JP6947452B2 - Floating platform and program for floating platform - Google Patents

Description

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

For example, when a worker replaces a fluorescent lamp such as a fluorescent tube of a lighting fixture installed on the ceiling by himself, the worker has conventionally had to go up to a stepping stone and replace it. Remove the fluorescent tube or the like from the fluorescent lighting fixture, get off the platform once, and place the old fluorescent tube (fluorescent lamp or fluorescent lamp) or the like in any place. Then, after that, the worker takes a new part such as a fluorescent tube and goes up to the stepping stone again, and attaches the new part or the like to the fluorescent lamp fixture. Therefore, the worker had to repeatedly go up and down the stepping stone, which was troublesome.

If there is an assistant, the worker can hand over the old fluorescent tube, etc., and also hand over the new fluorescent tube, etc., so the worker can replace it without having to repeatedly go up and down the platform. You can work. However, since there is not always an assister, the above-mentioned problem remains.

Therefore, in addition to the platform, a platform is prepared, and old fluorescent tubes and new fluorescent tubes to be replaced are placed on the platform to minimize the number of times the operator goes up and down the platform. Can be done.

However, it is desirable that such a mounting table has a height corresponding to the height of the ceiling and an appropriate height for the operator, but there are few mounting tables with such a height. .. For this reason, even when using a mounting table, when the mounting table is too low, the operator can use the stepping stone to place an old fluorescent tube to be replaced or to pick up a new fluorescent tube. If you do not go down halfway and climb again, it will be difficult to work without damaging the fluorescent tube, and there is also the problem that work efficiency will be poor and the work will be troublesome.

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

However, the method using the elevating platform described in Patent Document 1 requires an installation space for the platform in addition to the installation space for the platform for workers, and in a situation where such an installation space cannot be secured. Not available. In addition, it is necessary to adjust the height of the mounting table to the optimum height in advance according to the height of the ceiling and the operator, but the height adjustment in advance is performed by actually riding on the platform and mounting table. It is necessary to adjust while checking the height of the ceiling, which is relatively troublesome. Further, when the work is continuously performed, the worker has to move not only the stepping stone but also the mounting table, which is troublesome.

In addition, for example, when cooking in the kitchen, the person who cooks usually prepares ingredients such as vegetables and meat, and a place where cooking utensils such as a stove and an oven are located is a predetermined place. Do cooking work while moving. Furthermore, if the place where cooking containers such as pots and frying pans are placed and the place where seasonings are placed are also decided, the place where ingredients are prepared and the place where cooking utensils are placed and their places. You also need to move between. Further, for example, when trying to cook while looking at a recipe book or the like, in addition to the above-mentioned plurality of places, the work of looking at the recipe book or the like to confirm the cooking work is further added.

However, the place where the ingredients are prepared and the place where there are cooking utensils such as stoves and ovens cannot be moved, so it is unavoidable, but cooking containers such as pots and frying pans, seasonings, and recipe books are not available. It is also possible to move on a pedestal, and some cooks do so.

In this case, if the mounting table is equipped with a movable wheel or the like and is movable, the cook can move it as appropriate, but if both hands of the cook are blocked. Cannot move the table with the movement of the cook. Therefore, even if there is a movable mounting table, it is difficult to properly move the mounting table according to the work of the cook.

Also, at a construction site, a worker who is working at a high place wants to receive necessary tools and materials at a low place, or is working at a remote place even at the same high place. In the past, when borrowing tools or receiving materials from a worker, another worker throws the tools or materials to the worker who is in the requested high place, or bothers to request it. They move to a high place where the workers who have done so are and hand them over.

However, if a worker at a high place fails to receive the thrown tools and materials, those tools and materials will fall, which is extremely dangerous and will also be received by the worker at a high place. Due to his actions, he often loses his balance and falls. In addition, if another worker moves to a high place where the requesting worker is and hands it over, the other worker is forced to take actions other than the original work and is inefficient. There is a problem.

Japanese Unexamined Patent Publication No. 2006-20866

As described above, conventionally, the work load could be reduced by using the mounting table, but the above-mentioned problems remained. In addition, there were environments such as construction sites where the mounting table could not be used.

In view of the above points, it is an object of the present invention to provide a floating moving table capable of eliminating the above-mentioned problems.

