JP2022007799A - Flying type robot, program and method for controlling flying type robot - Google Patents

Abstract

To heal user's heart and offer a user with a feeling of fullness.SOLUTION: A flying type robot 100 includes: a drone 101 flying with automatic driving; and a camera 103 installed to the drone 101. The flying type robot recognizes a specific user 600 on the basis of an image captured by the camera 103 and flies around the specific user 600. Accordingly, the flying type robot can operate while simulating a pet that requires a communication from the specific user 600 as the owner thereof, thereby healing the heart of the user 600 and offering the user 600 with a feeling of fullness.SELECTED DRAWING: Figure 6A

Description

The present invention relates to a flying robot that imitates a pet, a control program for the flying robot, and a control method for the flying robot.

Conventionally, there is a pet-type robot that has the shape of an animal such as a dog or a cat and that imitates the movement of an animal such as moving or making a cry. Such a pet-type robot is not a practical function for convenience, but is designed mainly for the purpose of healing and entertaining the user's mind by its appearance and movement.

Specifically, conventionally, for example, the learning object is specified, the information of the specified learning object is stored in the associative recall storage unit, and the newly detected object and the learning object information stored in the associative recall storage unit are stored. There was a technique that made it possible to share (joint attention) the learning object and appropriately identify the learning object by acting on the basis of (for example, see Patent Document 1 below).

Japanese Unexamined Patent Publication No. 2011-115944

However, if it is an animal, it has its own will and does not necessarily move only according to the movement of the owner, and sometimes it does not listen to the owner's instructions or moves around freely without the owner. The technology uniformly operates in response to communication with the user, and is inferior in autonomy.

INDUSTRIAL APPLICABILITY The present invention solves the above-mentioned problems caused by the prior art, and thus heals the user's mind and gives the user a sense of satisfaction. A flight robot, a control program for the flight robot, and a control method for the flight robot. The purpose is to provide.

In order to solve the above-mentioned problems and achieve the object, the flight-type robot according to the present invention includes an unmanned aerial vehicle flying by autopilot and a camera mounted on the unmanned aerial vehicle, and is photographed by the camera. It is characterized by recognizing a specific user based on an image and flying around the specific user.

Further, the flight-type robot according to the present invention is characterized in that, in the above invention, the specific user is a person who has been photographed by the camera for a predetermined time or more or a predetermined number of times or more.

Further, the flying robot according to the present invention is characterized in that, in the above invention, the specific user is a person photographed by the camera within a specific range.

Further, in the above invention, the flying robot according to the present invention leaves the specific user when at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user. It is characterized by flying like this.

Further, in the above invention, the flying robot according to the present invention flies so as to approach the specific user when the specific user does not see the unmanned aerial vehicle while flying around the specific user. It is characterized by doing.

Further, the flight-type robot according to the present invention is characterized in that, in the above invention, after flying around the specific user a predetermined number of times, the robot flies away from the specific user.

Further, in the above-mentioned invention, the flight-type robot according to the present invention is provided with a wireless communication interface mounted on the unmanned aerial vehicle, and when predetermined information is acquired via the wireless communication interface, the specific user. It is characterized by flying around.

Further, the flight-type robot according to the present invention is characterized in that, in the above invention, the predetermined information is notification information output from a specific terminal device.

Further, in the flying robot according to the present invention, in the above invention, the predetermined information causes a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, and a sudden change in the weather within a predetermined time after the present time. It is characterized by being information indicating that there is a possibility.

Further, in the above-mentioned invention, the flight-type robot according to the present invention includes a speaker mounted on the unmanned aerial vehicle, outputs sound from the speaker to the specific user, and surrounds the specific user. It is characterized by flying.

Further, in the above invention, the flying robot according to the present invention includes a microphone mounted on the unmanned aerial vehicle, and when a predetermined sound is collected by the microphone, it flies around the specific user. It is characterized by.

Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a ringtone for notifying the telephone that at least one of a telephone and an e-mail has arrived.

Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is the voice of the specific user.

Further, in the above invention, the flight type robot according to the present invention includes a speaker mounted on the unmanned aerial vehicle, and when a predetermined sound is collected by the microphone, the speaker is directed toward the specific user. It is characterized by outputting audio and flying around the specific user.

Further, the flying robot according to the present invention is characterized in that, in the above invention, the sound output from the speaker is a sound imitating the bark of an animal.

Further, the control program of the flying robot according to the present invention is recognized by causing a computer of an unmanned aerial vehicle equipped with a camera and flying by autopilot to recognize a specific user based on an image taken by the camera. It is characterized in that it flies around the specific user and executes a process.

Further, in the above invention, the control program of the flying robot according to the present invention is the specific user when at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user. It is characterized by flying away from the user and executing processing.

Further, in the above invention, the control program of the flying robot according to the present invention approaches the specific user when the specific user does not see the unmanned aerial vehicle while flying around the specific user. It is characterized by flying and executing processing.

Further, the control program for a flying robot according to the present invention is characterized in that, in the above invention, after flying around the specific user a predetermined number of times, the robot is made to fly away from the specific user. And.

Further, in the control method of the flying robot according to the present invention, a flying robot equipped with a camera and equipped with an unmanned aircraft flying by autopilot is made to recognize a specific user based on an image taken by the camera. It is characterized by flying around the recognized specific user.

Further, in the above-mentioned invention, the control method of the flying robot according to the present invention is the specific when at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user. It is characterized by flying away from the user.

Further, in the above-mentioned invention, the control method of the flying robot according to the present invention approaches the specific user when the specific user does not see the unmanned aerial vehicle while flying around the specific user. It is characterized by flying like this.

Further, the method for controlling a flying robot according to the present invention is characterized in that, in the above invention, after flying around the specific user a predetermined number of times, the robot is made to fly away from the specific user.

Further, the flying robot according to the present invention includes an unmanned aerial vehicle that flies by automatic control, a camera mounted on the unmanned aerial vehicle, and a microphone mounted on the unmanned aerial vehicle, and an image taken by the camera. When a specific user is recognized based on the above and a predetermined sound is collected by the microphone, between the vicinity of the recognized specific user and the source of the predetermined sound according to the predetermined sound. It is characterized by flying.

When a predetermined voice is collected by the microphone, the microphone orbits around the recognized specific user in response to the predetermined voice, and then the vicinity of the specific user and the source of the predetermined voice. The flying robot according to claim 24, wherein the robot flies between.

Further, in the above-mentioned invention, the flying robot according to the present invention is a ringtone for notifying the telephone that at least one of a telephone and an e-mail has received the predetermined voice.

Further, in the flight-type robot according to the present invention, in the above invention, the predetermined voice calls the resident or manager of the building or site at the entrance of the building or site by a visitor to the building or site. It is characterized by the ringing tone of a doorbell provided for this purpose.

Further, the flying robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a voice having a sound pressure equal to or higher than a predetermined threshold value.

Further, the flight-type robot according to the present invention is characterized in that, in the above invention, the predetermined voice is a voice generated from the specific user within a predetermined range.

Further, the flight-type robot according to the present invention is characterized in that, in the above invention, it flies around the recognized specific user in a flight mode corresponding to the predetermined voice in response to the predetermined voice. do.

Further, in the above invention, the flying robot according to the present invention includes a projector mounted on the unmanned aerial vehicle, and is in front of the specific user who recognizes when a predetermined sound is collected by the microphone. It is characterized in that an image corresponding to the predetermined sound is projected from the projector.

Further, in the above invention, the flying robot according to the present invention includes a wireless communication interface mounted on the unmanned aerial vehicle, and acquires image data related to an image projected from the projector via the wireless communication interface. It is characterized by that.

Further, in the above-mentioned invention, the flight-type robot according to the present invention displays characters corresponding to the predetermined voice in front of the specific user who recognizes the voice when the predetermined voice is collected by the microphone. It is characterized by projecting from a projector.

Further, the control program for a flying robot according to the present invention is specified on a computer provided by a flying robot equipped with an unmanned aircraft equipped with a camera and a microphone and flying by automatic control based on an image taken by the camera. When a predetermined voice is collected by the microphone, the user is made to fly between the vicinity of the recognized specific user and the source of the predetermined voice in response to the predetermined voice. It is characterized by executing a process.

Further, in the control method of a flying robot according to the present invention, a flying robot equipped with an unmanned aircraft equipped with a camera and a microphone and flying by automatic control recognizes a specific user based on an image taken by the camera. When a predetermined sound is collected by the microphone, the robot is characterized in that it flies between the recognized vicinity of the specific user and the source of the predetermined sound in response to the predetermined sound. do.

Further, the control program for a flying robot according to the present invention is based on an image taken by the camera on a computer provided with a flying robot equipped with an unmanned aircraft equipped with a camera, a microphone and a projector and flying by automatic control. When a specific user is recognized and a predetermined sound is collected by the microphone, the flight is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound in response to the predetermined sound. At the same time, it is characterized in that a process of projecting an image corresponding to the predetermined sound from the projector is executed in front of the recognized specific user.

Further, the control method of the flying robot according to the present invention is a flying robot equipped with a camera, a microphone and a projector and equipped with an unmanned aircraft flying by automatic control, based on an image taken by the camera, and a specific user. When a predetermined sound is collected by the microphone, the aircraft is made to fly between the vicinity of the recognized specific user and the source of the predetermined sound according to the predetermined sound, and is recognized. It is characterized in that an image corresponding to the predetermined sound is projected from the projector in front of the specific user.

Further, the flight-type robot according to the present invention includes an unmanned aerial vehicle that flies by autopilot, a camera mounted on the unmanned aerial vehicle, and a wireless communication interface mounted on the unmanned aerial vehicle, and is photographed by the camera. A specific user can be recognized based on the image, and a disaster, earthquake, tsunami, lightning, rainfall, strong wind, or sudden weather change can occur within a predetermined time after the present time via the wireless communication interface. It is characterized in that, when information indicating that there is a property is acquired, it flies between the vicinity of the recognized specific user and the source of the predetermined voice in response to the predetermined voice.

Further, the control program for a flying robot according to the present invention is based on an image taken by the camera on a computer provided with a flying robot equipped with an unmanned aircraft equipped with a camera and a wireless communication interface and flying by autopilot. Recognize a specific user and indicate that a disaster, earthquake, tsunami, lightning, rainfall, strong wind, or sudden weather change may occur within a predetermined time after the present time via the wireless communication interface. When the information is acquired, it is characterized in that a process of flying between the vicinity of the recognized specific user and the source of the predetermined voice is executed in response to the predetermined voice.

Further, the control method of the flying robot according to the present invention is a flying robot equipped with a camera and a wireless communication interface and equipped with an unmanned aircraft flying by autopilot, and a specific user based on an image taken by the camera. And obtains information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong wind, or sudden weather change may occur within a predetermined time after the present time through the wireless communication interface. In that case, it is characterized in that it flies between the vicinity of the recognized specific user and the source of the predetermined voice in response to the predetermined voice.

