JP6570002B1 - Call system - Google Patents

Abstract

The present invention provides a call system in which an observer can easily communicate with an observer. A call system includes a mobile terminal having a first microphone and a first speaker, and a flying device having a second microphone and a second speaker. The portable terminal transmits the first voice data collected by the flight control unit that controls the flying device to fly to the vicinity of the other party and the first microphone, and is transmitted from the flying device. A first call processing unit that receives the second audio data and outputs the second audio data from the first speaker. The flying device transmits the second voice data collected by the second microphone to the portable terminal, receives the first voice data transmitted from the portable terminal, and outputs the second voice data from the second speaker. A processing unit is provided. [Selection] Figure 1

Description

  The present invention relates to a call system.

  Observing the condition of the person being observed using a flying device is performed. For example, Patent Document 1 discloses a flying camera system that specifies and tracks a tracking target.

JP 2017-185928 A

  Depending on the situation of the observer, the observer may want to communicate with the observer. However, in the system described in Patent Document 1, although the tracked target can be photographed, there is no suggestion on how the observer can communicate with the tracked target.

  The present invention has been made in view of such a background, and an object of the present invention is to provide a call system in which an observer can easily communicate with an observer.

  A main invention of the present invention for solving the above problems is a call system, a portable terminal having a first microphone and a first speaker, a flying device having a second microphone and a second speaker, The portable terminal transmits to the flying device a flight control unit that controls the flying device to fly to the vicinity of a call partner, and first voice data collected by the first microphone; A first call processing unit that receives second audio data transmitted from the flying device and outputs the second voice data from the first speaker, wherein the flying device collects sound from the second microphone. A second call processing unit that transmits second voice data to the portable terminal, receives the first voice data transmitted from the portable terminal, and outputs the first voice data from the second speaker; Call system To.

  Other problems and solutions to be disclosed by the present application will be made clear by the embodiments of the invention and the drawings.

  According to the present invention, an observer can easily communicate with an observer.

It is a figure showing the whole telephone system composition concerning one embodiment of the present invention. 2 is a diagram illustrating a hardware configuration example of a flying device 10. FIG. FIG. 3 is a diagram illustrating a software configuration example of a flight controller 11. It is a figure which shows the hardware structural example of the user terminal 20. FIG. FIG. 3 is a diagram illustrating a software configuration example of a user terminal 20. It is a figure explaining the flow of the process performed in the telephone system which concerns on this embodiment. It is a figure which shows the structural example of the flying apparatus 10 in case the flying apparatus 10 is provided with the display apparatus 120. FIG. It is a figure which shows the structural example of the flight controller 11 in case the flight apparatus 10 is provided with the display apparatus 120. FIG. It is a figure which shows the software structural example of the user terminal 20 in case the flight apparatus 10 is provided with the display apparatus 120. FIG.

  The contents of the embodiment of the present invention will be listed and described. An aircraft according to an embodiment of the present invention has the following configuration.

[Item 1]
A portable terminal having a first microphone and a first speaker;
A flying device having a second microphone and a second speaker;
With
The portable terminal is
A flight control unit for controlling the flying device to fly to the vicinity of the other party,
A first call that transmits first sound data collected by the first microphone to the flying device, receives second sound data transmitted from the flying device, and outputs the second sound data from the first speaker. A processing unit,
The flying device is
The second audio data collected by the second microphone is transmitted to the mobile terminal, the first audio data transmitted from the mobile terminal is received, and the second audio data is output from the second speaker. A telephone call processing unit,
Call system characterized by.

[Item 2]
The call system according to item 1, wherein
The flying device is
A camera,
An image transmission unit that transmits an image captured by the camera to the mobile terminal;
A call system characterized by further comprising:

[Item 3]
The call system according to item 1, wherein
The second voice transmission unit extracts a feature amount from the second voice data, and when a predetermined feature amount can be extracted, transmits a message to the user of the portable terminal,
The first sound receiving unit outputs an image or sound for alerting a user of the mobile terminal in response to the message;
Call system characterized by.

[Item 4]
The call system according to item 1, wherein
The portable terminal further includes a first call processing unit that creates call voice data that is the first voice data for calling the other party and transmits the ringing tone data to the flying device;
The flying device further includes a second call processing unit that receives the call voice data and outputs the received call voice data from the second speaker.
Call system characterized by.