In order to solve the above problems, the present invention
An aerial flight mechanism for floating and moving in the air and hovering in the air,
A receiving means for receiving a calling signal containing information for locating the caller, and
One or more cameras for photographing the caller and the surrounding environment of the caller,
A mounting table on which articles can be placed or the articles on which they are placed can be taken out,
A recognition means for recognizing the caller and the position specified in relation to the caller from the image information taken from the one or more cameras.
Based on the information for identifying the position of the caller, the aircraft moves to the position of the caller and hovering in the vicinity of the position identified in relation to the caller recognized by the recognition means. A control means for controlling the aerial flight mechanism unit and
Provided is a levitation moving table characterized by being provided with.

When the levitation moving table of the present invention having the above-described configuration receives the call signal by the receiving means, it moves to the position of the caller based on the information for identifying the position of the caller included in the call signal. Then, the caller is recognized from the captured image information from the camera, and hovering is performed in the vicinity of the follow-up target person at a position specified in relation to the caller.

Therefore, the caller can call the levitation moving table and put it in a state of hovering in the vicinity of himself / herself, and place an article on the levitation table of the hovering levitation moving table or place the article on the levitation table. It is convenient because you can take out the placed items.

According to the floating moving table according to the present invention, the floating moving table can be called and hovered in the vicinity of the caller, and the caller places an article on the mounting table of the hovering floating moving table. It is convenient because you can take out the articles placed on the mounting table. Therefore, according to the floating moving table according to the present invention, it is possible to provide a useful and easy-to-use mounting table that improves the drawbacks of the conventional mounting table.

It is a figure which shows the mechanical configuration example of the 1st Embodiment of the levitation moving table by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of the 1st Embodiment of a levitation moving table by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the 1st Embodiment of the levitation moving table by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the 1st Embodiment of the levitation moving table by this invention. It is a figure for demonstrating an example of the usage mode of 1st Embodiment of a levitation moving table according to this invention. It is a figure for demonstrating another example of the usage mode of 1st Embodiment of a levitation moving table according to this invention. It is a figure for demonstrating still another example of the usage mode of 1st Embodiment of a levitation moving table according to this invention. It is a block diagram which shows the structural example of the drive control device part of the 2nd Embodiment of the levitation moving table by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the 2nd Embodiment of the levitation moving table by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the 2nd Embodiment of the levitation moving table by this invention. It is a figure for demonstrating an example of the usage mode of the 2nd Embodiment of a levitation moving table by this invention.

[First Embodiment]
Hereinafter, the first embodiment of the floating moving table according to the present invention will be described with reference to the drawings.

The levitation moving platform 1 of this embodiment is configured to be a flying object that can autonomously fly in the air and move. FIG. 1 (A) is a view of the levitation moving table 1 of this embodiment from above, and FIG. 1 (B) is a view of the levitation moving table 1 of this embodiment from the front side. It is a figure.

The levitation moving table 1 of this embodiment includes an aerial flight mechanism unit 2 having a so-called quadcopter structure and a drive control unit 3. The aerial flight mechanism unit 2 is driven and controlled by the drive control unit 3. As shown in FIG. 1, in the aerial flight mechanism unit 2, rotary blade (rotor) mechanisms 5A, 5B, 5C, 5D are attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. It is composed of.

The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blade shafts (not shown) by the motor drive units 51A, 51B, 51C, and 51D, respectively, to drive the rotary blades 52A, 52B, 52C, and 52D. It is configured to be rotationally driven. The rotation speed and rotation direction of the motor drive units 51A, 51B, 51C, and 51D are controlled by the drive control signal from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotary drive and a power source for drive control. Power is also supplied from the battery to cameras, microphones, various sensors, control units, etc., which will be described later. As the battery, for example, a rechargeable secondary battery is used. Moreover, you may use a solar cell.

In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by the drive control signal from the drive control unit 3, so that the levitation moving platform 1 which is an air vehicle takes off and lands. , Ascending (directly above, diagonally above), descending (directly below, diagonally below), right turn, left turn, forward, reverse, right shift, left shift, etc. , The attitude control such as the tilt angle with respect to the vertical direction and the position control of the hovering position can be performed.

Then, in the levitation moving table 1 of this embodiment, a camera, an omnidirectional microphone, various sensors, etc., which will be described later, are attached integrally with the drive control unit 3, and a drive control device unit 10 including a control unit is built-in. The housing 6 is formed. In this example, the housing 6 is configured in a box shape as a whole.