According to the flight-type robot, the control program of the flight-type robot, and the control method of the flight-type robot according to the present invention, there is an effect that the user's mind can be healed and the user can be given a sense of satisfaction.

It is explanatory drawing (the 1) which shows an example of the appearance of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing (the 2) which shows an example of the appearance of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing which shows the hardware composition of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing which shows the functional structure of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing (the 1) which shows an example of a charge spot. It is explanatory drawing (the 2) which shows an example of a charge spot. It is a flowchart which shows an example of the processing procedure of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing (the 1) which shows an example of the use mode of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing (the 2) which shows an example of the use mode of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing (the 3) which shows an example of the use mode of the flight type robot of Embodiment 1 which concerns on this invention. It is explanatory drawing which shows an example of the appearance of the flight type robot of Embodiment 2 which concerns on this invention. It is explanatory drawing which shows the hardware composition of the flight type robot of Embodiment 2 which concerns on this invention. It is a flowchart which shows an example of the processing procedure of the flight type robot of Embodiment 2 which concerns on this invention.

Hereinafter, preferred embodiments of the flight robot, the control program for the flight robot, and the control method for the flight robot according to the present invention will be described in detail with reference to the accompanying drawings.

<Embodiment 1>
(An example of the appearance of a flying robot)
First, an example of the appearance of the flying robot according to the first embodiment of the present invention will be described. 1A and 1B are explanatory views showing an example of the appearance of the flying robot according to the first embodiment of the present invention. As shown in FIGS. 1A and 1B, the flying robot 100 includes a drone (unmanned aerial vehicle) 101.

Specifically, the drone 101 can employ, for example, a quadcopter equipped with four propellers 102. The drone 101 is not limited to a quadcopter, and various multicopters such as a hexacopter equipped with six propellers and an octocopter equipped with eight propellers can be adopted.

Further, the flight type robot 100 includes a camera 103. As shown in FIGS. 1A and 1B, in the flying robot 100 having an animal-like shape, the camera 103 can be provided, for example, in a portion corresponding to an eye. Alternatively, the camera 103 may be provided under the housing of the drone 101.

The camera 103 captures an image of the surroundings of the flying robot 100. The flying robot 100 recognizes a specific user, for example, based on an image taken by a camera 103. The camera 103 can be realized by, for example, a general-purpose digital camera.

The specific user may be, for example, a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more, that is, a person who has a corresponding opportunity to come into contact with the flying robot 100. Also, because a particular user has a corresponding opportunity to be within a particular range, such as a person photographed within a particular range, i.e., at home, on school grounds, in a store, etc. It can be a person who is likely to be photographed by 103. The specific range may be within a predetermined range from the charging spot (see FIGS. 4A and 4B).

Alternatively, the specific user may be, for example, a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more within a specific range. Such a person can be regarded as a person who has a suitable opportunity to be in a specific range such as a home, a school premises, a store, etc., and also has a suitable opportunity to interact with a flying robot. Therefore, a person who has an opportunity to come into contact with a flying robot for a long time and frequently within a specific range can be a specific user.

The specific user may be one person or a plurality of people. The number of persons as a specific user may be limited to a predetermined number or may be unlimited. By limiting the number of persons to be a specific user to a predetermined number, the capacity of the memory (see FIG. 2) can be suppressed.

Further, the specific user may be a person who has been photographed by the camera 103 for a predetermined time or more or a predetermined number of times or more within a specific range from the current time point to the time point retroactive to a predetermined period. As a result, in the operation of limiting the number of persons to be a specific user to a predetermined number, the flight robot 100 is transferred from the person who was previously identified as a specific user to another person, or promotion in a school or a nursery school. Even if the person who enters within a specific range changes due to graduation, graduation, etc., the person who has the opportunity to come into contact with the flight robot 100 most recently can be designated as a specific user, which is in line with the current situation. Operation can be realized.

Instead of a general-purpose digital camera, the camera 103 is a dark-vision camera that shoots a dark place by amplifying the sensitivity to light, an infrared camera that has sensitivity to infrared rays, and a black-and-white shade in an image taken by the infrared camera. It may be realized by an infrared color dark vision camera or the like that analyzes and captures a color image. By taking an image using a night-vision camera, an infrared camera, an infrared color night-vision camera, or the like, it is possible to accurately recognize a specific user even at night or in a room with low illuminance.

The flying robot 100 may have one camera 103 or a plurality of cameras 103. The flight-type robot 100 having a plurality of cameras 103 is not limited to one type of camera 103, and may be provided with a plurality of different types of cameras 103.

The camera 103 may be connected to the drone 101 in a state in which the posture can be adjusted. Specifically, the camera 103 can be connected to the bottom surface of the drone 101 via a universal joint such as a ball joint. By connecting the camera 103 to the drone 101 via a universal joint such as a ball joint, it is possible to secure a high degree of freedom in adjusting the posture of the camera 103.

Further, the flight robot 100 may be provided with a drive mechanism that changes the posture of the camera 103 with respect to the drone 101. As a result, the posture of the camera 103 with respect to the drone 101 can be adjusted without human intervention. The drive mechanism can be configured by, for example, a motor, a gear train, or the like. By making it possible to adjust the posture of the camera 103 with respect to the drone 101 without human intervention, the shooting direction can be arbitrarily adjusted during the flight of the flying robot 100 regardless of the posture of the drone 101. The camera 103 may have a zoom function.

The flight-type robot 100 includes a power receiving coil for wireless power transmission (Wireless Power Transfer, Connectless Power Transfer) in the housing of the drone 101. Wireless power transfer is a technique for receiving electric power from a battery (see FIG. 2) without going through a charging contact, and is also referred to as non-contact power supply or wireless power supply.

The power receiving coil is provided inside the outer surface of the housing of the drone 101. This makes it possible to avoid deterioration and failure of the flying robot 100 due to water droplets such as beverages and rain dew. The flying robot 100 may include, or in addition to, a charging contact for charging the battery in place of or in addition to the power receiving coil.

Further, as shown in FIGS. 1A and 1B, the flying robot 100 having an animal-like shape may be provided with an LED lamp 104 in a portion corresponding to the eyes, for example. The LED lamp 104 can be provided, for example, so as to border the lens of the camera 103 in the portion corresponding to the eyeball or the portion corresponding to the eyeball. In such a flying robot 100, a member 105 corresponding to a characteristic part of birds and beasts such as a tail, ears, wings, legs (legs, limbs), horns, fangs, and whiskers may be provided.

The member 105 corresponding to the characteristic part of birds and beasts is not limited to the part corresponding to the part of birds and beasts that actually exist in modern times, but also the parts of extinct animals such as dinosaurs, dragons and unicorns. It may be a member corresponding to a part provided by a unicorn such as. Further, these members may be movable and may be provided with a drive mechanism such as a motor for operating them. As a result, the flying robot 100 can imitate the movement of shaking the tail and moving the ears.

The flying robot 100 may further include a solar cell (solar cell) 106 that generates electricity by external light such as sunlight. The solar cell 106 is provided, for example, on the upper surface of the housing of the drone 101. As a result, it is possible to reliably take in outside light during flight and generate electricity efficiently. Further, by providing the solar cell 106, it is possible to charge the battery even during the flight, so that it is possible to secure a long flight time per flight.

(Hardware configuration of flying robot 100)
Next, the hardware configuration of the flight robot 100 will be described. FIG. 2 is an explanatory diagram showing a hardware configuration of the flight-type robot 100 according to the first embodiment of the present invention. As shown in FIG. 2, the hardware of the flying robot 100 includes a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an objective sensor 206, a control circuit 207, a communication I / F 208, and an LED lamp. It is composed of 104, a solar cell 106, and the like. Each part 103, 104, 106, 201 to 208 included in the flight type robot 100 is connected by a bus 200.

The battery 201 supplies power required for the operation of each part of the flight robot 100. The battery 201 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by the secondary battery may be detachable from the drone 101.

The motor 202 is controlled by the control circuit 207 and rotates to rotate the propeller 102. Specifically, as the motor 202, a brushless motor in which the rotor is a permanent magnet and the stator is composed of a coil can be used. By providing the same number of motors 202 as the number of propellers 102, each propeller 102 can be rotated independently, and the flight-type robot 100 can be moved forward, backward, or turned in the left-right direction.

When the flight robot 100 includes a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motors constituting the drive mechanism. As a result, the flying robot 100 can adjust the posture of the camera 103 while moving and shoot an arbitrary range or a wide range without human intervention.

The camera 103 includes an image pickup element, and captures an image by causing the image pickup element to receive light from a lens that has passed through the photographing lens. Further, the camera 103 outputs the captured image, that is, the image information (photographed data) obtained by converting the optical signal received by the image pickup element into an electric signal, to the control circuit 207.

The camera 103 may capture a still image or may capture a moving image. The moving image includes a continuous reproduction of still images taken at predetermined time intervals. The image information may be compressed by a standard of a predetermined video / audio data compression method (for example, MPEG (Moving Picture Experts Group) or the like).

The microphone 203 collects sounds around the flying robot 100. The microphone 203 converts the voice input as analog data into an electric signal. Specifically, the microphone 203 performs analog / digital conversion of an analog audio signal input as analog data, and generates audio data in a digital format.

The speaker 204 vibrates the diaphragm by an electric signal which is an audio signal to generate sound. Further, the speaker 204 may be an output terminal that outputs an audio signal, and an external speaker 204 may be connected to the output terminal to generate sound.

The GPS sensor 205 identifies the current position of the flying robot 100. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, a baseband unit, and the like. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flight robot 100 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may further include a filter for removing unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) or a power amplifier PA (Power Amplifier).

The current position of the flight robot 100 can be specified by positioning based on radio waves transmitted from a plurality of GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites, and performs positioning by calculating the position where each distance intersects with one. Fly using satellite positioning systems such as Michibiki, GLONASS, and Galileo instead of GPS, which determines the geometrical position of the GPS satellite and the flying robot 100 based on the radio waves received from the GPS satellites. The current position of the type robot 100 may be specified.

The objective sensor 206 detects the presence or absence of an obstacle existing within a predetermined range from the flight robot 100. The obstacle is an object that hinders the flight of the flying robot 100, and specifically, for example, a wall, a ceiling, furniture, a person, or the like. When the flight-type robot 100 is flown outdoors, for example, all objects that hinder the flight of the flight-type robot 100, such as a vehicle, a flight-type robot 100 other than its own device, trees, and buildings, correspond to obstacles.

Specifically, the objective sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The objective sensor 206 can be realized by at least one of non-contact sensors such as an infrared sensor, a capacitance sensor, and an ultrasonic sensor. The flying robot 100 may be equipped with a plurality of types of non-contact sensors as the objective sensor 206. Further, the flying robot 100 may detect the presence or absence of an obstacle existing within a predetermined range from the flying robot 100 based on the image taken by the camera 103.