[Item 5]
The call system according to item 4, wherein
The flying device further includes an authentication processing unit that authenticates the other party based on the second voice data;
Call system characterized by.

[Item 6]
The call system according to item 5, wherein
The second call processing unit outputs the call voice data from the second speaker until the authentication processing unit succeeds in authenticating the call partner.
Call system characterized by.

[Item 7]
The call system according to item 4, wherein
The flying device includes a display device for displaying information,
The first call processing unit transmits an image for calling the other party to the flying device,
The second call processing unit receives the call image and displays the received call image on the display device;
Call system characterized by.

== Overview / Overall structure ==
FIG. 1 is a diagram showing an overall configuration of a call system according to an embodiment of the present invention.
In the call system of the present embodiment, the monitor 2 remotely monitors the monitored person 1 using the camera 12 provided in the flying device 10, and the monitored person 1 using the microphone 15 and the speaker 16 provided in the flying device 10. And the supervisor 2 can make a call. The flying device 10 and the user terminal 20 are connected so as to be communicable with each other via a wireless communication path 30 according to a protocol such as WiFi or BlueTooth (registered trademark).

(Flying device 10)
FIG. 2 is a diagram illustrating a hardware configuration example of the flying device 10. The flying device 10 includes a propeller 19, a propulsion mechanism connected to the propeller 19 via an ESC (Electronic Speed Controller) 17 (in this embodiment, a motor 18 is assumed), and a flight controller 11 that controls them. Prepare.

  The flight controller 11 can include one or more processors 101 such as a programmable processor (in this embodiment, a central processing unit (CPU) is assumed).

  The camera 12 is mounted on the airframe via the gimbal 13 and can be rotated by the gimbal 13 in the vertical direction with respect to the airframe, for example. Preferably, it is possible to rotate in three axis directions (pitch angle, roll angle, yaw angle) with respect to the airframe. In the example of FIG. 2, the flying device 10 is configured to include only one camera 12, but may be configured to include two or more cameras. Further, instead of the camera 12 or in addition to the camera 12, various sensors such as a human sensor may be provided.

  The microphone 15 and the speaker 16 are fixed to the body. Note that the microphone 15 and the speaker 16 may be attached to the airframe via the gimbal 13 in the same manner as the camera 12.

  The flight controller 11 has a memory 102 and can access the memory 102. Memory 102 stores logic, code, and / or program instructions that are executable by flight controller 11 to perform one or more steps. The memory 102 may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data acquired from the camera 12, sensor, or the like may be directly transmitted to and stored in the memory 102.

  The flight controller 11 also includes various sensors 103. In this embodiment, the sensors 103 may include, for example, an inertial sensor (acceleration sensor, gyro sensor), a GPS (Global Positioning System) sensor, a proximity sensor (eg, a rider), or a vision / image sensor (eg, a camera). .

  The flight controller 11 is from one or more external devices (for example, a transmitter / receiver (propo), a terminal, a display device, or other remote controller. In this embodiment, the user terminal 20 is assumed). Can be communicated with the transceiver 14 configured to transmit and / or receive data. The transceiver 14 can use any appropriate communication means such as wired communication or wireless communication. In the present embodiment, the transmission / reception unit 14 mainly communicates with the management server 30 and also communicates with the monitoring terminal 40 as necessary. The transmission / reception unit 14 is, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication, etc. One or more of these can be used. The transmission / reception unit 14 may transmit and / or receive one or more of data acquired by sensors, a processing result generated by the flight controller, predetermined control data, a user command from a terminal or a remote controller, and the like. it can.

  FIG. 3 is a diagram illustrating a software configuration example of the flight controller 11. The flight controller 11 includes an instruction receiving unit 111, a flight control unit 112, a current position acquisition unit 113, a call processing unit 114, a trigger detection unit 115, a photographing processing unit 116, a call processing unit 117, a current position storage unit 151, and a call voice storage. Unit 152, authentication feature amount storage unit 153, and trigger feature amount storage unit 154.

  The instruction reception unit 111, the flight control unit 112, the current position acquisition unit 113, the call processing unit 114, the trigger detection unit 115, the imaging processing unit 116, and the call processing unit 117 are programs in which the processor 101 is stored in the memory 102. It is realized by executing. In addition, the current position storage unit 151, the calling voice storage unit 152, the authentication feature amount storage unit 153, and the trigger feature amount storage unit 154 are realized as storage areas provided by the memory 102.