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

In this example, as shown in FIGS. 1A and 1B, a camera CM1 and an omnidirectional microphone MC are provided on the upper surface of the housing 6 of the drive control unit 3. Further, as shown in FIGS. 1A and 1B, cameras CM2 to CM5 are provided on the four side surfaces of the housing 6, respectively. Further, as shown in FIG. 1B, a camera CM6 is provided on the bottom surface of the housing 6.

The optical axis of the cameras CM1 to CM6 (corresponding to the shooting direction) is a direction orthogonal to each mounting surface of the cameras CM1 to CM6, and a predetermined angle of view range can be shot around the optical axis direction.

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

Although not shown, an LED (Light Emitting Diode) light is provided on the upper surface of the housing 6 so that the article placed on the mounting table 9 can be illuminated and the work can be performed even in a dark place. ..

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

As shown in FIG. 2, the drive control device unit 10 in this embodiment refers to the control unit 101 composed of a microphone (abbreviated as a microphone in FIG. 2) through the system bus 100, the aerial flight drive unit 102, and the gyro sensor. 103, geomagnetic sensor 104, gravity sensor 105, altitude sensor 106, obstacle sensor 107, temperature sensor 108, weight sensor 109, moving space memory 110, current position detection unit 111, flight drive signal generation unit 112, position / orientation control signal generation Unit 113, cameras CM1 to CM6, omnidirectional microphone (abbreviated as omnidirectional microphone in FIG. 2) MC, image recognition unit 114, voice recognition unit 115, alarm notification unit 116, learning unit 117, prediction unit 118, operation unit. Each of 119 is connected and configured. The control unit 101 constitutes a main control means for controlling the entire levitation moving table 1.

The air flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, 51D of the rotary blade mechanisms 5A, 5B, 5C, and 5D of the air flight mechanism unit 2 according to the control of the control unit 101. do.

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

The gravity sensor 105 is for detecting the direction of gravity (vertical direction), and is composed of, for example, an acceleration sensor, and is used for controlling the bottom surface of the mounting table 9 of the floating moving table 1 to be kept horizontal.

The altitude sensor 106 is for detecting the altitude at which the levitation moving table 1 is located at that time point, and includes, for example, a barometric pressure sensor.

The obstacle sensor 107 emits light, infrared rays, ultrasonic waves, or the like to detect reflected waves from obstacles such as a follower or a wall, thereby detecting the presence of obstacles and light, infrared rays, or the like. Alternatively, it is possible to detect the time from the emission of ultrasonic waves to the reception of the reflected wave, and calculate the distance to the detected obstacle from that time. In this embodiment, the obstacle sensor 107 is a follower, a person other than the follower, an animal such as a pet, a wall, a chest of drawers, a bed, or a desk in the indoor or outdoor space where the floating moving table 1 is used. , Used to be controlled to avoid collisions with obstacles such as garden trees.

Further, in this embodiment, the obstacle sensor 107 is also used when the levitation moving table 1 is hovered controlled while maintaining a predetermined distance, for example, about 40 cm from the tracking target person. At this time, the captured image information from the camera that captures the follow-up target person among the cameras CM1 to CM6 is also used.

The temperature sensor 108 is used to detect a high temperature atmosphere in order to keep the levitation moving table 1 away from an ignited stove or the like, assuming that the levitation moving table 1 is used in a kitchen. When the floating moving table 1 is controlled so as not to come close to the stove in the ignition state, the camera in the cameras CM1 to CM6 also uses the photographed image information of the ignition state of the stove. be.

The weight sensor 109 is for detecting the weight of the article placed on the mounting table 9 and detecting the weight change after the article is picked up from the mounting table 9. In this embodiment, the weight of the article detected by the weight sensor 109 when the article is placed on the mounting table 9 is the weight of the article mounted on the mounting table 9 taken by the camera CM1. It is stored in association with the placement position on the bottom surface. In this embodiment, as will be described later, the hovering height position is controlled according to the weight of the article detected by the weight sensor 109.

The moving space memory 110 stores spatial information about the room in which the floating moving table 1 is used. An application program for panoramic photography (for example, Photosynth) is stored in the memory of the control unit 101 of the floating moving table 1 of this embodiment, and the floating moving table 1 flies in the room where it is used in advance. , All or part of the cameras CM1 to CM6 is used to photograph the room in a range of 360 degrees. Then, the control unit 101 uses an application program for panoramic photography to generate indoor 3D image information from the captured image information, and stores the generated 3D image information in the moving space memory 110.