The solar cell 106 is configured by bonding a P-type silicon semiconductor, which tends to be positive, and an N-type silicon semiconductor, which tends to be negative, via a PN junction surface. In the solar cell 106, when light energy due to external light such as sunlight is applied to the PN junction surface, the P-type silicon semiconductor becomes positive and the N-type silicon semiconductor becomes negative. In the solar cell 106, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the electric power generated through the electric wires connected to the electrodes can be taken out.

The control circuit 207 drives and controls each part of the flight robot 100. The control circuit 207 can be realized by a microcomputer configured by a CPU, a memory, or the like. Specifically, the control circuit 207 can be realized by, for example, LSI (Large Scale Integration), FPGA (Field-Programmable Gate Array), or the like.

The CPU controls the entire flight-type robot 100 by executing a program stored in the memory. The memory stores, for example, various information such as a program executed by the CPU, information on various conditions related to the operation of the flying robot 100, and information on images taken by the camera 103.

Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). Further, the memory may be a memory card that can be attached to and detached from the flight robot 100 via a card slot provided in the flight robot 100. The function of the memory card can be realized by an IC card such as an SD (Secure Digital) memory card. The memory may realize its function by an external USB memory or the like.

The control circuit 207 includes a charging circuit for charging the battery 201 with the electric power generated by the solar cell 106. The charging circuit includes a DC / DC converter or the like that adjusts the voltage in the electric power generated by the solar cell 106.

Further, the control circuit 207 includes a circuit such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed Controller), a BEC (Battery Elimination Circuit) or a UBEC (Universal BEC).

The IMU is sensors necessary for the drone 101 to acquire external information, and is composed of, for example, a gyro sensor, an acceleration sensor, a pressure sensor, an ultrasonic sensor, a magnetic orientation sensor (compass), and the like. The GPS sensor 205 is also included in the IMU.

The gyro sensor detects the amount of change in the angle of the drone 101. The gyro sensor detects the amount of change in the angle of the drone 101, for example, by measuring the angular velocity using the Coriolis force. The gyro sensor allows the drone 101 to fly stably.

The accelerometer detects the amount of change in the speed of the drone 101. Since the gyro sensor and the acceleration sensor can calculate the amount of change in both the degree of inclination of the drone 101 and the speed of the drone 101, the drone 101 can continue to fly even if it is still tilted.

The barometric pressure sensor detects the altitude of the drone 101. The barometric pressure sensor detects the altitude of the drone 101, for example, by detecting a change in barometric pressure. By measuring the altitude of the drone 101 with a barometric pressure sensor, the altitude of the drone 101 can be maintained.

The ultrasonic sensor detects the distance from an object (floor surface, obstacle, etc.) located below the drone 101. The ultrasonic sensor is provided on the lower surface of the drone 101, for example, and detects the distance from an object located below the drone 101 by utilizing the bounce of ultrasonic waves emitted below the drone 101. As a result, the drone 101 can be tracked on the ground (floor surface, ground, etc.) and landed stably. When an ultrasonic sensor is used as the objective sensor 206, ultrasonic waves are emitted in all directions of the drone 101, and the ultrasonic sensor can achieve both the function as the objective sensor 206 and the function as a part of the IMU. good.

The magnetic compass sensor detects in which direction the drone 101 is facing north, south, east, or west. Since the flying robot 100 is affected by magnetism depending on the place to fly, it is preferable to perform compass calibration and adjust the magnetic direction sensor when changing the place to fly.

The IMU constitutes a flight controller together with the above-mentioned microcomputer. The flight controller performs calculations related to rotation control of the motor 202, and outputs a control signal for controlling the rotation direction and rotation speed of the propeller (propeller motor 202) to the ESC. The ESC rotates and controls the motor 202 based on the control signal output from the flight controller. The flight controller detects the tilt of the flight robot 100 during flight of the flight robot 100, repeats the calculation, and recursively outputs a control signal to the motor 202.

Specifically, the flight controller prevents the flight robot 100 from rotating by outputting, for example, a control signal for controlling the adjacent propellers to rotate in the reverse direction. Further, for example, the flight robot 100 is advanced by controlling the propeller in the front in the traveling direction to rotate slower than the propeller in the rear in the traveling direction. Further, for example, the flight robot 100 is turned to the right by controlling the propeller on the right side in the traveling direction to rotate slower than the propeller on the left side in the traveling direction.

Further, the control circuit 207 includes a remaining amount measuring circuit for measuring the remaining amount of the battery 201. The remaining amount measuring circuit measures the remaining amount of the battery 201 by using various known methods such as an impedance track method, a voltage measuring method, a Coulomb counter method, and a battery cell modeling method.

The communication I / F 208 is a wireless communication interface that connects the flying robot 100 and the network N through a communication line, controls the interface between the network N and the inside of the flying robot 100, and is connected via the network N. Controls the input of data from an external device and the output of data to an external device. The network N is realized by, for example, the Internet, LAN (Local Area Network), WAN (Wide Area Network), and the like.

The communication I / F 208 is, for example, a Wi-Fi® wireless interface. Further, the communication I / F 208 may be an interface for wireless communication such as a mobile phone line (for example, LTE (Long Term Evolution), PHS (Personal Handy-phone System)).

Communication via the communication I / F 208 may be performed periodically at a predetermined time, at a predetermined time, or at any time depending on the condition of the communication line. The above memory may store information acquired by communication via communication I / F 208. Further, the memory may store information input in advance by a user of the flight robot 100 or the like.

The LED lamp 104 provided in the portion corresponding to the eyes is controlled by the control circuit 207, and turns on, off, and blinks in conjunction with the flight operation of the flight-type robot 100. Further, the LED lamp 104 may guide the state of the flight robot 100. Specifically, for example, when the remaining charge falls below a predetermined threshold value, the battery blinks in a predetermined pattern. The emission color of the LED lamp 104 is not limited to one color, and may be a plurality of colors.

Although not shown, the flying robot 100 includes input / output devices such as keys or buttons that give input instructions to the flying robot 100, a power switch that switches the power of the flying robot 100 on and off, and a power switch that switches the power of the flying robot 100 on and off. An LED lamp or the like provided at a position other than the portion corresponding to the eyes may be provided. The input / output device may be realized by a connection terminal or the like to which another information processing device can be connected.

(Functional configuration of the flying robot 100)
Next, the functional configuration of the flight robot 100 will be described. FIG. 3 is an explanatory diagram showing a functional configuration of the flight-type robot 100 according to the first embodiment of the present invention. As shown in FIG. 3, the functions of the flight robot 100 include a storage unit 301, a detection unit 302, a photographing unit 303, an acquisition unit 304, a drive unit 305, an output unit 306, and a control unit 307. Realized by.

The storage unit 301 stores various information including various programs controlled by the control unit 307 and threshold values used for executing the programs. Further, the storage unit 301 stores image information captured by the photographing unit 303, information acquired by the acquisition unit 304, and the like. The storage unit 301 may store information about the charging spot of the battery and the like. Specifically, the storage unit 301302 can realize its function by, for example, the memory in the control circuit 207 shown in FIG. 2.

The detection unit 302 detects the presence or absence of an obstacle existing within a predetermined range from the flight robot 100. Specifically, the detection unit 302 can realize its function by, for example, the objective sensor 206 shown in FIG. Further, specifically, the detection unit 302 may realize its function by, for example, instead of the objective sensor 206, or by a camera 103 shown in FIG. 2 in addition to the objective sensor 206.

The detection of the presence or absence of an obstacle by the camera 103 is performed, for example, based on the parallax (difference between the images) of each image taken at a plurality of different positions obtained by moving the flying robot 100, up to the obstacle. This can be achieved by using a moving stereo method for determining the distance between. By using the mobile stereo method, it is possible to detect the presence or absence of an obstacle existing within a predetermined range from the flying robot 100 by using a monocular camera.

The photographing unit 303 captures an image of the surroundings of the flying robot 100. Specifically, the photographing unit 303 can realize its function by, for example, the camera 103 shown in FIG. The storage unit 301 stores image information related to the image captured by the photographing unit 303.

Further, in addition to the image information, the storage unit 301 may store information about the place where the image related to the image information is taken in association with the image information. Information about the location where the image was taken can be identified using, for example, the GPS sensor 205.

The acquisition unit 304 acquires information outside the flight robot 100. Specifically, the acquisition unit 304 acquires, for example, an image of the surroundings of the flight-type robot 100. In this case, the acquisition unit 304 can specifically realize its function by, for example, the camera 103 shown in FIG. The storage unit 301 stores at least information about a person included in the captured image or the characteristics of the person among the information acquired by the acquisition unit 304.

Further, specifically, the acquisition unit 304 may acquire predetermined information from an external device via, for example, the network N. In this case, the acquisition unit 304 can specifically realize its function by, for example, the communication I / F 208 shown in FIG.

In this case, the acquisition unit 304 acquires, for example, the notification information output from a specific terminal device as predetermined information. The specific terminal device is, for example, a terminal device in which identification information is stored in the storage unit 301 in advance, and can be specifically realized by a smartphone owned by a specific user or the like.

Further, the acquisition unit 304 in this case provides information indicating that an event that may affect a specific user, such as a disaster, may occur within a predetermined time after the present time. It may be acquired as predetermined information. The predetermined information may be, for example, information indicating that a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather may occur within a predetermined time after the present time. The acquisition unit 304 acquires such predetermined information via the network N, for example, by communicating at all times or at predetermined intervals.

Further, the acquisition unit 304 may acquire various information such as music, news, and sales information of goods that match the tastes of a specific user as predetermined information. In this case, the acquisition unit 304 can specifically realize its function by, for example, the camera 103 or the microphone 203 shown in FIG. Sales information of music, news, goods, etc. that match the tastes of a specific user can be, for example, voice collected around a specific user by the microphone 203, articles frequently used by the specific user, or information of a specific user. Judgment can be made based on items that are frequently in sight.

Items that are frequently seen by a specific user are, for example, TV programs such as movies, news, and variety shows, and highly hobby items such as gardening and tableware, which are frequently used by a specific user. Similarly, the determination can be made based on the image or the like captured by the photographing unit 303. The storage unit 301 can store at least information about the preference of a specific user among the information acquired by the acquisition unit 304.

Further, the acquisition unit 304 may acquire the voice of a specific user, for example. The voice of a specific user can be determined based on, for example, the voice collected by the microphone 203, the voice collected by the microphone 203, and the image taken by the camera at the same time. In this case, the acquisition unit 304 can specifically realize its function by, for example, the camera 103 or the microphone 203 shown in FIG. The storage unit 301 can store information related to the voice of a specific user among the information acquired by the acquisition unit 304.

Further, the acquisition unit 304 may acquire, for example, the information learned by another flight-type robot 100 as predetermined information. As a result, the information obtained by learning the single flying robot 100 can be shared by another plurality of flying robots 100, and the flying robot 100 can behave more closely to the taste of a specific user. Can be made to.

