting table 9 has not been received, the control unit 101 determines the height of the lower jaw, which is an example of the physical part of the tracking target person, which is a reference for the height position to be hovered. It is determined whether or not the position has been displaced upward or downward (step S115). The upper or lower displacement amount determined in this case is a significant displacement amount that is considered to require changing the height position at which the levitating platform 1 is hovered.

  When it is determined in step S115 that the height position of the lower jaw, which is an example of the physical part of the subject to be tracked, has been displaced upward or downward, the control unit 101 determines in advance that displacement has started. It is determined whether or not a predetermined time, for example, 5 seconds or more has elapsed (step S116). If it is determined that the predetermined time or more has not elapsed, the current height position of the mounting table 9 is maintained (step S117). Thereafter, the process returns to step S115.

  When it is determined in step S116 that significant upward or downward displacement of the height position of the lower jaw, which is an example of the physical part of the tracking target person, continues for a predetermined time or longer, the control unit 101 performs hovering. The height position is controlled to be raised or lowered according to the displacement of the height position of the lower jaw, which is an example of the physical part of the subject to be tracked (step S118).

  In the processing from step S115 to step S118, when the follow-up target person squats down or stretches and the position of the lower jaw is displaced up and down, if it is a short time, the original is not followed without following. A process of waiting in a state of hovering at a height position and changing the height position at which the levitating platform 1 hovers according to the displacement of the position of the lower jaw when it is over a predetermined time It is. This is because it is considered that a change in the lower jaw of the person to be followed does not require a change in the height position of the mounting table 9, and therefore a useless change control of the height position of the levitation moving table 1 is avoided. Process.

  After this step S118, the control unit 101 advances the processing to step S119, determines whether or not an ending command by gesture (gesture) or voice from the follow target is received, and determines that no ending command is received. If so, the process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S115 that the height position of the lower jaw, which is an example of the physical part of the tracking target person, is not displaced up or down, the control unit 101 advances the process to step S119, and It is determined whether or not an operation (gesture) or a voice finish command has been received, and if it is determined that the finish command has not been received, the process returns to step S105, and the processes after step S105 are repeated.

  When it is determined in step S119 that an end command has been received from the tracking target person, the control unit 101 performs control so as to end the tracking control for the tracking target person and land the levitating platform 1 (step S120). ). This completes one processing operation of the levitating platform 1.

[Example of utilization mode (mode) of the levitating platform 1 of the first embodiment]
<Cooking mode>
FIG. 5 is a diagram for explaining a state of an operation performed by the levitation moving table 1 in a cooking mode as an example of a use mode (mode) of the levitation moving table 1 of the first embodiment. FIG. 5 assumes a kitchen at home as a place (moving space) where the cooking mode of this example is executed.

  In the example of FIG. 5, the recipe book 201 and various seasonings 202 such as soy sauce, salt, and pepper are placed on the placing table 9 of the levitating moving table 1. The recipe book 201 and the seasoning 202 are placed on the placing table 9 of the levitation moving table 1 before the flight start command is given by the housewife 203 who is an example of the follow-up person, or is in a hovering state. It will be placed later.

  Then, when the housewife 203 as an example of the person to be followed gives a start command to the levitation moving table 1, the levitation moving table 1 is hovered at the height position described above in a state of being separated from the housewife 203 by an appropriate distance. It will be in the state to ring. FIG. 5 shows this state. The housewife 203 can select himself / herself as a follow-up target when his / her face image is registered before issuing a start command, and when the cooking mode is set as a history. Can select it. Furthermore, when a suitable response according to the recipe is set as the history, a recipe to be cooked may be selected and designated.

  The levitating platform 1 moves as the housewife 203, who is an example of the subject to follow, moves between the kitchen sink 204, the cooking table 205, and the stove 206. At that time, the levitation moving table 1 always maintains the horizontal state of the bottom surface of the mounting table 9 and moves while maintaining the height position. The levitating platform 1 avoids moving above the ignited stove 206 based on the sensor output from the temperature sensor 108. Further, the levitating platform 1 predicts the behavior and action of the housewife 203 by the learning unit 117 and the prediction unit 118, and hovers on the left side of the housewife 203, hovers on the right side, and determines the hovering position. Change as appropriate.