  The instruction receiving unit 111 receives various commands for instructing the operation of the flying device 10. The command received by the instruction receiving unit 111 includes a command for instructing a flight operation of the flying device 10 (hereinafter referred to as a flight operation command), and a command for starting a call with the monitored person 1 (hereinafter referred to as a call). Start command) and a command for ending the call (hereinafter referred to as a call end command).

In the present embodiment, it is assumed that the flight operation command is transmitted from the user terminal 20, but the flight operation command may be transmitted from a transmitter / receiver different from the user terminal 20 such as a transmitter or another computer. . When receiving the flight operation command, the instruction receiving unit 111 calls the flight control unit 112 described later.
In the present embodiment, the call start command includes voice data for calling the monitored person 1 (hereinafter referred to as call voice data) and a voice feature amount used for authentication of the monitored person 1 (hereinafter referred to as “calling voice data”). , Referred to as an authentication feature amount). The call voice data is, for example, voice data obtained by recording the voice of the supervisor 2. The authentication feature amount is, for example, a feature amount of the voice of the monitored person 1. When receiving the call start command, the instruction receiving unit 111 registers the call voice data in the call voice storage unit 152 and calls a call processing unit 114 described later.

  The flight control unit 112 controls the operation of the flying device 10. For example, the flight control unit 112 adjusts the spatial arrangement, speed, and / or acceleration of the flying device 10 having six degrees of freedom (translational motions x, y, and z and rotational motions θx, θy, and θz). The motor 18 is controlled via the ESC 17. The propeller 19 is rotated by the motor 18 to generate lift of the flying device 10. Further, the flight control unit 113 can control one or more of the states of the mounting unit and sensors.

  In the present embodiment, the flight control unit 112 controls the operation of the flying device 10 in accordance with the flight operation command received by the instruction receiving unit 111. For example, when the instruction receiving unit 111 receives a flight operation command instructing to perform autonomous flight to track the monitored person 1, the flight control unit 112 captures the image of the monitored person 1 captured by the camera 12. The position of the monitored person 1 is analyzed to analyze the motor 1 via the ESC 17 so that the current position of the flying device 10 acquired by the current position acquisition unit 113 described later is moved to the vicinity of the position of the monitored person 1. By controlling 18 or the like, the flying device 10 can be caused to fly so as to track the monitored person 1. Further, the flight control unit 112 can perform various controls so that the flying device 10 continues to fly without depending on a command so as to enable autonomous flight. For example, the flight control unit 112 can control the operation of the flying device 10 so as to track the monitored person 1 based on an image captured by the camera 12.

  The current position acquisition unit 113 acquires the current position of the flying device 10. In the present embodiment, the sensors 103 include the GPS sensor 104, and the current position acquisition unit 113, for example, from the radio wave received by the GPS sensor 104 from the GPS satellite, It is also called a position). The current position acquisition unit 113 stores the acquired flight position of the flying device 10 in the current position storage unit 151 of the memory 102. The flight position can be expressed by, for example, latitude and longitude. The flight controller 11 can quickly grasp the flight position of the flying device 10 by referring to the current position storage unit 151.

  In the present embodiment, after the instruction receiving unit 111 receives the flight operation command, the current position acquisition unit 113 periodically sets the flight position to the transmission source of the flight operation command (the user terminal 20 in the present embodiment). Shall be sent to The flight position transmission interval can be set arbitrarily, such as every 1 second or every 5 seconds.

  The call processing unit 114 calls a call to the monitored person 1. In the present embodiment, the call processing unit 114 makes a call to the monitored person 1 by outputting a predetermined call sound from the speaker 16. In the present embodiment, the call processing unit 114 reads out the call voice data stored in the call voice storage unit 152 and outputs it from the speaker 16. The call processing unit 114 determines whether or not the authentication feature quantity stored in the authentication feature quantity storage unit 153 can be extracted from the voice data collected by the microphone 15 from the monitored person 1 with respect to the reproduction of the call voice data. It is determined whether or not a response has been made, and the call voice data is repeatedly output from the speaker 16 until there is a response from the monitored person 1.