The drive unit 305 controls the flight of the drone 101. Specifically, the drive unit 305 can realize its function by, for example, the drone 101 shown in FIG. More specifically, the drive unit 305 is driven by, for example, the flight controller, ESC, BEC (UBEC) in the propeller 102 shown in FIG. 1 and the control circuit 207 shown in FIG. 2, the motor 202, the objective sensor 206, and the like. , The function can be realized.

The output unit 306 operates in conjunction with the flight operation of the flight-type robot 100. Further, the output unit 306 operates according to the state of the flight type robot 100. The output unit 306 operates, for example, in conjunction with a flight operation in which the flight-type robot 100 flies around a specific user, or the remaining battery in a state where the flight-type robot 100 is flying around a specific user. It works according to the amount.

Specifically, for example, when the flight-type robot 100 flies around a specific user, the output unit 306 turns on or blinks the LED lamp 104 provided in the portion corresponding to the eyes. In this case, the output unit 306 can specifically realize its function by, for example, the LED lamp 104 shown in FIGS. 1 and 2.

Further, the output unit 306 may output sound from the speaker 204, for example, when the flight robot 100 flies around a specific user. The voice output by the output unit 306 may be, for example, a voice imitating the bark of an animal, a voice speaking to a specific user, or music. In this case, the output unit 306 can specifically realize its function by, for example, the speaker 204 shown in FIG.

Further, the output unit 306 may cause an event that may affect a specific user, such as a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather. In response to the acquisition of the indicated information, when the flying robot 100 approaches the vicinity of a specific user, it outputs a voice informing that the event may occur, or outputs a specific pattern or a specific pattern. The LED lamp 104 may be made to emit light or blink depending on the emission color.

The control unit 307 controls the entire flight-type robot 100. Specifically, the control unit 307 can realize its function by the control circuit 207 shown in FIG. 2, for example. More specifically, the control unit 307 can realize its function by executing a program stored in a memory or the like by the CPU in the control circuit 207 shown in FIG. 2, for example.

The control unit 307 flies the drone 101, for example, by controlling the drive unit 305. Specifically, the control unit 307 starts the flight of the drone 101 when the battery is fully charged. Further, the control unit 307 starts flight when, for example, detects a call of a specific user. Further, the control unit 307 starts the flight when the predetermined information is acquired based on the information acquired via the communication I / F 208, for example.

Further, the control unit 307 recognizes a specific user based on the image captured by the photographing unit 303, for example. Upon recognition of a specific user, the control unit 307 removes noise and distortion of an image captured by the photographing unit 303, emphasizes the outline of an object included in the image, and enhances the brightness and color of the image. Make it easier to extract people by making adjustments.

Further, when recognizing a specific user, the control unit 307 extracts features such as eyes, mouth, and nose from the image captured by the imaging unit 303 in pixel units, which are the minimum elements constituting the image. The person photographed in the image is recognized based on various information such as color and brightness given to the pixel.

Further, when recognizing a specific user, the control unit 307 stores, for example, information about the extracted person in the storage unit 301. The information about the extracted person includes, for example, at least one of the cumulative time that the person was photographed and the cumulative number of times that the person was photographed. The information about the extracted person may include, for example, both the cumulative time the person was photographed and the cumulative number of times the person was photographed.

Further, when recognizing a specific user, the control unit 307 is photographed by the photographing unit 303, for example, based on the image captured by the photographing unit 303 and the information about the extracted person stored in the storage unit 301. It is determined whether or not the person recognized from the image is a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more. Then, when the person extracted from the image taken by the photographing unit 303 is a person who has been photographed for a predetermined time or more or a predetermined number of times or more, the person recognized from the image is recognized as a specific user.

The control unit 307 may recognize a specific user by determining whether or not the person is photographed by the photographing unit 303 within a specific range. Specifically, a person who has a suitable opportunity to be in a specific range such as a home, a school premises, a store, etc. can be recognized as a specific user.

The control unit 307 further determines whether or not the person recognized from the image captured by the photographing unit 303 is a person photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more within a specific range. By doing so, a specific user may be recognized. Specifically, a person recognized from an image taken by the photographing unit 303 takes a predetermined time or more or a predetermined number of times or more in a specific range such as in a home, a school premises, or a store. In the case of a person who has been identified, the person recognized from the image is recognized as a specific user.

Further, for example, when the control unit 307 recognizes a specific user, the control unit 307 controls the drive unit 305 to fly the flight robot 100 around the specific user. Specifically, the control unit 307 flies the flying robot 100 at a position close to the specific user so that the specific user cannot touch the flying robot 100 even if he / she reaches out.

More specifically, the control unit 307 makes the flying robot 100 turn over the head of a specific user, hover the flying robot 100 in front of the specific user, or play with the specific user. The flight-type robot 100 is made to fly so as to move the flight-type robot 100 closer to or further away from the specific user. When the control unit 307 detects that a specific user has visually recognized the flying robot 100, the control unit 307 may fly the flying robot 100 so as to move away from the specific user and return to the charging spot. In this way, the flying robot 100 patrolls around the nest, checks the situation, and returns to the nest. It is possible to give the surrounding people including the impression that the flying robot 100 is a creature having its own intention.

The control unit 307 may only make the flight robot 100 fly around a specific user by controlling the drive unit 305, and may specify the flight robot 100 by interlocking the drive unit 305 and the output unit 306. The LED lamp 104 may be made to emit light (blink) or the sound may be output from the speaker 204 while flying around the user.

(An example of the appearance of the charging spot)
Next, an example of the appearance of the charging spot will be described. 4A and 4B are explanatory views showing an example of a charging spot. FIG. 4A shows an example of the appearance of the charging spot. FIG. 4B shows a cross section taken along the line AA in FIG. 4A. As shown in FIGS. 4A and 4B, the charging spot 400 includes a charging pad 401 and an exterior portion 402.

The charging pad 401 includes a power transmission coil 401a. The power transmission coil 401a is included in a cover 401b formed of ABS resin, silicon rubber, or the like. Further, a power cable 401c having an outlet plug at the tip thereof is connected to the charging pad 401 (power transmission coil 401a). A magnetic field can be generated in the power transmission coil 401a by connecting an outlet plug provided at the tip of the power cable 401c to a commercial power source and passing electricity through the power transmission coil 401a.

The charging pad 401 may include a terminal to which a charging cable can be connected, such as a female USB terminal, instead of the power cable 401c. In this case, a magnetic field can be generated in the power transmission coil 401a by passing electricity through the power transmission coil 401a using a power cable provided with a male USB terminal or a conversion adapter between a commercial power supply and a USB power supply. This makes it possible to use a power cable having an arbitrary length according to the installation location of the charging spot 400 and the like.

The exterior portion 402 has, for example, an appearance imitating a nest of birds and beasts, and is installed so as to cover the charging pad 401. The exterior portion 402 is provided with an opening that allows the flight-type robot 100 to arrive and depart from the charging pad 401. The exterior portion 402 may have a shape having an opening above the charging spot 400, as shown in FIGS. 4A and 4B, and has an opening that covers directly above the charging spot 400 and opens to the side. It may be shaped like a cave. When the flying robot 100 is provided with an opening above the charging pad 401, the flying robot 100 approaches the charging pad 401 from the upper side of the charging pad 401 and takes off to the upper side of the charging pad 401. When the flying robot 100 is provided with an exterior portion 402 shaped like a cave, the flying robot 100 approaches from the upper side of the charging pad 401 and takes off to the upper side of the charging pad 401.

The charging spot 400 may include a wireless router such as a Wi-Fi router. As a result, the charging spot 400 can function as a communication spot, and the flight-type robot 100 can perform communication via the charging spot 400. A charging spot 400 is connected to an internet line drawn into a home or the like, and the flying robot 100 communicates via the charging spot 400 to install one charging spot 400 and to install a plurality of flying robots. The robot 100 can be used.

(Example of processing procedure of the flight robot 100)
Next, an example of the processing procedure of the flight robot 100 will be described. FIG. 5 is a flowchart showing an example of the processing procedure of the flight-type robot 100 according to the first embodiment of the present invention. In the flowchart of FIG. 5, first, it is determined whether or not to start the flight (step S501). In step S501, for example, based on the remaining amount of the battery, it is determined that the flight is started when the battery is fully charged. Further, in step S501, it may be determined that the flight is started when, for example, the call of a specific user is detected based on the voice collected through the microphone 203. Further, in step S501, it may be determined that the flight is started when the predetermined information is acquired based on the information acquired via the communication I / F 208, for example.

In step S501, it waits until it is determined that the flight will start (step S501: No). On the other hand, when it is determined in step S501 to start the flight (step S501: Yes), the flight is started (step S502). In step S502, for example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles. The predetermined range can be any range including a specific range such as, for example, in a home, in a school premises, in a store, and the like.

Next, it is determined whether or not a specific user has been detected based on the image taken by the camera during the flight (step S503). In step S503, for example, as described above, by determining whether or not the person extracted by performing the predetermined image processing is a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more. , It is possible to determine whether or not a specific user has been detected. Further, in step S503, for example, as described above, a person recognized from an image captured by the photographing unit 303 within a specific range is a person photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more. It may be determined whether or not a specific user has been detected by determining whether or not the user has been detected.

If a specific user is not detected in step S503 (step S503: No), the process proceeds to step S505. On the other hand, if it is determined in step S503 that a specific user has been detected (step S503: Yes), execution of a predetermined process is started (step S504). In step S504, for example, execution of an arbitrarily selected process from a plurality of preset processes is started.

The process to start execution in step S504 can be selected based on, for example, the remaining battery level, the current position of the flying robot, the specific user detected in step S503: Yes, and the like. Further, in step S504, for example, after turning around a specific user an arbitrary number of times, the process of returning to the charging spot 400 may be started.

Specifically, in step S504, for example, the user approaches the vicinity of a specific user, the LED lamp 104 provided in the portion corresponding to the eyes is turned on or blinks, or a voice imitating the bark of an animal is output. Starts the execution of the process. This makes it possible to realize movements that imitate the charm of living things such as pets.

Further, if a specific user is moving, the process of chasing the specific user may be started in step S504. The process that starts execution in step S504 may be one or a plurality. When starting the execution of a plurality of processes, the execution of the plurality of processes may be started at the same time, or the start time may be staggered.

Further, in step S504, for example, music matching the taste of a specific user may be output or news may be notified. Further, in step S504, for example, based on the profile of the past behaviors and preferences of the specific user, the action pattern of the flight robot 100 used by another user having similar behaviors and preferences of the specific user. Such information may be acquired via the network N, and the process to be executed may be determined based on the acquired information.

Next, it is determined whether or not the remaining battery level has fallen below the preset first threshold value (step S505). The first threshold value is set, for example, to the amount of battery required for the flying robot 100 to return to the charging spot 400 from the position farthest from the charging spot 400 in the predetermined range in which the flying robot 100 can fly. Can be done.

In step S505, if the remaining battery level is not below the first threshold value (step S505: No), the process proceeds to step S503, and the process is executed while detecting a specific user. On the other hand, in step S505, when the remaining battery level falls below the first threshold value (step S505: Yes), it is determined whether or not the process started in step S504 is being executed (step S506). If the process is not being executed in step S506 (step S506: No), the process proceeds to step S511.