  Further, when the housewife 203 bends down or squats down in order to take out an article from the drawer 207 or the cupboard 208, the levitation moving table 1 changes the height position for hovering accordingly. Therefore, the housewife 203 can easily place the taken-out article on the mounting table 9 of the levitating / moving table 1 while bending down or squatting down. It should be noted that the height position at which the hovering is performed when squatting can be made based on the position of the lower jaw of the person to be followed, as in the case of standing. Further, the height position may be controlled according to the posture, for example, not at the height position 20 cm below the position of the lower jaw but at a height position 10 cm below the position of the lower jaw.

  In addition, the housewife 203 instructs to change the height position of the levitating platform 1 or to change the position between the left side and the right side of the levitating platform 1 according to his / her convenience, by an operation (gesture) or voice command. Can do. In addition, when the seasoning 202 is placed on the bottom surface of the mounting table 9 on the side far from the housewife 203, it is convenient to make it closer to yourself by instructing the mounting table 9 to rotate. It is. In this case, when the article placed on the mounting table 9 is image-recognized by the captured images of the cameras CM <b> 1 to CM <b> 5, saying “take soy sauce”, the soy sauce in the seasoning 202 is closest. Also, “towards the recipe book here” can also be instructed to rotate the mounting table 9 so that the recipe book 201 is easy to read by the housewife 203. The recipe book 201 may be provided with a dedicated stand different from the mounting table 9 so that only the recipe book 201 can be rotated. When viewing the recipe book 201, the recipe book 201 is illuminated by an LED light (not shown) provided on the top surface of the housing 6, so that the recipe book can be firmly held even when it becomes dark or shadowed. You can cook while watching.

  As described above, the housewife is preparing the cooking work by placing the recipe book 201 on the placing table 9 of the levitation moving table 1 or placing the necessary seasoning 202 in advance in the cooking work. Since the levitation moving table 1 moves following the movement, the cooking work can be easily performed while looking at the recipe book 201 each time, and the seasoning placed on the mounting table 9 of the levitation moving table 1 There is an effect that 202 can be appropriately selected and used appropriately on the spot. Of course, not only the recipe book 201 and the seasoning 202 but also ingredients and cooking utensils may be placed on the mounting table 9.

<Laundry drying mode and laundry uptake mode>
FIG. 6 is a diagram for explaining an operation performed by the levitation moving table 1 in the laundry drying mode as an example of a usage mode (mode) of the levitation moving table 1 of the first embodiment. FIG. 6 assumes a laundry drying place at home as a place (moving space) where the laundry drying mode of this example is executed.

  The housewife 203, who is an example of the person to be followed, takes the laundry that has been washed out from the washing machine, puts it in the laundry basket 210, and floats the laundry basket 210 in which the laundry that has been washed is placed. Place on the mounting table 9 of the moving table 1. Then, the housewife 203 gives a start command to the levitation moving base 1 by voice or an action (gesture). Also in this example, the housewife 203, which is an example of the follow target person, is the follow target person if his / her face image is registered before placing the flight start command on the mounting table 9 of the levitation moving table 1. If the cooking mode is set as a history, it can be selected and specified.

  When the start command is detected, the levitating platform 1 is in a state of hovering at the above-described height position while being separated from the housewife 203 as an example of the subject to be followed by an appropriate distance. Then, when the housewife 203 moves to the laundry room, the levitating platform 1 follows the housewife 203 and moves to the laundry room with the laundry basket 210 placed thereon. FIG. 6 shows this state.

  In the laundry drying place, the housewife 203 takes out the laundry 211 from the laundry basket 210 placed on the mounting table 9 of the levitation moving table 1 and hangs it on the laundry basket 212. At this time, when the control unit 101 of the levitating platform 1 detects, for example, that the housewife 203 always positions the laundry basket 210 on his right side by the learning unit 117, the control unit 101 sets the hovering position of the housewife 203. Control to the right side. When the housewife 203 moves according to the progress of the laundry drying operation, the levitating platform 1 is also moved following the movement.