  The trigger detection unit 115 detects the voice of a predetermined keyword. The trigger feature quantity storage unit 154 stores in advance a feature quantity that can be extracted when a predetermined keyword is pronounced (hereinafter referred to as a trigger feature quantity). For example, the trigger feature amount may be a common feature amount when a plurality of persons utter the same keyword. The trigger detection unit 115 determines whether or not a voice as a predetermined keyword has been collected depending on whether or not the feature quantity stored in the trigger feature quantity storage unit 154 can be extracted from the voice data collected by the microphone 15. Determine. The trigger detection unit 115 transmits to the user terminal 20 information (hereinafter referred to as trigger notification) indicating that the voice as the predetermined keyword has been collected.

  The imaging processing unit 116 controls the camera 12 and acquires an image captured by the camera 12 (hereinafter referred to as a captured image). In the present embodiment, the captured image is a moving image, but the captured image may be one or a plurality of still images. The imaging processing unit 116 can control the gimbal 13 to point the camera 12 toward the monitored person 1 or point the camera 12 around the monitored person 1. In addition, the imaging processing unit 116 receives a command (hereinafter referred to as a camera command) for instructing panning, tilting, zooming, shooting, and the like of the camera 12 from the user terminal 20 or another external device. It is also possible to control the camera 12 and the gimbal 13 according to the camera command. The imaging processing unit 116 further sends out the captured image captured by the camera 12 to the outside. In the present embodiment, the imaging processing unit 116 transmits an image to the user terminal 20 that is the transmission source of the flight operation command received by the instruction receiving unit 111. Note that the imaging processing unit 116 may transmit the image to a transmission destination different from the transmission source of the flight operation command. In this embodiment, the imaging processing unit 116 transmits all images after the imaging by the camera 12 is started to the user terminal 20. Note that a photographic image is recorded in the memory 102, and the photographic processing unit 116 reads out the photographic image from the memory 102 in accordance with a command for acquiring the recorded photographic image (hereinafter referred to as an image acquisition command). May be transmitted.

  The call processing unit 117 performs a process related to a call with the user terminal 20. The call processing unit 117 acquires audio data collected by the microphone 15 and transmits the acquired audio data to the user terminal 20. In addition, the call processing unit 117 receives audio data transmitted from the user terminal 20 and outputs the received audio data from the speaker 16. Note that a known voice call process can be used for the call process by the call processing unit 117.

(User terminal 20)
FIG. 4 is a diagram illustrating a hardware configuration example of the user terminal 20. The user terminal 20 includes a CPU 201, a memory 202, a storage device 203, a communication device 204, a GPS module 205, a touch panel display 206, a microphone 207, and a speaker 208. The storage device 203 is, for example, a hard disk drive, a solid state drive, or a flash memory that stores various data and programs. The communication device 204 communicates with other devices via the communication network 50. The communication device 204 includes, for example, an adapter for connecting to Ethernet (registered trademark), a modem for connecting to a public telephone network, a wireless communication device for performing wireless communication, and a USB (Universal Serial Bus) for serial communication. It includes a connector, an RS232C connector and the like. The GPS module 205 receives a signal from a GPS satellite. The touch panel display 206 is an interface for inputting and outputting data. The user 1 can input data by browsing the information displayed on the touch panel display 206 and touching the touch panel display 206. The microphone 207 is an audio input device. The voice input to the microphone 207 can be acquired as voice data. The speaker 208 is an audio output device. Audio is reproduced by providing audio data to the speaker 208.

  FIG. 5 is a diagram illustrating a software configuration example of the user terminal 20. The user terminal 20 includes a current position acquisition unit 211, a start position designation unit 212, a call voice registration unit 213, a flight control unit 214, a trigger notification unit 215, an image output unit 216, a call processing unit 217, a flight position storage unit 251, a call An audio storage unit 252 and an authentication feature amount storage unit 253 are provided.

  Note that the current position acquisition unit 211, the start position designation unit 212, the calling voice registration unit 213, the flight control unit 214, the trigger notification unit 215, the image output unit 216, and the call processing unit 217 are stored in the CPU 201 of the user terminal 20 as a storage device. The flight position storage unit 251, the call voice storage unit 252, and the authentication feature amount storage unit 253 are provided by the memory 202 and the storage device 203. Realized as part of the storage area.

  The current position acquisition unit 211 acquires the current position of the user terminal 20. The current position acquisition unit 211 can calculate the current position of the user terminal 20 based on, for example, radio waves received by the GPS module 205 from GPS satellites. Further, the current position acquisition unit 211 may obtain the current position of the user terminal 20 with high accuracy by using information such as a WiFi router and a base station with which the communication device 204 communicates.