On the other hand, in step S506, when the process is being executed (step S506: Yes), a warning is output (step S507). In step S507, for example, the LED lamp 104 provided in the portion corresponding to the eyes is turned on or blinks in a specific color such as red, or a warning sound is output from the speaker 204. Alternatively, in step S507, a voice may be output to inform a specific user of the state of the flying robot 100 in words, such as "the battery is about to run out" or "I am hungry". Alternatively, in step S507, for example, a flight motion that imitates a swaying motion may be performed.

Next, it is determined whether or not the process determined to be running in step S506: Yes is completed (step S508), and if the process is completed (step S508: Yes), the process proceeds to step S511. In step S508, if the process is not completed (step S508: No), it is determined whether or not the remaining battery level has fallen below the preset second threshold value (step S509). The second threshold value is set to an amount smaller than the first threshold value, and can be set to the battery amount required for the flight robot 100 to fly to the charging spot 400. The second threshold value can be set based on, for example, the current position of the flying robot 100, the position of the charging spot 400, and the like.

If the remaining battery level is not below the second threshold value in step S509 (step S509: No), the process proceeds to step S508 and whether or not the process determined to be running in step S506: Yes is completed. To judge. On the other hand, in step S509, when the remaining battery level falls below the second threshold value (step S509: Yes), the running process is forcibly terminated (step S510), and the return process to the charging spot 400 is executed. (Step S511), the series of processes is completed.

If a plurality of processes are being executed in step S510, all the running processes are forcibly terminated. In step S511, the return process to the charging spot 400 can be executed by activating RTH (Return To Home) among the fail-safe functions of the drone 101. While the RTH is activated, obstacles are avoided based on the image taken by the camera 103 and the detection result of the objective sensor 206.

In the first embodiment described above, a warning is output when the remaining battery level falls below the first threshold value, and a feedback process is performed when the remaining battery level falls below the second threshold value lower than the first threshold value. However, it is not limited to this. Instead of making a judgment based on the remaining battery power, or in addition to that judgment, a warning is output or a running process is forcibly terminated to perform return processing based on the elapsed time since the flight started. You may do it.

The time from the start of the flight in step S502 to the arrival of the first threshold value and the second threshold value varies depending on the remaining battery level at the time when the flight is started in step S502. Therefore, the type and number of processes to be executed may be determined in step S504 according to the remaining battery level at the time when the flight is started.

(Example of usage of the flight robot 100)
Next, an example of how to use the flight-type robot 100 according to the first embodiment will be described. 6A, 6B and 6C are explanatory views showing an example of the usage mode of the flight robot 100.

For example, the flight robot 100 starts flying at an arbitrary timing, and when it recognizes a specific user 600, it approaches the specific user 600 and flies around the specific user 600 (see FIG. 6A). Then, for example, after orbiting around the specific user 600 an arbitrary number of times, or when the specific user 600 takes his or her eyes off the flying robot 100, the robot returns to the charging spot 400.

In this way, the flying robot 100 operates independently of the intention of the specific user 600, so that the flying robot 100 suddenly comes out of the nest with its own intention and returns to the nest unknowingly. Such a feeling can be given to a specific user 600. In addition, since the flying robot 100 operates regardless of the user's intention, it feels as if the bored flying robot 100 came for no purpose and flew around for no purpose. , Can be embraced by a specific user 600.

Then, the flight-type robot 100 operates in an unpredictable manner regardless of the intention of the specific user 600, so that the flight-type robot 100 operates by its own intention, searches for the specific user 600 by its own intention, and communicates. It is possible to give a specific user 600 the feeling of trying to take. This makes it possible to create a situation similar to the situation of having a pet, and by petting the flying robot 100, it is possible to alleviate the loneliness and loneliness of a specific user 600 and reduce stress. .. In addition, the specific user 600 can be mentally satisfied or calm.

Further, the specific user 600 can be made to think about the intention of the operation of the flight robot 100 for the unpredictable operation of the flight robot 100, which is irrelevant to the intention of the specific user 600. As a result, the specific user 600 can be made to feel that the flying robot 100 is not an inorganic / inorganic robot but is in contact with a living and hearty creature. This can alleviate the loneliness and loneliness of a particular user 600, reduce stress, increase mental satisfaction, and calm the feelings.

When a specific user 600 performs a specific motion, the flight robot 100 may execute another process according to the specific motion. Specifically, even if a specific user 600 takes some action on the flight robot 100, such as bringing his / her hand close to the flight robot 100, he / she may fly away from the specific user 600. Good (see Figure 6B). In this way, the flying robot 100 dares to perform an operation contrary to the intention of the specific user 600, so that the flying robot 100 does not flirt with the specific user 600, just like a whimsical cat. It is possible to give a specific user 600 a feeling of taking an attitude.

Alternatively, specifically, for example, when the specific user 600 does not respond (such as "do not turn his face to the flying robot 100") even if he or she orbits around the specific user 600. , May fly closer to a particular user 600 (see FIG. 6C). By performing such an operation of the flying robot 100, the specific user 600 feels as if the flying robot 100 is approaching (entangled) with the specific user 600 in order to have the specific user 600 set up. Can be embraced.

In this way, the flight-type robot 100 monitors (monitors) the specific user 600, performs a predetermined action for the specific user 600 based on the monitoring result, and performs the action of the specific user 600 according to the action. By performing the following actions based on the above, it is possible to give a specific user 600 a feeling of touching a living creature such as a pet with a life and a heart, instead of an inorganic / inorganic robot.

The flight-type robot 100 does not have to always perform the same action for the same action of the specific user 600. For example, even if the specific user 600 moves closer to the specific user 600 in response to the fact that the specific user 600 approaches the flight robot 100 last time, the specific user 600 performs the same action next time. If so, you may fly away from the particular user 600. In this way, the specific user 600 may not be able to clearly understand the intention of the operation of the flying robot 100. This makes it possible to imitate the mystery that often occurs in the interaction between living things.

The specific user 600 can enjoy the movement of the flying robot 100 itself even if the intention of the movement of the flying robot 100 is not clearly understood, and it is a mystery that often occurs in the contact between living things. Can be enjoyed. By reproducing the relationship with living things such as pets in this way, the specific user 600 thinks about the intention of the operation of the flying robot 100 whose correct answer is unknown (whether or not there is a correct answer). Can be enjoyed.

Further, when the flying robot 100 is equipped with a night-vision camera or an infrared camera, the image around the flying robot 100 can be clearly taken even at night without using a light source for assisting imaging. Can be done. As a result, when a person (thief or the like) is detected in the dark, it is possible to output a loud sound or contact the outside such as a security company via the communication I / F 208.

In the first embodiment described above, the flight-type robot 100 that provides healing to the user (specific user 600) has been described, but the method of using the flight-type robot 100 is not limited to this. The flying robot 100 can be used as a fighting simulator that supports simulation of actual battles and games in martial arts such as boxing and karate, for example.

Specifically, the flying robot 100 used as a fighting simulator flies so as to guide a suitable place for driving in a martial art such as boxing or karate. In this case, the user can practice (so-called sparring) imitating the actual battle format or the game format by driving toward the flying robot 100.

At the time of sparring, the timing of driving may be guided by turning on or blinking the LED light, adjusting the emission color, or outputting voice. Specifically, when sparring, for example, the LED light emits red light to guide the place to hit with the hand (fist), and the LED light emits green light to the place to hit (kick) with the foot. invite. Further, at the time of sparring, information on the movement of a prominent player may be acquired via the network N, and based on the information, a flight motion imitating the movement of a prominent player may be performed.

Further, the flying robot 100 can be used as a flying conductor for conducting a performance in an orchestra, a brass band, or the like, for example. Specifically, the flight-type robot 100 used as a flying conductor performs a flight motion that imitates the movement of the tip of a baton (tact, baton). Further, when the part is switched in the middle of the performance, the flight may be made to fly near the corresponding part (instrument). This can surely support the performance in each part.

Further, the flying robot 100 can be used as a flying performer, for example, in karaoke or the like, to make a match with the progress of a musical piece or to fly to dance to the musical piece. The flying robot 100 used as a flying performer may further output music played in karaoke from the speaker 204. As a result, the user can enjoy karaoke at any place even in a place where it is difficult to secure a power source such as outdoors.

As described above, the flight-type robot 100 according to the embodiment of the present invention includes a drone (unmanned aerial vehicle) 101 flying by autopilot and a camera 103 mounted on the drone 101, and is photographed by the camera 103. It is characterized in that it recognizes a specific user 600 based on the image and flies around the specific user 600.

According to the flight-type robot 100 of the first embodiment according to the present invention, the owner of the specific user 600 is by flying around the specific user 600 recognized based on the image taken by the camera 103 by autopilot. It can behave like an animal pet by recognizing it as a pet and requesting communication from its owner. As a result, the mind of the specific user 600 can be healed and the specific user 600 can be given a sense of satisfaction.

Further, according to the flying robot 100, since it is possible to maintain a clean state, it is possible to eliminate problems in hygiene as compared with the case of breeding an organism. Further, according to the flying robot 100, since the problem of animal allergy does not occur, it is possible to experience communication with a pet regardless of the constitution of a specific user 600.

Further, according to the flying robot 100, in addition to not causing problems of hygiene and animal allergies, since flying in the air does not cause bacteria, viruses, dirt, etc. to adhere from the floor or the like, the hospital. It can also be used in places such as nursing homes and nursing homes. This can be expected to have a therapeutic effect on users of hospitals and long-term care facilities.

Further, the flight-type robot 100 according to the first embodiment of the present invention is characterized in that a person photographed by a camera 103 for a predetermined time or more or a predetermined number of times or more is recognized as a specific user 600.

According to the flight-type robot 100 of the first embodiment according to the present invention, the user by flying around a specific user 600 who has an opportunity to have a corresponding contact with the flight-type robot 100 by autopilot, and by appropriately contacting the user. You can act like a pet to get used to it. As a result, the specific user 600 can be interested in the flying robot for a long period of time, the mind of the specific user 600 can be healed, and the specific user 600 can be given a sense of satisfaction.

Further, the flight-type robot 100 according to the first embodiment of the present invention is characterized in that a person photographed by the camera 103 is recognized as a specific user 600 within a specific range.

According to the flight-type robot 100 of the first embodiment according to the present invention, since there is a corresponding opportunity to be in a specific range such as in a home, a school premises, a store, etc., the image is taken by a camera. By flying around a specific user 600, which is likely to be a pet, by autopilot, it is possible to perform an action imitating a pet to become accustomed to a specific user 600 who has appropriately contacted within a specific range. As a result, the specific user 600 can be given an interest, familiarity, and attachment to the flight-type robot 100 for a long period of time, the mind of the specific user 600 can be healed, and the specific user 600 can be given a sense of satisfaction.