  When the laundry drying operation is completed, the housewife 203 returns from the laundry drying place to a place where there is a washing machine in the room, for example. Then, since the levitating platform 1 follows the movement, the housewife 203 issues an end command to the levitating platform 1. Then, the levitating platform 1 is landed and ends its operation. The housewife 203 lowers the laundry basket 210 in which the laundry is emptied from the mounting table 9 of the levitation moving table 1 and ends the work.

  In the laundry take-in mode, the housewife 203 takes the laundry in place of the work of hanging the laundry, puts it in the laundry basket 210 and moves it indoors. It is something to do.

  As described above, in both the laundry drying mode and the laundry take-in mode, the levitating platform 1 is used to carry the laundry basket 210, assist the pick-up of the laundry from the laundry basket 210, and the laundry basket 210. The housewife 203 has the merit that the laundry drying and the laundry taking-in work becomes easy and the usability is very good.

<Fluorescent tube replacement mode>
FIG. 7 is a diagram for explaining an operation performed by the levitating / moving table 1 in a fluorescent tube replacement mode as an example of a usage mode (mode) of the levitating / moving table 1 according to the first embodiment. FIG. 7 assumes, for example, a living room in a home as a place (moving space) where the fluorescent tube replacement mode of this example is executed.

  A householder 221, who is an example of a tracking target person, places a new fluorescent tube 222, a lighting tube (glow bulb) 223, a bean bulb 224, and the like for replacement on the mounting table 9 of the levitation moving table 1. Then, the family member 221 gives a start command to the levitation moving base 1 by voice or an action (gesture). Also in this example, the family member 221, which is an example of the tracking target person, is the tracking target person when his / her face image is registered before placing the flight start command on the mounting table 9 of the levitation moving table 1. If the fluorescent tube replacement mode is set as a history, it can be selected and specified.

  When the start command is detected, the levitating platform 1 is in a state of hovering at the above-described height position in a state of being separated from the householder 221 as an example of the tracking target person by an appropriate distance. Then, when the householder 221 climbs the stepladder 225, the levitating platform 1 changes the height position according to the movement of the householder 221 with a delay of about 10 seconds in this example. When the householder 221 reaches the height position where the fluorescent tube is exchanged and stops moving upward, the levitating platform 1 also follows the householder 221 so that the height of the householder 221 increases. Hovering is performed at a position 20 cm below the position of the lower jaw, which is an example of a physical part that is an example of the height standard. FIG. 7 shows this state. At this time, the control unit 101 of the levitating platform 1 detects the hovering position when the learning unit 117 detects that, for example, the housekeeper 221 always positions the levitating platform 1 on his left side. To the left side of Further, at this position, the householder 221 can adjust the hovering height position of the levitating platform 1 and the horizontal position centered on himself / herself by an operation (gesture) or a voice command.

  In this state, the householder 221 removes the old fluorescent tube 226 from the fluorescent lamp fixture (not shown), places it on the mounting table 9 of the levitation moving table 1, picks up the new fluorescent tube 222, and then takes the fluorescent lamp fixture. Work to attach to. Subsequently, replacement work of the lighting tube 223, replacement work of the bean bulb 224, and the like are performed as necessary.

  When the replacement work is completed, the householder 221 gets off the stepladder 225. At that time, the housekeeper does not need to have anything. As the householder 221 moves down the stepladder 225, the levitating platform 1 also moves downward with a slight delay (10 seconds).

  Thus, the householder 221 who finished the fluorescent tube replacement work and got off the stepladder 225 gives an end command to the levitating platform 1. Then, the levitating platform 1 is landed and ends its operation. The householder 221 drops the old fluorescent tube 226, the old glow sphere (not shown), the old bean sphere (not shown), etc. from the mounting table 9 of the levitation moving table 1, and finishes the work.

  As described above, the householder 221 who is an operator removes the old fluorescent tube 226 and places it on the mounting table 9 of the levitation moving table 1, and new fluorescent light mounted on the mounting table 9 of the levitation moving table 1. The tube 222 can be taken up and attached to the luminaire, which is very convenient.