  The flight position designation unit 212 receives designation of a position that is the flight destination of the flying device 10. The position received by the flight position designation unit 212 can be the current position of the monitored person 1 or the position of the planned movement destination. For example, the flight position designation unit 212 can display a map on the touch panel display 206 and accept designation of a position on the map. The position can be expressed by latitude and longitude, for example.

  The calling voice registration unit 213 registers the voice data collected by the microphone 207 in the calling voice storage unit 252 as the calling voice data. For example, the call voice registration unit 213 displays a message indicating that the call voice data is collected on the touch panel display 206 and acquires the voice data from the microphone 207 in accordance with an instruction from the supervisor 2. it can. In this way, the calling voice registration unit 213 can acquire, for example, the voice that the supervisor 2 calls the monitored person 1 as the calling voice data. The call voice registration unit 213 may receive, for example, text input of a call message from the supervisor 2 and convert the text into call voice data by voice synthesis processing. Further, the call voice registration unit 213 may select one of several call voice data registered in advance.

  The flight control unit 214 controls the flying device 10. In the present embodiment, the flight control unit 214 operates the flying device 10 by transmitting a flight operation command to the flying device 10. The flight control unit 214 first designates the position received by the flight position designation unit 212, transmits a flight operation command instructing to fly to the position to the flying device 10, and causes the flying device 10 to move to the position. To fly. In the present embodiment, the authentication feature value storage unit 253 stores data representing the feature value of the voice of the monitored person 1 (hereinafter referred to as authentication feature value) in advance, and the flight operation command includes: In addition to the flight destination position, it is assumed that the authentication feature quantity stored in the authentication feature quantity storage unit 253 and the call voice data stored in the call voice storage unit 252 are included.

  Further, after transmitting the flight operation command, the flight control unit 214 receives the current position of the flying device 10 transmitted from the flying device 10, and registers the received current position of the flying device 10 in the flight position storage unit 251. The flight control unit 214 updates the current position of the flight position storage unit 322 when receiving the current position of the flying device 10 periodically transmitted from the flying device 10.

  The trigger notification unit 215 receives the trigger notification transmitted from the flying device 10. When the trigger notification unit 215 receives the trigger notification, the trigger notification unit 215 notifies the monitoring person 2 to that effect. For example, the trigger notification unit 215 may display that the trigger notification has been received on the touch panel display 206, and may output audio data representing that the trigger notification has been received from the speaker 208.

  The image output unit 216 outputs the image received from the flying device 10 to the touch panel display 206. The image output unit 216 may write the received image in the memory 202 or the storage device 203.

  The call processing unit 217 performs processing related to a call with the flying device 10. The call processing unit 217 acquires the voice data collected by the microphone 207 and transmits the acquired voice data to the flying device 10. In addition, the call processing unit 217 receives audio data transmitted from the flying device 10 and outputs the received audio data from the speaker 208. For the call process by the call processing unit 217, a known voice call process can be used.

== Processing ==
Hereinafter, processing in the call system according to the present embodiment will be described.

FIG. 6 is a diagram for explaining the flow of processing executed in the call system according to the present embodiment.
In the user terminal 20, the flight position designation unit 212 receives designation of a position that is the flight destination of the flying device 10 from the supervisor 2 (S301). The calling voice registration unit 213 receives input of voice data serving as calling voice data, and registers the received voice data as calling voice data in the calling voice storage unit 252 (S302). The flight position designation unit 212 receives the flight destination position received by the flight position designation unit 212, call voice data stored in the call voice storage unit 252, and authentication feature quantity registered in the authentication feature quantity storage unit 253. The flight operation command in which is set to be transmitted to the flying device 10 (S303).

  In the flying device 10, the instruction receiving unit 111 receives the flight operation command transmitted from the user terminal 20, registers the call voice data included in the received flight operation command in the call voice storage unit 152, and performs the flight operation. The authentication feature amount included in the command is registered in the authentication feature amount storage unit 153 (S304). The flight control unit 112 performs various controls so as to fly to the position included in the flight operation command (S305), and when the flying device 10 flies to the specified position, the imaging processing unit 116 displays the image by the camera 12. The captured images are sequentially transmitted to the user terminal 20 (S306).