In this case, the moving space memory 110 also stores information on the length, width, and height of a room such as a kitchen to be used in advance. Further, structural information of the room to be used such as beams, pipe spaces, and columns may be stored in advance.

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

The flight drive signal generation unit 112 executes the following processing operations under the control of the control unit 101.

First, when starting a levitation flight based on an activation command from the control unit 101, first, a flight drive signal for finding a follow-up target person is generated. In this case, when the moving space in which the floating moving table 1 is used is the moving space stored in the moving space memory 110, the position information of the current position detected by the current position detecting unit 111 and the moving space memory From the information of the moving space stored in 110, the moving direction and the moving distance are calculated in order to generate a flight drive signal for moving so as to search for the follow-up target person.

Then, the flight drive signal generation unit 112 uses information such as the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, and the temperature sensor 108 based on the calculated direction and distance, and further. , While referring to the captured images from the cameras CM1 to CM6, generate a flight drive signal for moving so as to detect the follow-up target person.

This flight drive signal is composed of a signal for driving each of the motor drive units 51A to 51D of the four rotary blade mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the air flight mechanism unit 2 through the flight drive unit 102. In response to this flight drive signal, the aerial flight mechanism unit 2 rotationally drives each of the rotary blades 52A to 52D, and moves by aerial flight so as to detect the follower.

When the levitation moving table 1 detects the follow-up target person, the flight drive signal generation unit 112 refers to a specific physical part of the follow-up target person, in this example, the position of the lower jaw of the follow-up target person, according to the control of the control unit 101. At the height position, a flight drive signal for hovering while maintaining the horizontal state of the mounting table 9 at a predetermined distance from the follower is generated, and the flight mechanism unit is passed through the air flight drive unit 102. To supply to 2. The position / attitude control signal generation unit 113 generates a signal for controlling the height position to hover, as will be described later.

Then, when the follow-up target person moves, the flight drive signal generation unit 112 generates a flight drive signal to follow the movement of the follow-up target person according to the control of the control unit 101, and the flight drive signal generation unit 102 generates a flight drive signal so as to follow the movement of the follow-up target person. Through, it is supplied to the aerial flight mechanism unit 2. At the time of this movement, the floating moving table 1 uses information such as a gyro sensor 103, a geomagnetic sensor 104, a gravity sensor 105, an altitude sensor 106, an obstacle sensor 107, and a temperature sensor 108, and further, from cameras CM1 to CM6. While referring to the captured image of the above, avoiding collision with obstacles and avoiding places where the vehicle should not fly, the follow-up movement is performed according to the movement of the follow-up target person. Therefore, during this movement, the levitation moving table 1 does not consider the holding of the height position and the strict separation from the tracking target by a predetermined distance.

Then, when the follow-up target person stops moving, the levitation moving table 1 refers to the above-mentioned relationship with the follow-up target person, that is, a state separated from the follow-up target person by a predetermined distance and the position of the lower jaw of the follow-up target person. A flight drive signal for hovering at the set height position is generated and supplied to the air flight mechanism unit 2 through the air flight drive unit 102.

The flight drive signal generation unit 112 may move or hover while avoiding the sky above the lit stove based on the sensor output of the temperature sensor 108 as described above. Generates flight drive signals, such as hovering.

Then, when the end command (landing command) is issued from the control unit 101, the flight drive signal generation unit 112 releases the above-mentioned relationship with the follow-up target person, and is at a predetermined location or in the vicinity of the current position. , A flight drive signal for moving and landing is generated at an arbitrary place where landing is possible, and is supplied to the air flight mechanism unit 2 through the air flight drive unit 102.

Under the control of the control unit 101, the position / attitude control signal generation unit 113 is based on the captured images of the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the weight sensor 109, and the cameras CM1 to CM6. A signal for controlling the height position of the floating moving table 1 and controlling the horizontal state of the bottom surface of the mounting table 9 is generated.

When the position / attitude control signal generation unit 113 detects that an article is placed on the mounting table 9 of the levitation moving table 1 from the captured images of the cameras CM1 to CM5, the position / attitude control signal generation unit 113 is hovering under the control of the control unit 101. The sensor output of the gravity sensor 105 is used to generate an attitude control signal to keep the bottom surface of the pedestal 9 horizontal, not only when ringing but also when moving in levitation. do.