The flying robot 100 that performs such an operation has, for example, a specific user 600 who has an opportunity to come into contact with the flying robot 100 in the home and an opportunity to come into contact with the flying robot 100 outside the home. Since it behaves differently with a friend of a specific user 600, it becomes easier for the specific user 600 to have a feeling of familiarity and attachment to the flying robot, and more surely heals the mind of the specific user 600 and identifies it. It is possible to give a feeling of satisfaction to the user 600 of.

Further, the flight-type robot 100 according to the first embodiment of the present invention is used from the specific user when at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user. It is characterized by flying away.

According to the flight-type robot 100 according to the first embodiment of the present invention, it is often seen in indoor dogs and cats who say, "I have approached the owner (specific user 600), but I do not want to be touched." It is possible to make the flying robot 100 perform an action such as "come to check the behavior of the owner", and the flying robot 100 can give the impression of a creature having its own intention.

Further, the flight-type robot 100 according to the first embodiment of the present invention is designed to approach the specific user when the specific user does not see the unmanned aerial vehicle while flying around the specific user. It is characterized by flying.

According to the flight-type robot 100 of the first embodiment according to the present invention, the affection expression action that is often seen in pets with a spoiled personality, such as "the owner (specific user 600) does not care, so he gives a little bit", is performed. It can be made to do by the flying robot 100, and the flying robot 100 can give the impression of a creature having its own intention.

Further, the flight-type robot 100 according to the first embodiment of the present invention is characterized in that it flies around the specific user a predetermined number of times and then flies away from the specific user.

According to the flying robot 100 of the first embodiment according to the present invention, the flying robot 100 can perform an operation such as "come to check the behavior of the owner" which is often seen in indoor dogs and cats. Yes, the flying robot 100 can give the impression of a creature with its own intention.

Further, the flight robot 100 according to the first embodiment of the present invention includes a communication I / F 208 mounted on the drone 101, and when a predetermined information is acquired via the communication I / F 208, the specific user 600 It is characterized by flying around.

According to the flight-type robot 100 of the first embodiment according to the present invention, when predetermined information is acquired via the communication I / F 208, the specific user 600 is automatically piloted to fly around the specific user 600. Useful information can be transmitted to the specific user 600 even if the user 600 is not aware of it.

Further, according to the flight-type robot 100 of the first embodiment according to the present invention, the flight-type robot 100 can be obtained by learning the other flight-type robot 100 by communicating with another flight-type robot 100 via the communication I / F 208. Since the information can be shared, the flight-type robot 100 can be made to perform an action that is more suitable for the preference of the specific user 600.

Further, the flight-type robot 100 according to the first embodiment of the present invention flies around the specific user 600 when the notification information output from the specific terminal device is acquired via the communication I / F 208. It is characterized by.

According to the flight-type robot 100 of the first embodiment according to the present invention, for example, a smartphone owned by a specific user 600 is used as a specific terminal device, and an incoming smartphone outputs to the flight-type robot 100. By automatically flying around a specific user 600 when the notification information is acquired, the smartphone is notified even if the smartphone is not always carried or the smartphone is set to the manner mode. You can quickly know that there was.

Further, in the flight robot 100 according to the first embodiment of the present invention, for example, a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather may occur within a predetermined time after the present time. It is characterized by flying around a specific user 600 when it obtains information indicating that there is.

According to the flight-type robot 100 according to the first embodiment of the present invention, disasters, earthquakes, tsunamis, lightning strikes, and rainfall can be achieved within a predetermined time after the present time even if a specific user 600 does not consciously collect information. , Strong winds, and sudden changes in weather can occur quickly. As a result, you can live with peace of mind.

Further, the flight-type robot 100 according to the first embodiment of the present invention includes the speaker 204 mounted on the drone 101, outputs voice from the speaker 204 toward the specific user 600, and outputs sound from the speaker 204 to the specific user 600. It is characterized by flying around.

According to the flight-type robot 100 according to the first embodiment of the present invention, the specific user 600 is the owner of the specific user 600 by outputting the sound from the speaker 204 while flying around the specific user 600 by autopilot. It is possible to imitate a pet by requesting communication while emitting voice. As a result, it is possible to more surely attract the interest of the specific user 600, heal the mind of the specific user 600, and give a feeling of satisfaction to the specific user 600.

Further, the flight-type robot 100 according to the first embodiment of the present invention includes a microphone 203 mounted on the drone 101, and when a predetermined voice is collected by the microphone 203, it flies around a specific user 600. It is characterized by that.

According to the flight-type robot 100 according to the first embodiment of the present invention, predetermined voices such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, and the ringtone to a smartphone are collected. In that case, by flying around a specific user 600 by automatic control, it responds to communication with a specific user 600, or identifies a third party's visit or an incoming call to a smartphone, triggered by a predetermined voice. It can be transmitted to the user 600 of.

Further, the flight-type robot 100 according to the first embodiment of the present invention flies around the specific user 600 by autopilot when the voice of the specific user 600 is collected, thereby causing the specific user 600 to fly. You can make them feel "I came when I called them", which makes them happy and allows them to experience communication with their pets.

This not only heals the mind of the specific user 600, but also can convey necessary information to the specific user 600 in the necessary situation. In particular, the life of a hearing-impaired user is compared to the case of receiving assistance from a hearing dog, which is difficult to obtain and burdensome to breed by transmitting necessary information to the user in the necessary situation. Can be supported easily and inexpensively.

Further, the flight robot 100 according to the first embodiment of the present invention includes a speaker 204 mounted on the drone 101, and when a predetermined sound is collected by the microphone 203, the speaker 204 is directed to a specific user 600. It is characterized by outputting sound from the user and flying around the specific user 600.

According to the flight-type robot 100 according to the first embodiment of the present invention, predetermined voices such as the voice of a specific user 600, the sound of a doorbell installed at the entrance or gate of a house, and the ringtone to a smartphone are collected. In this case, by automatically maneuvering around the specific user 600 and outputting the sound from the speaker 204, the specific user 600 imitates a pet that requests communication while emitting the voice that is the owner. It is possible to transmit a third party's visit or an incoming call to the smartphone to the specific user 600 to the specific user 600 who is not aware of the sound of the doorbell or the incoming call to the smartphone.

This will more reliably attract the attention of the specific user 600, heal the mind of the specific user 600, give the specific user 600 a sense of satisfaction, and provide the necessary information in the required situation to the specific user 600. Can be communicated to. As a result, the psychological state and life of the specific user 600 can be enriched.

Further, the flight-type robot 100 according to the first embodiment of the present invention is characterized in that the sound output from the speaker 204 is a sound imitating the bark of an animal.

According to the flight-type robot 100 according to the first embodiment of the present invention, it is possible to more reliably attract the interest of a specific user 600 by outputting a voice imitating the bark of an animal. As a result, it is possible to give the specific user 600 a strong feeling of communicating with the pet, heal the mind of the specific user 600, and give the specific user 600 a sense of satisfaction.

Further, the flight-type robot 100 according to the first embodiment of the present invention is characterized in that the predetermined voice is the voice of the specific user 600.

According to the flight-type robot 100 according to the first embodiment of the present invention, when the voice of the specific user 600 is collected by the microphone 203, the robot flies around the specific user 600 by autopilot. As a result, it is possible to imitate the operation as if it came in response to the call of the specific user 600, heal the mind of the specific user 600, and give a feeling of satisfaction to the specific user 600. Further, since it does not respond to the call of a person other than the specific user 600, it is possible to give a feeling of familiarity and attachment to the flying robot 100 and to give a feeling of satisfaction to the specific user 600.

As described above, the flight-type robot 100 according to the first embodiment of the present invention moves autonomously like a pet, and mainly aims to be petted by a person, and performs a natural movement imitating a pet. By communicating with a specific user, the stress of the specific user can be reduced and healing can be given. As a result, for example, the loneliness and loneliness of a person living alone or an elderly person can be alleviated, and it is possible to contribute to a mentally satisfied and calm life.

<Embodiment 2>
Next, an example of the flight-type robot according to the second embodiment of the present invention will be described. The flight-type robot of the second embodiment operates to achieve a specific purpose. Specifically, the flight-type robot of the second embodiment recognizes a person with a hearing impairment as a specific user, informs the sound necessary for the life of the specific user, and guides the specific user to a sound source. Works to achieve the same purpose as the so-called hearing dog.

Hearing dogs have a shorter history than guide dogs, and the number of hearing dogs is overwhelmingly smaller than the number of people with hearing impairments. In addition, it takes at least one year and eight months to train a hearing dog before it can be lent to a hearing-impaired person, and it is said that the training cost for a hearing dog is about 1 million yen. Against this background, the current situation is that hearing dogs are not sufficiently distributed to people with hearing impairments.

In view of this situation, the flight-type robot of the second embodiment is intended to increase the motivation for independence and the sense of security in life of a hearing-impaired person who cannot receive a loan of a hearing dog. The purpose.

(An example of the appearance of a flying robot)
FIG. 7 is an explanatory diagram showing an example of the appearance of the flight-type robot according to the second embodiment of the present invention. In the second embodiment, the same parts as those in the first embodiment described above are designated by the same reference numerals, and the description thereof will be omitted. As shown in FIG. 7, the flying robot 700 includes a camera 103 and a projector 701 mounted on the drone 101.

The projector 701 includes a projector light source, an optical system, a projection lens, and the like (all of which are not shown). The projector 701 guides the light emitted from the projector light source to a predetermined path by an optical system and irradiates the outside of the projector 701 through the projection lens 701a to project an image on the irradiated place. The optical system includes an integrator lens that enhances the uniformity of the illuminance of the light emitted from the projector light source, a polarization conversion element that converts (polarizes) the light emitted from the non-polarized light source into a predetermined polarization direction, and R the light from the projector 701 light. -Composed of a dichroic mirror that separates into the three primary colors of GB, a liquid crystal panel that displays images corresponding to the light of each color of R, GB, and a dichroic prism that synthesizes images of each color displayed by each liquid crystal panel. (In each case, the illustration is omitted).

As the projector 701, for example, a laser type projector that employs a laser as a projector light source can be used. By using a laser type projector, the size of the projector 701 can be reduced. Specifically, a laser-type projector can suppress heat generation lower than a mercury lamp-type projector that uses a mercury lamp as the projector light source, so it is possible to reduce the size and weight by omitting a mechanism such as a cooling fan. be able to.

Further, by using a laser type projector, it is possible to start up quickly and start projecting an image. Further, by using the laser type projector, it is possible to increase the brightness of the projected image while suppressing the power consumption as compared with the mercury lamp type projector.

The mercury lamp type projector is recommended to be used in a state where the projection (optical axis) direction is horizontal, so the degree of freedom in the projection direction is limited, while the laser type projector uses the optical axis. It can be used in a state of being tilted with respect to the horizontal direction. Therefore, the laser type projector can secure a high degree of freedom in the projection direction, and can project an image not only on the wall surface but also on the ground / floor surface.