  The call processing unit 114 outputs the call voice data stored in the call voice storage unit 152 from the speaker 16 (S307), and acquires the voice data collected by the microphone 15 (S308). If the authentication feature amount stored in the authentication feature amount storage unit 153 cannot be extracted from the voice data collected by the microphone 15 (S309: YES), the call processing unit 114 repeats the processing from step S307. When the call processing unit 114 can extract the authentication feature amount (S309: YES), the call processing unit 117 transmits the voice data collected by the microphone 15 to the user terminal 20, and is transmitted from the user terminal 20. The audio data is received, the received audio data is output from the speaker 16, and the audio data is transmitted / received to / from the user terminal 20 to perform processing related to the call (S310).

  In the user terminal 20, the image output unit 216 receives the image transmitted from the flying device 10 and outputs it to the touch panel display 206 (S 311), and the call processing unit 217 receives the audio data transmitted from the flying device 10. The voice data received, output from the speaker 208, and collected by the microphone 207 is transmitted to the flying device 10 to perform processing related to the call (S312).

== Effect ==
As described above, according to the call system of the present embodiment, the supervisor 2 causes the flying device 10 to fly to the monitored person 1, and the monitored person 1 and the user terminal 20 communicate with the monitored person 1. You can make a call. Therefore, for example, even when the monitored person 1 does not carry a call device such as a mobile phone, the monitoring person 2 can communicate with the monitored person 1 by voice directly.

  Moreover, according to the telephone call system of this embodiment, the supervisor 2 can also confirm the state of the person 1 to be monitored by video using the camera 15 provided in the flying device 10.

  Further, according to the call system of the present embodiment, it is possible to notify the supervisor 2 when a predetermined keyword is uttered. Therefore, even if the monitoring person 2 does not always watch the voice of the monitored person 1, it is possible to form the beginning of communication from the monitored person 1 side. Thereby, bidirectional communication can be easily realized.

  Further, according to the call system of the present embodiment, a call can be made to the monitored person 1 using the recorded call voice data. In this case, it is possible to call attention to the monitored person 1 effectively by using the voice data obtained by recording the voice of the monitoring person 2 as the calling voice data. Therefore, communication can be established easily.

  Moreover, according to the call system of this embodiment, it is possible to detect a response from the monitored person 1 using the voice feature amount of the monitored person 1 prepared in advance. Therefore, even if it is difficult to visually recognize with the camera, the monitored person 1 can be identified using the voice.

  Further, according to the call system of the present embodiment, it is possible to call the monitored person 1 by repeatedly reproducing the recorded call voice data. As a result, the supervisor 2 can continue to call the monitored person 1 without continuing to speak. Therefore, communication can be established reliably.

  As mentioned above, although one Embodiment of this invention was described, the said embodiment is for making an understanding of this invention easy, and is not for limiting and interpreting this invention. The present invention can be changed and improved without departing from the gist thereof, and the present invention includes equivalents thereof.

== Modification ==
(beacon)
In the present embodiment, the position of the monitored person 1 is specified by the monitoring person 2 using the user terminal 20. However, the present invention is not limited to this. For example, the monitored person 1 carries a beacon and the monitored person 1 A beacon receiver may be installed in the activity range, and the user terminal 20 may acquire the position of the receiver that has received the signal from the beacon as the position of the monitored person 1.

(No camera)
In the present embodiment, the flying device 10 includes the camera 12 and an image captured by the flying device 10 is transmitted to the user terminal 20. However, the flying device 10 does not include the camera 12, and the flying device 10 and the user terminal Only the voice data may be exchanged with 20.

(Multiple cameras)
In the present embodiment, the flying object 10 is equipped with one camera. However, the present invention is not limited to this, and a camera that photographs the monitored person 1 and a camera that captures the surroundings of the monitored person 1. A plurality of cameras including may be mounted.

(Danger detection by the flying device 10)
In the present embodiment, the camera 12 is mounted on the flying device 10 and the user terminal 20 views the video captured by the flying device 10. However, the video captured by the camera included in the user terminal 20 is transmitted to the flying device 10. Then, the state of the user terminal 20 side may be displayed on the flying device 10 side.

(Carrying things)
In the present embodiment, the flying device 10 flies as it is in response to an instruction from the user terminal 20, but an article may be transported to the monitored person 1 during the flight. In this case, before flying according to the instruction from the user terminal 20, the flying device 10 flies to the place where the luggage is loaded, and flies to the vicinity of the monitored person 1 after loading the luggage. In addition, after flying to the vicinity of the monitored person 1, the flying device 10 receives designation of an article desired to be transported from the monitored person 1, moves to a loading place for loading the designated article, It is also possible to return to the position of the monitored person 1 after loading the luggage. In this case, the person to be monitored 1 specifies an article by voice, and the flying device 10 can analyze the voice data collected by the microphone 15 and specify the article to be loaded by voice recognition.