  In the fluorescent tube replacement mode of this example, the fluorescent tube replacement operator loads articles necessary for replacement, such as new fluorescent tubes 222, glow spheres 223, and bean balls 224, on the mounting table 9 of the levitation moving base 1 in advance. The levitating platform 1 can be moved to a height position where the fluorescent tube is exchanged by simply climbing the stepladder 225. When the replacement work is finished, the replacement worker can lower the levitating platform 1 simply by getting off the stepladder 225.

  Therefore, when the replacement worker climbs the stepladder 225, the conventional work such as climbing with the new fluorescent tube 222 and descending the stepladder 225 with the old fluorescent tube 226 after the replacement is performed. Disappears and safety is improved.

  The operation modes of the levitating platform 1 described above are merely examples, and the present invention is not limited to these modes. Needless to say, various other modes of use are possible. For example, instead of exchanging fluorescent tubes, LED bulbs or incandescent bulbs may be replaced. It can also be used to replace air conditioner filters, clean up and clean the top of refrigerators and cupboards. In addition, it can be used for decorating Christmas trees, etc., and for decorating high places in rooms.

[Second Embodiment]
The levitating platform 1 of the first embodiment described above is also used for business purposes, but is mainly for home use, and can always collect the voice of the person to be followed by a microphone, ) In an environment where it can be captured with a camera. Since the second embodiment is located at a location farther away from the tracking target person such as a construction site or a construction site, the voice of the tracking target person cannot be picked up by the microphone, or the tracking target person's action (gesture) Even when the camera cannot be captured by the camera, the levitating platform is called so that the tracking target person can follow and move.

  The levitation moving base 1A of the second embodiment can be similar in mechanical structure to the levitation moving base 1 of the first embodiment shown in FIG. However, the levitating platform 1A of the second embodiment is larger than the one used in the home of the first embodiment, so that heavier articles can be placed. Like that. Accordingly, the mechanical configuration of the levitating platform 1A of the second embodiment can be substantially the same except that the size is different from that of the levitating platform 1 of the first embodiment. The illustration of the general configuration is omitted.

  An example of the configuration of the drive control unit 10A of the levitating platform 1A of the second embodiment is shown in FIG. In the configuration example of FIG. 8, the same reference numerals are given to the same parts as those of the drive control unit 10 of the levitating platform 1 of the first embodiment shown in FIG. .

  As shown in FIG. 8, in the drive control unit 10A of the levitating platform 1A of the second embodiment, the communication unit 120 is connected to the system bus 100, and the communication unit 120 is used. The other points are the same as those of the drive control unit 10 of the levitating platform 1 of the first embodiment, except that the control unit 101A having a function of controlling the communication is provided. The control unit 101A has all the functions of the control unit 101 of the drive control device unit 10 of the levitating platform 1 of the first embodiment, and also has a function of controlling communication using the communication unit 120. 101A is provided.

  And in 2nd Embodiment, the external portable apparatus 121 which communicates with the communication part 120 of 1 A of levitation moving bases is used. The external portable device 121 has a function of detecting the current position of the device itself and a function (software application) for communicating with the communication unit 120 of the levitating platform 1A. Can be used. When this smartphone is used as the external portable device 121, an application program having a function of communicating with the communication unit 120 of the levitating platform 1A is installed in advance on the smartphone.

  In this case, the communication between the external portable device 121 and the communication unit 120 of the levitating platform 1A may be, for example, using Bluetooth (registered trademark) short-range communication, Wi-Fi (registered trademark) communication, or the like. it can.

  In the second embodiment, the levitation mobile platform 1A can be activated and called from the external portable device 121 through this communication. The call signal at the time of calling from the external portable device 121 includes information on the current position including the height position of the external portable device 121.

  Then, the levitating platform 1A detects the position information included in the call signal, jumps to the position indicated by the position information, and moves following the follow target person at the position.

  Further, in the second embodiment, the levitating platform 1A calls even in a state of following another person to be followed, and receives a permission from the person to be followed following that time. The person who did it can be made to follow himself.

[Main processing operations in the levitating platform 1A of the second embodiment]
FIG. 9 and FIG. 10 are flowcharts showing an example of the flow of processing operations at the time of calling from the external portable device 121 in the levitating platform 1A of the second embodiment. 9 and 10, similarly to the examples of FIGS. 3 and 4, the control unit 101 </ b> A will be described as a case where the necessary processing functions of the respective units are realized as software functions, like the control unit 101.