The projector 701 is fixed to the drone 101 and moves with the movement (flying) of the drone 101. The projector 701 may be connected to the drone 101 in a state in which the posture can be adjusted. Specifically, for example, the projector 701 can be connected to the bottom surface of the drone 101 via a universal joint such as a ball joint. By connecting the projector 701 to the drone 101 via a universal joint such as a ball joint, it is possible to secure a high degree of freedom in adjusting the posture of the projector 701.

In this case, the flying robot 700 may be provided with a drive mechanism that changes the attitude of the projector 701 with respect to the drone 101 in order to adjust the attitude of the projector 701 with respect to the drone 101 without human intervention. The drive mechanism can be configured by, for example, a motor, a gear train, or the like. By making it possible to adjust the posture of the projector 701 with respect to the drone 101, it is possible to project the image at an optimum angle according to the place where the image is projected.

(Hardware configuration of flying robot 700)
Next, the hardware configuration of the flying robot 700 will be described. FIG. 8 is an explanatory diagram showing a hardware configuration of the flight-type robot 700 according to the second embodiment of the present invention. As shown in FIG. 8, the hardware of the flying robot 700 includes a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an objective sensor 206, a control circuit 207, a communication I / F 208, and an LED lamp. It is composed of 104, a solar cell 106, a projector 701, and the like.

As described above, the projector 701 guides the light emitted from the projector light source to a predetermined path by an optical system and irradiates the outside of the projector 701 via the projection lens 701a to produce an image at a place where the light is irradiated. Project. The projector 701 may adjust the image quality of the projected image by adjusting the intensity of the light emitted from the projector light source according to the distance from the position where the image is projected. The distance between the projector 701 and the position where the image is projected can be specified, for example, by using a distance sensor. As the distance sensor, various known sensors such as a laser distance sensor, an ultrasonic sensor, and an infrared sensor can be used.

(Functional configuration of the flying robot 700)
Next, the functional configuration of the flying robot 700 will be described. The functions of the flight-type robot 700 according to the second embodiment are the storage unit 301, the detection unit 302, the photographing unit 303, the acquisition unit 304, the drive unit 305, and the output unit, similarly to the flight-type robot 100 described above. It is realized by 306 and the control unit 307.

For example, when a predetermined voice is collected by the microphone 203, the control unit 307 of the flight-type robot 700 flies the drone 101 by controlling the drive unit 305, and recognizes the drone 101 in response to the predetermined voice. Fly around a specific user 600.

The predetermined voice can be, for example, a ringtone notifying the telephone (landline, smartphone, etc.) that at least one of the telephone and the e-mail has arrived. In addition, the predetermined voice may be, for example, a ringing tone of a doorbell provided at the entrance of a building or site for a visitor to the building or site to call a resident or manager of the building or site. can.

Further, the predetermined voice can be, for example, a voice having a sound pressure equal to or higher than a predetermined threshold value. Specifically, the predetermined voice can be a voice that is output at a loud volume for the purpose of disseminating it to an unspecified number of people, such as an alarm sound or a siren. More specifically, for example, the sound can be a sound having a sound pressure level of 70 dB or higher.

Further, the predetermined voice may be, for example, a voice generated within a predetermined range from a specific user 600. Specifically, it can be a voice emitted by an alarm clock, a kitchen timer, a smartphone, or the like, whose positional relationship with a specific user 600 can change frequently. Further, the predetermined sound may be a boiling kettle sound, a gas leak detection buzzer, an alarm for forgetting to close the door after refrigeration, or an alarm notifying the half-door.

The predetermined voice may be a voice stored in a memory in the control circuit 207 in advance, or may be a voice learned based on the information acquired via the communication I / F 208. The predetermined voice may be the voice of a specific user 600. The predetermined voice may be a voice accompanying changes in the natural environment such as rainfall and lightning.

The control unit 307 flies the drone 101 so as to guide the source of the voice to the specific user 600 when the predetermined voice is collected by the microphone 203. The control unit 307 flies the drone 101 so as to fly between the vicinity of the recognized specific user 600 and the source of the predetermined voice when the predetermined voice is collected by the microphone 203, for example. Let me. More specifically, for example, the operation of flying around the specific user 600 to attract the attention of the specific user 600 and then flying to the source of the voice is repeated.

The control unit 307 may fly the drone 101 in response to a predetermined voice so as to fly in a flight mode corresponding to the predetermined voice. Specifically, the control unit 307 makes the drone 101 fly in a zigzag manner in front of the specific user 600, for example, when there is an incoming call. Specifically, the control unit 307 may fly the drone 101 to the voice source (entrance) after flying around the specific user 600, for example, when the doorbell rings.

The output unit 306 of the flight-type robot 700 operates in conjunction with the flight operation of the flight-type robot 700 according to the state of the flight-type robot 700. For example, when a predetermined voice is collected by the microphone 203, the output unit 306 projects an image from the projector 701 in conjunction with an operation of flying around a specific user 600 in response to the predetermined voice. .. The image is preferably projected in front of a particular user 600.

Specifically, for example, when there is an incoming call, an image of the phone is projected. Specifically, for example, when the doorbell rings, an image of the entrance or the gate or an image showing a visitor is projected. If the child is crying, an image of the crying child may be projected. The image data of the image to be projected can be acquired from the network N via, for example, the communication I / F 208.

The image to be projected may be an image taken by the camera 103. In this case, for example, each time the flight robot 700 detects that a predetermined voice is sounding, the flight robot 700 photographs the source of the predetermined voice and projects the captured image. By projecting an image of an actual article in this way, it is possible to make a specific user 600 surely understand the source of the sound. Further, this makes it possible to project an appropriate image without storing a plurality of image data.

Alternatively, the output unit 306 may project characters from the projector 701, for example, in conjunction with an operation of flying around a specific user 600 in response to a predetermined voice. Specifically, for example, characters (messages) such as "There was an incoming e-mail" and "The doorbell is ringing" are projected in front of a specific user 600. The front position of the specific user 600 can be determined based on the image taken by the camera 103. In this case, the output unit 306 can specifically realize its function by, for example, the projector 701 shown in FIGS. 7 and 8.

Further, the output unit 306 may turn on or blink the LED lamp 104 in conjunction with the operation of flying around the specific user 600 in response to a predetermined voice, for example. In this case, the output unit 306 can specifically realize its function by, for example, the LED lamp 104 shown in FIG.

When the LED lamp 104 is turned on (blinks) in response to a predetermined voice, the emission color may be a long wavelength such as red or orange, which is easily noticed by a specific user 600. Further, the illuminance may be adjusted to light (blink) at a higher illuminance than in normal times. Further, the LED lamp 104 may be turned on (blinking) so that the illuminance in the daytime outdoors is higher than the illuminance in the daytime even indoors or outdoors. Further, instead of the LED lamp 104, light may be emitted from the projector 701.

(Example of processing procedure of flying robot 700)
Next, an example of the processing procedure of the flying robot 700 will be described. FIG. 9 is a flowchart showing an example of the processing procedure of the flight-type robot 700 according to the second embodiment of the present invention. In the flowchart of FIG. 9, first, voice is acquired via the microphone 203 (step S901), and the acquired voice is analyzed (step S902). In step S902, for example, data indicating the feature amount of the voice such as the strength (magnitude), the frequency, and the interval between the sounds of the acquired voice is generated.

Next, based on the analysis result in step S902, it is determined whether or not the acquired voice is a predetermined voice (step S903). If the acquired voice is not a predetermined voice in step S903 (step S903: No), the process proceeds to step S901 to acquire the voice.

On the other hand, in step S903, when the acquired voice is a predetermined voice (step S903: Yes), the flight is started (step S904). In step S904, for example, the drone 101 is driven, takes off from the charging spot 400, and flies within a predetermined range while avoiding obstacles.

Next, it is determined whether or not a specific user 600 has been detected based on the image taken by the camera 103 during the flight (step S905). The specific user 600 detected in step S905 may be, for example, a person who has been photographed by the photographing unit 303 for a predetermined time or more or a predetermined number of times or more, and a feature amount (image, voice, etc.) is stored in advance in the memory. It may be a person memorized in. By setting a person whose feature amount is stored in the memory in advance as the specific user 600, the corresponding person can be recognized as the specific user 600 immediately after the use of the flight robot 700.

In step S905, the flight is performed until a specific user 600 is detected (step S503: No) according to the remaining amount of the battery 201. When the remaining amount of the battery 201 drops to the threshold value at which the charging spot 400 can be returned without detecting the specific user 600, the feedback process is performed.

When a specific user 600 is detected in step S905 (step S905: Yes), execution of a predetermined process is started (step S906). In step S906, for example, an operation of flying around a specific user 600 to attract the attention of the specific user 600 and an operation of reciprocating between the specific user 600 and the voice source are repeatedly performed. .. Further, in step S906, for example, characters that guide the generation of voice, the source of voice, or the content (event) related to the generated voice may be projected from the projector 701.

The process in step S906 is continuously performed until the specific user 600 notices the source (cause of generation) of the voice (step S907: No). Alternatively, the process in step S906 may be performed within a range in which the flying robot 700 can return to the charging spot 400 according to the remaining amount of the battery 201. Specifically, for example, when the remaining amount of the battery 201 drops to the threshold value at which the charging spot 400 can be returned to the charging spot 400 without the specific user 600 noticing the sound source, the feedback process is performed.

In step S907, when the specific user 600 notices the sound source (step S907: Yes), the feedback process is performed (step S908), and the series of processes is terminated. In step S907, for example, based on the image taken by the camera 103, the specific user 600 determines whether or not the specific user 600 has performed an operation approaching the sound source, and the specific user 600 becomes the sound source. You can judge whether you noticed it or not.

As described above, the flight-type robot 700 according to the second embodiment according to the present invention includes a drone 101 flying by autopilot, a camera 103 mounted on the drone 101, a microphone 203 mounted on the drone 101, and a microphone 203. The specific user 600 is recognized based on the image taken by the camera 103, and when a predetermined sound is collected by the microphone 203, the recognized specific user 600 is recognized according to the predetermined sound. It is characterized by flying around.

According to the flight-type robot 700 according to the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the surroundings of the specific user 600 recognized based on the image taken by the camera 103 are observed. By flying, it is possible to visually guide that a predetermined sound is sounding by the operation of the flying robot 700. As a result, even when a specific user 600 has a hearing impairment, it is possible to reliably convey that a predetermined voice is sounding.

As a result, it is possible to eliminate the situation where it is difficult to understand the situation around oneself due to hearing loss, and to alleviate the fatigue and stress caused by constantly keeping consciousness in order to grasp the situation around oneself. And since it becomes easier to understand the situation around oneself without being particularly conscious, it is possible to reduce the fear of life due to the inability to hear sound, and to increase the motivation for independence and the sense of security in life.

Further, the flight-type robot 700 according to the second embodiment of the present invention is characterized in that it flies around the recognized specific user 600 in a flight mode corresponding to the predetermined voice in response to the predetermined voice. There is.