(Displaying images with the flying device 10)
In the present embodiment, the information transmitted from the user terminal 20 to the flying device 10 is only audio data. However, the flying device 10 is provided with a display device, and the user terminal 20 transmits the information to the flying device 10. You may make it output the information which appeals visually to the flying device 10 side by transmitting an image.

  A configuration example of the flying device 10 in this case is shown in FIG. The difference from FIG. 1 is that the flying device 10 further includes a display device 120. The display device 120 is a device that outputs visually appealing information such as a liquid crystal display or a projector. FIG. 8 is a diagram illustrating a configuration example of the flight controller 11 when the flying device 10 includes the display device 120. The difference from FIG. 3 is that the flight controller 11 includes an image display unit 118 for displaying an image. The image display unit 118 displays the image data received from the user terminal 20 on the display device 120.

  FIG. 9 is a diagram illustrating a software configuration example of the user terminal 20 when the flying device 10 includes the display device 120. The difference from FIG. 5 is that the user terminal 20 includes a transmission image storage unit 254. The transmission image storage unit 254 stores image data to be transmitted to the flying device 10. Note that the transmitted image storage unit 254 may be a library that stores image data captured by a camera included in the user terminal 20, for example.

  In this case, in the process shown in FIG. 6, when the flight control unit 214 transmits a flight operation command to the flying device 10 (S303), among the image data stored in the transmission image storage unit 254, the flying device 10 The designation of image data to be displayed is received from the supervisor 2 and the designated image data is included in the flight operation command and transmitted to the flying device 10.

  When the flight operation command is received (S304), the image display unit 118 displays the image data included in the received flight operation command on the display device 120, and then the call processing unit 114 reproduces the call voice data. Is performed (S307).

  By doing so, for example, the call voice data appealing to the auditory sense can be reproduced while outputting the visually appealing information to the monitored person 1, so that the monitored person 1 pays attention to the flying device 10. The possibility of turning will increase. Therefore, it is expected to become the beginning of faster communication.

10 Flight equipment
20 User terminal 11 Flight controller 12 Camera 13 Gimbal 14 Transmitter / receiver 15 Microphone 16 Speaker 17 ESC
DESCRIPTION OF SYMBOLS 18 Motor 19 Propeller 111 Instruction receiving part 112 Flight control part 113 Current position acquisition part 114 Call processing part 115 Trigger detection part 116 Shooting processing part 117 Call processing part 118 Image display part 120 Display device 151 Current position storage part 152 Call voice storage part 153 Authentication feature amount storage unit 154 Trigger feature amount storage unit 211 Current position acquisition unit 212 Start position designation unit 213 Call voice registration unit 214 Flight control unit 215 Trigger notification unit 216 Image output unit 217 Call processing unit 251 Flight position storage unit 252 Call Voice storage unit 253 Authentication feature amount storage unit 254 Transfer image storage unit

Claims (4)

A flying device having a second microphone and a second speaker, and a user terminal ,
The user terminal is
A flight control unit for controlling the flying device to fly to the vicinity of the other party,
A first call processing unit for creating call voice data for calling the other party and transmitting the call voice data to the flying device;
With
The flying device is
A second call processing unit that receives the call voice data and outputs the received call voice data from the second speaker;
An authentication processing unit for authenticating the other party on the basis of voice data collected by the second microphone ;
With
The second call processing unit outputs the call voice data from the second speaker until the authentication processing unit succeeds in authenticating the call partner.
Call system characterized by. The call system according to claim 1,
The flying device is
A camera,
An image transmission unit that transmits an image captured by the camera to the user terminal;
A call system characterized by further comprising: The call system according to claim 1,
The flying device includes a second call processing unit that extracts a feature amount from the second voice data and transmits a message to a user of the user terminal when the predetermined feature amount can be extracted. ,
The user terminal includes a first call processing unit that outputs an image or sound for alerting a user of the user terminal in response to the message;
Call system characterized by. The call system according to claim 1 ,
The flying device includes a display device for displaying information,
The first call processing unit transmits an image for calling the other party to the flying device,
The second call processing unit receives the call image and displays the received call image on the display device;
Call system characterized by.