  First, the control unit 101A determines whether or not a call signal from the external portable device 121 has been received (step S201). When it is determined that the call signal has not been received, the control unit 101A repeats this step S201 to repeat the call signal. Wait for reception.

  When it is determined in step S201 that the call signal has been received, the control unit 101A determines whether or not the tracking target person is following (step S202). When it is determined in this step S202 that the person to be followed is in a state of being followed, for example, a speaker that is not shown is notified that a call has been made by the other person (step S203).

  Next, the control unit 101A determines the response (gesture) of the follow-up target person for this notification, a call permission by voice, or a non-permitted response (step S204). When it is determined in this step S204 that the other person's call is not permitted, the control unit 101A notifies the caller that the other person is “in use” through the communication unit 120 (step S205). The following state with respect to the person to be followed is maintained (step S206).

  Next, the control unit 101A determines whether or not a call signal has been received from another person (step S207). If it is determined that the call signal has not been received, the control unit 101A returns the process to step S206 to Keep track.

  If it is determined in step S207 that a call signal has been received from another person, the process returns to step S203, and the processes after step S203 are repeated.

  When it is determined in step S202 that there is no follow-up target person, or when it is determined in step S204 that another person's call is permitted, the control unit 101A is included in the received call signal. Position information including height position information is extracted to recognize the position of the caller (step S211 in FIG. 10).

  Then, the control unit 101A controls the levitating platform 1A to fly to the position of the caller (step S212). Then, after flying to the position of the caller, the control unit 101A recognizes the tracking target person existing at the position, maintains a predetermined distance interval with the recognized tracking target person, and Then, the position of the lower jaw, which is the height reference of the tracking target person, is detected and controlled to hover at a height position 20 cm below the position of the lower jaw (step S213). Further, the control unit 101A puts the levitating platform 1A into a follow-up state in which the follow-up movement is performed when the recognized follow-up target person moves (step S214).

  Next, the control unit 101A determines whether or not a call signal from another person has been received (step S215). If it is determined that the call signal has not been received, the control unit 101A returns the process to step S214 to The state of following the person is maintained.

  When it is determined in step S215 that a call signal from another person has been received, the control unit 101A returns the process to step S203, and repeats the processes after step S203.

[Example of usage of the levitating platform 1A of the second embodiment]
By providing the configuration as described above, the levitation mobile platform 1A of the second embodiment can be used as shown in FIG. 11, for example.

  In the example of FIG. 11, a scaffold 231 is assembled at a construction site of a multi-story building, and an operator 232 in the upper-floor scaffold 231 works a tool such as a saw on the lower-floor scaffold 231. This is a case where the worker 233 is asked to lend (or give) to the worker. In this case, it is assumed that the worker 233 who is working on the lower floor uses the levitation moving table 1A at that time, and the levitation moving table 1A has the worker 233 as a follow-up target person.

  In this example, when the voice reaches between the worker 232 on the upper floor and the worker 233 on the lower floor, the lending / borrowing (or delivery) of the saw as described above is transmitted between them. If the voice does not reach, it may be transmitted by a transceiver or a mobile phone terminal. Upon receiving this transmission, the worker 233 on the lower floor places the requested saw on the mounting table 9 of the floating moving table 1A that is following him / her.

  Then, the worker 232 in the upper floor scaffold sends a call signal including information on his / her position (including the height position) to the levitating platform 1A by the external portable device 121 he / she owns. Send. Then, the levitating platform 1A that has received the call signal notifies the worker 233 who is a follow-up target of the scaffold 231 on the lower floor of the call by another person through the speaker.

  Therefore, the worker 233 on the lower floor responds to the levitating platform 1A by, for example, pronouncing “OK” by voice, or making an “OK” mark by hand and showing it with a gesture. Receiving this, the levitating platform 1A determines that it has received permission from the worker 233 on the lower floor, and releases the tracking state for the worker 233 on the lower floor.

  Then, the levitating platform 1A extracts the position information of the worker 232 of the upper floor scaffold 231 included in the call signal, recognizes the position of the worker 232, and flies to the position to move. Then, the levitating platform 1A recognizes the worker 232 as a new follow-up target person, hovers to a height position based on the recognized reference target position of the follow-up target person, and the recognized follow-up target person. Set the tracking state to follow the movement.