According to the flight-type robot 700 according to the second embodiment of the present invention, it is possible to visually guide the type and content of the voice depending on the flight mode. As a result, even when a specific user 600 has a hearing impairment, it is possible to promptly and in detail inform the specific user 600 that a predetermined voice is sounding and the type and content of the voice. can. This makes it possible to improve the convenience of life of a specific user 600 who is visually impaired.

Further, the flight-type robot 700 according to the second embodiment of the present invention includes a projector 701 mounted on the drone 101, and is in front of a specific user 600 who recognizes when a predetermined voice is collected by the microphone 203. In addition, it is characterized in that an image corresponding to the predetermined sound is projected from the projector 701.

According to the flight-type robot 700 according to the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the surroundings of the specific user 600 recognized based on the image taken by the camera 103 are recognized. By projecting an image corresponding to the predetermined sound from the projector 701 in front of the recognized specific user 600 while flying, the operation of the flight type robot 700 and the predetermined sound are emitted by the image. It is possible to visually guide you to be there. As a result, even when a specific user 600 has a hearing impairment, it is possible to reliably and clearly convey that a predetermined voice is sounding.

Further, the flight-type robot 700 according to the second embodiment of the present invention displays characters corresponding to the predetermined voice in front of the recognized specific user 600 when the predetermined voice is collected by the microphone 203. It is characterized by projecting from the projector 701.

According to the flight-type robot 700 according to the second embodiment of the present invention, when a predetermined sound is collected by the microphone 203, the surroundings of the specific user 600 recognized based on the image taken by the camera 103 are observed. By projecting a character corresponding to the predetermined voice from the projector 701 in front of the recognized specific user 600 while flying, the operation of the flight-type robot 700 and the predetermined voice are sounded by the character. You can visually guide that. As a result, even when a specific user 600 has a hearing impairment, it is possible to reliably and clearly convey that a predetermined voice is sounding.

The control method of the flying robot described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc., and is executed by being read from the recording medium by the computer. Further, this program may be a transmission medium that can be distributed via a network such as the Internet.

As described above, the flight-type robot, the control program for the flight-type robot, and the control method for the flight-type robot according to the present invention are useful for users who desire a pet-type robot, and are particularly suitable for users who desire easy breeding. ing.

100, 700 Flying robot 101 Drone 103 Camera 104 LED lamp 106 Solar cell 201 Battery 202 Motor 203 Microphone 204 Speaker 205 GPS sensor 206 Objective sensor 207 Control circuit 208 Communication I / F
301 Storage unit 302 Detection unit 303 Imaging unit 304 Acquisition unit 305 Drive unit 306 Output unit 307 Control unit 400 Charging spot 401a Power transmission coil 401b Cover 401c Power cable 402 Exterior unit 600 Specific user 701 Projector 701a Projection lens

Claims (40)

Unmanned aerial vehicles flying by autopilot and
The camera mounted on the unmanned aerial vehicle and
Equipped with
A flying robot characterized by recognizing a specific user based on an image taken by the camera and flying around the specific user. The flight-type robot according to claim 1, wherein the specific user is a person photographed by the camera for a predetermined time or more or a predetermined number of times or more. The flight-type robot according to claim 1 or 2, wherein the specific user is a person photographed by the camera within a specific range. Any of claims 1 to 3, wherein when at least a part of the specific user approaches the unmanned aerial vehicle while flying around the specific user, the aircraft flies away from the specific user. The flying robot described in one. One of claims 1 to 3, wherein when the specific user does not see the unmanned aerial vehicle while flying around the specific user, the specific user flies so as to approach the specific user. The flying robot described in. The flight-type robot according to any one of claims 1 to 3, wherein the robot flies around the specific user a predetermined number of times and then flies away from the specific user. Equipped with a wireless communication interface mounted on the unmanned aerial vehicle,
The flight-type robot according to any one of claims 1 to 6, wherein when a predetermined information is acquired via the wireless communication interface, the robot flies around the specific user. The flight-type robot according to claim 7, wherein the predetermined information is notification information output from a specific terminal device. The predetermined information is a claim indicating that a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather may occur within a predetermined time after the present time. Item 7. The flying robot according to Item 7. Equipped with a speaker mounted on the unmanned aerial vehicle
The flight-type robot according to any one of claims 1 to 9, wherein a voice is output from the speaker to the specific user and the robot flies around the specific user. Equipped with a microphone mounted on the unmanned aerial vehicle
The flight-type robot according to any one of claims 1 to 10, wherein when a predetermined sound is collected by the microphone, the robot flies around the specific user. The flight-type robot according to claim 11, wherein the predetermined voice is a ringtone for notifying the telephone that at least one of a telephone and an e-mail has arrived. The flight-type robot according to claim 11, wherein the predetermined voice is the voice of the specific user. Equipped with a speaker mounted on the unmanned aerial vehicle
Any of claims 11 to 13, wherein when a predetermined sound is collected by the microphone, the sound is output from the speaker to the specific user and the person flies around the specific user. The flying robot described in one. The flight-type robot according to claim 10 or 14, wherein the sound output from the speaker is a sound imitating the bark of an animal. A computer equipped with an unmanned aerial vehicle equipped with a camera and flying by autopilot,
Recognize a specific user based on the image taken by the camera
Fly around the recognized specific user,
A control program for a flying robot characterized by executing processing. When flying around the specific user and at least a part of the specific user approaches the unmanned aerial vehicle, the flight is made to move away from the specific user.
The control program for a flying robot according to claim 16, wherein the process is executed. While flying around the specific user, if the specific user does not see the unmanned aerial vehicle, the flight is made to approach the specific user.
The control program for a flying robot according to claim 16, wherein the process is executed. After flying around the specific user a predetermined number of times, the flight is made to move away from the specific user.
The control program for a flying robot according to claim 16, wherein the process is executed. For flying robots equipped with unmanned aerial vehicles equipped with cameras and flying by autopilot,
Recognize a specific user based on the image taken by the camera
Fly around the recognized specific user,
A control method for a flying robot. When flying around the specific user and at least a part of the specific user approaches the unmanned aerial vehicle, the flight is made to move away from the specific user.
The control method for a flying robot according to claim 20. While flying around the specific user, if the specific user does not see the unmanned aerial vehicle, the flight is made to approach the specific user.
The control method for a flying robot according to claim 20. After flying around the specific user a predetermined number of times, the flight is made to move away from the specific user.
The control method for a flying robot according to claim 20. Unmanned aerial vehicles flying by autopilot and
The camera mounted on the unmanned aerial vehicle and
With the microphone mounted on the unmanned aerial vehicle,
Equipped with
Recognizing a specific user based on the image taken by the camera,
A flight type characterized in that when a predetermined voice is collected by the microphone, the flight is performed between the vicinity of the recognized specific user and the source of the predetermined voice in response to the predetermined voice. robot. When a predetermined voice is collected by the microphone, the microphone orbits around the recognized specific user in response to the predetermined voice, and then the vicinity of the specific user and the source of the predetermined voice. The flying robot according to claim 24, wherein the robot flies between. The flying robot according to claim 24 or 25, wherein the predetermined voice is a ringtone for notifying the telephone that at least one of a telephone and an e-mail has arrived. The predetermined voice is a ringing tone of a doorbell provided at the entrance of the building or site for a visitor to the building or site to call a resident or manager of the building or site. Claim The flying robot according to claim 24 or 25. The flight-type robot according to claim 24 or 25, wherein the predetermined voice is a voice having a sound pressure equal to or higher than a predetermined threshold value. The flight-type robot according to claim 24 or 25, wherein the predetermined voice is a voice generated within a predetermined range from the specific user. The flight type according to any one of claims 24 to 29, which comprises flying around the recognized specific user in a flight mode corresponding to the predetermined voice in response to the predetermined voice. robot. Equipped with a projector mounted on the unmanned aerial vehicle
Any of claims 24 to 30, wherein when a predetermined voice is collected by the microphone, an image corresponding to the predetermined voice is projected from the projector in front of the recognized specific user. The flying robot described in one. Equipped with a wireless communication interface mounted on the unmanned aerial vehicle,
The flight-type robot according to claim 31, wherein the image data of the image projected from the projector is acquired via the wireless communication interface. Any of claims 24 to 32, wherein when a predetermined voice is collected by the microphone, characters corresponding to the predetermined voice are projected from the projector in front of the recognized specific user. The flying robot described in one. A computer equipped with a flying robot equipped with an unmanned aerial vehicle equipped with a camera and a microphone and flying by autopilot.
Recognizing a specific user based on the image taken by the camera,
When a predetermined voice is collected by the microphone, the flight is made to fly between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice.
A control program for a flying robot characterized by executing processing. For flying robots equipped with unmanned aerial vehicles equipped with cameras and microphones and flying by autopilot,
Recognize a specific user based on the image taken by the camera
When a predetermined voice is collected by the microphone, the flight is made to fly between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice.
A control method for a flying robot. Computers on flying robots with unmanned aerial vehicles equipped with cameras, microphones and projectors and flying by autopilot
Recognizing a specific user based on the image taken by the camera,
When a predetermined voice is collected by the microphone, the specific user is made to fly between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice, and the recognized specific voice is recognized. An image corresponding to the predetermined voice is projected from the projector in front of the user.
A control program for a flying robot characterized by executing processing. For flying robots equipped with unmanned aerial vehicles equipped with cameras, microphones and projectors and flying by autopilot.
Recognize a specific user based on the image taken by the camera
When a predetermined voice is collected by the microphone, the specific user is made to fly between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice, and the recognized specific voice is recognized. An image corresponding to the predetermined voice is projected from the projector in front of the user.
A control method for a flying robot. Unmanned aerial vehicles flying by autopilot and
The camera mounted on the unmanned aerial vehicle and
Equipped with a wireless communication interface mounted on the unmanned aerial vehicle,
Equipped with
Recognizing a specific user based on the image taken by the camera,
When information indicating that a disaster, earthquake, tsunami, lightning, rainfall, strong wind, or sudden change in weather may occur within a predetermined time after the present time is acquired via the wireless communication interface. A flight-type robot characterized in that it flies between the vicinity of the recognized specific user and a source of the predetermined voice in response to the predetermined voice. A computer equipped with a flying robot equipped with an unmanned aerial vehicle equipped with a camera and a wireless communication interface and flying by autopilot.
Recognizing a specific user based on the image taken by the camera,
When information indicating that a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather may occur within a predetermined time after the present time is acquired through the wireless communication interface. Flying between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice.
A control program for a flying robot characterized by executing processing. For flying robots equipped with unmanned aerial vehicles equipped with cameras and wireless communication interfaces and flying by autopilot.
Recognizing a specific user based on the image taken by the camera,
When information indicating that a disaster, an earthquake, a tsunami, a lightning strike, a rainfall, a strong wind, or a sudden change in the weather may occur within a predetermined time after the present time is acquired through the wireless communication interface. Flying between the recognized vicinity of the specific user and the source of the predetermined voice in response to the predetermined voice.
A control method for a flying robot.

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