  Therefore, the worker 232 of the scaffold 231 on the upper floor can use the saw mounted on the mounting table 9 of the levitation moving table 1A by taking it out of the mounting table 9 and return it to the mounting table 9 after use. . When the operator 232 moves appropriately, the levitation moving table 1A follows and moves, so that the saw mounted on the mounting table 9 can be picked up and used even at the moved position.

  In the above-described example, the tracking state with respect to the worker 233 is completely canceled and the tracking state is shifted to the worker 232. However, it is possible to temporarily cancel the tracking state. In this case, the worker 233 temporarily releases the tracking state when lending (or handing) the saw to the worker 232, and when the worker 232 finishes the saw operation and returns the saw, the tracking state is changed. Return.

[Modification of Second Embodiment]
In the description of the second embodiment described above, the position information of the person who has called is included in the call signal, and the levitating platform 1A is moved to the position specified by the position information. However, the method of moving the levitating platform 1A to the position of the person who made the call is not limited to this, and it is possible to move to the position of the person who made the call based on the information included in the call signal. It can be done.

  For example, in construction sites and construction sites, field workers are recently increasingly wearing ID cards and name tags. Therefore, RFID (Radio Frequency IDentification) that generates unique ID information (identification information) for each field worker is incorporated in the ID card or name tag worn by the field worker, and an ID card or Unique ID information is included for each field worker stored in the RFID incorporated in the name tag. The levitating platform 1A includes ID information detection means for detecting ID information included in the call signal, and the ID information detection means generates ID information identical to the ID information included in the call signal. By detecting an ID card or name tag, it moves to the position of the person who made the call.

  It is needless to say that the above-described use mode of the levitating platform 1A at the construction site of the building is an example, and is not limited to the construction site of the building, and various other usage modes are possible. For example, it can be used for inspection work and various construction work on power poles, various work such as inspection of various devices in stations and factories, replacement of consumables, and repair.

  Furthermore, it can be used for harvesting fruits such as mandarin oranges, apples, grapes, cherries and peaches in orchards. In that case, the levitating platform is a fruit harvested by the follow-up target person based on the photographed image of the camera CM1 whose upper direction is the photographing direction or the camera (any one of the cameras CM2 to CM5) that photographs the follow-up person. The movement may be controlled so as to be positioned below.

[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. However, the present invention is not limited to this, and the air flow generated by the rotation of the rotary blade has little influence. Any configuration may be used.

  Furthermore, in the above-described embodiment, the mounting table is provided on the upper part of the levitation moving table.

  In the above-described embodiment, when determining the height position of the hovering, the position of the lower jaw is used as a specific physical part of the person to be followed, but the position of the shoulder and the eyes are not limited to the lower jaw. , Ear, nose, mouth position, elbow position, and the like. Furthermore, not only the physical part of the tracking target person but also the position of a specific part such as a collar, first button, chest pocket of the clothes worn by the tracking target person can be used as a reference. Further, the position of accessories such as pierced earrings, earrings, pendant tops of necklaces, brooches and the like worn by the subject to be followed can also be used as a reference. In government offices, offices, factories, offices, construction sites, etc., employees and workers must wear items such as employee ID cards, ID cards, name tags, name plates, and company badges and emblems. However, the position of the employee ID card, ID card, name tag, name plate, position of the company emblem or emblem may be used as a reference. Of course, these reference positions may be registered in advance in the levitating platform.

  Furthermore, when the subject to be followed uses a moving body such as a wheelchair, the position of the arm of the wheelchair seated is determined in relation to the subject to be followed. It can be used as a reference when determining the height position. It is extremely convenient for a follow-up target person who is difficult to walk or the like and uses a wheelchair to follow the levitating platform next to the wheelchair.

  In addition, the present invention can be applied not only to wheelchairs but also to bicycles in areas where there is no danger in terms of road traffic. In this case, the position of the handle of the bicycle of the driver's seat where the person to be followed is sitting may be used as a reference. When the person to be tracked faces the desk and sits on the chair and works, the position of the upper surface of the desk or the arm of the chair may be used as a reference.

  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 the directional microphone may be used to collect a voice or sound of a person to be followed or a specific direction. The camera may be a standard camera, a wide angle camera, a fisheye camera, or a 360 degree camera. Further, a close-up camera or a telephoto camera may be used. Of course, these cameras may be used in combination.

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

DESCRIPTION OF SYMBOLS 1,1A ... Levitation movement stand, 2 ... Aerial flight mechanism part, 3 ... Drive control unit, 6 ... Case, 9 ... Mounting base, 10, 10A ... Drive control apparatus part, 101, 101A ... Control part, CM1-CM6 …camera

Claims (11)

An aerial flight mechanism for levitating and moving in the air, and hovering in the air;
One or a plurality of cameras for photographing the person to be followed and photographing the surrounding environment of the person to be followed;
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;
Recognizing means for recognizing the person to be followed from captured image information from the one or more cameras;
Based on the captured image information from the one or more cameras at the height position based on the position of the part or location specified in advance in relation to the tracking target person recognized by the recognition means The hovering is performed while maintaining the horizontal state of the mounting table at a predetermined distance from the target person, and the aerial flight mechanism unit is controlled to move following the movement of the following target person. Main control means;
A levitating mobile stand comprising: The part or location specified in advance in relation to the follow-up target person is a specific physical part of the follow-up target person, a specific place of the clothes worn by the follow-up target person, and the follow-up target person is wearing The levitation moving table according to claim 1, wherein the levitation moving table is any one of a position of an accessory or a wearing object, or a specific part of a surrounding environment when the follow target person is seated. A voice recognition means for recognizing a user's voice command;
The levitating platform according to claim 1, wherein the main control unit controls the aerial flight mechanism unit in accordance with a command by the voice recognized by the voice recognition unit. Image recognition means for recognizing a command due to a user's action from images taken by the one or more cameras;
4. The levitating movement according to claim 1, wherein the main control unit controls the aerial flight mechanism unit according to a command by the user's action recognized by the image recognition unit. 5. Stand. Receiving means for receiving a call signal;
The said main control means controls the said aerial flight mechanism part so that it may move to a caller's position based on the information contained in the said call signal received by the said receiving means. The levitating mobile stand according to claim 4. The levitating platform according to claim 5, wherein the information included in the call signal is position information indicating a position of the caller. The information included in the call signal is the same identification information as the identification information for identifying the caller included in the transmission signal transmitted from the transmission means provided in the caller,
Receiving an outgoing signal from the transmitting means, and comprising identification information detecting means for detecting the identification information included in the received signal,
The main control means controls the aerial flight mechanism so as to detect the transmitting means that generates the same identification information as the identification information included in the calling signal by the identification information detection means, It moves to a caller's position. The levitating movement stand of Claim 5 characterized by the above-mentioned. A plurality of usage modes can be registered, and for each of the plurality of usage modes, the past flight history and the control content by the main control means in the flight history and the one or more cameras were taken. Corresponding to the movement information of the user and the shooting information of the work, provided with a memory unit that accumulates as history information,
When one of the plurality of usage modes is selected and a start command is issued, the main control means learns by referring to the past history information about the selected usage mode of the memory unit. The levitating platform according to any one of claims 1 to 7, wherein the aerial flight mechanism unit is controlled. Predicting means for predicting the user's behavior and operation based on the past history information about the usage mode of the memory unit,
The levitating platform according to claim 8, wherein the main control unit controls the aerial flight mechanism unit in consideration of a prediction result in the prediction unit. When it is determined that the height position of the specific body part of the user serving as a reference for the height position to be hovered has changed and a predetermined time or more has elapsed, the main control means It controls to change a ring height position following the said user's attitude | position change. The levitation moving stand in any one of Claims 1-9 characterized by the above-mentioned. A face image storage unit for storing a face image of a candidate to be followed;
Means for selecting a tracking target person from candidates of the tracking target person stored in the face image storage unit;
The recognizing means recognizes the selected follow target person by matching the face image of the selected follow target person with the face image of the follow target person photographed by the one or more cameras. The levitation moving table according to any one of claims 1 to 10, wherein:

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