Then, the position / posture control signal generation unit 113 detects the height position of the lower jaw of the face image of the follower captured by any of the cameras CM2 to CM5 in this example as an example of the reference height position. Then, after temporarily hovering to that height position, a position / attitude control signal for hovering is generated at a height position, for example, 20 cm below the height position. As will be described later, this height position can be adjusted by an action (gesture) by the follower or a voice command.

The hovering position in the horizontal direction with the follower as the center is diagonally forward to the left or diagonally to the right of the follower. However, if it interferes with the original work of the follower (fluorescent tube replacement work or cooking work), the position should be such that it does not interfere.

The position / attitude control signal generation unit 113 also has the hovering height position described above when the follower places the article on the loading platform 9 of the floating moving table 1 or takes out the article from the loading platform 9. The position / attitude control signal for correction is generated based on the control of the control unit 101.

Each of the cameras CM1 to CM6 outputs the captured image information of the moving image to the system bus 100. Identification information for identifying which camera the photographed image information is from is added to the photographed image information transmitted from each of the cameras CM1 to CM6 to the system bus 100. The captured image information from each of the cameras CM1 to CM6 may be captured image information of a still image at a predetermined time interval, for example, 0.5 second interval, instead of the captured image information of a moving image.

The omnidirectional microphone MC is for collecting the voice information of the command word issued by the follower. Although not shown, in the floating moving table 1 of this embodiment, among the acoustic information picked up by the omnidirectional microphone MC, only the acoustic information in the human conversation voice band (for example, 200 Hz to 4 KHz) is available. It is sent to the system bus 100 through a band path filter.

It is also possible to use the sound of the follower clapping the hand or the sound of the finger ringing, which is picked up by the omnidirectional microphone MC. In this case, the levitation moving table 1 flies and moves in response to the sound of the caller or the follower clapping the hand or the sound of the finger ringing, which is picked up by the omnidirectional microphone MC. Generally, the sound of clapping a hand has a frequency power peak of 0 to 2 KHz, and the sound of clapping a finger has a peak of frequency power of 2 to 4 KHz. Or the sound of a finger ringing may be recognized.

The image recognition unit 114 includes an image memory 114M for storing image information of an image recognition target to be recognized from the captured image information from the cameras CM1 to CM6. In this embodiment, the levitation moving table 1 is configured so that the facial images of one or more persons can be registered in advance in the registrant storage area of the image memory 114M as the tracking target persons to be followed and moved. ..

Then, the levitation moving table 1 of this embodiment automatically creates a list of follow-up target persons in which a face image is registered, and prior to the start of use of the levitation moving table 1, the list of follow-up target persons is displayed. It is displayed on the display unit (not shown). The user can select and specify the follow-up target person of the levitation moving table 1 from the list of follow-up target persons through the operation unit 119. Instead of providing a display unit, a plurality of buttons that can be associated with each follow-up target person are provided, and the follow-up target person is selected by operating one of the plurality of buttons. You can also.

Further, in this embodiment, the levitation moving table 1 can be started without selecting the follow-up target person. In that case, a person in the vicinity of the levitation moving table 1 is determined as the follow-up target person, and the cameras CM2 and 2 A face image of the follow-up target person is photographed by any of CM5 and stored in the follow-up target person storage area of the image memory 114M, and thereafter, it is stored in the follow-up target person storage area until an end command is given. The follow-up movement is controlled as described above by using the face image of the person who is following as the face image of the follow-up target person.

Further, in this embodiment, the follower, depending on the action (gesture), causes the levitation moving table 1 to "lower the height a little", "raise the height a little", and "rotate the mounting table 9". "Change the hovering position (centered on the follower) to the right" and "Change the hovering position (centered on the follower) to the left" can be controlled and commanded. There is. The control command storage area is provided in the image memory 114M, and the control command storage area stores information on correspondence between the above-mentioned control command and an image of an action (gesture) corresponding to the control command. Although not shown, the light touch of the levitation moving table 1 by the follower is detected by a capacitive touch sensor or the like, and the follower touches the levitation moving table 1 up and down or left and right depending on the touch position and pressure direction. It may be possible to control it.

The control unit 101 monitors the captured image information of the cameras CM1 to CM6, and the image recognition unit 114 has the same behavior (or an approximation) as the behavior stored in the control command storage area of the image memory 114M by the follower. Try to determine whether or not the action) has been performed. Then, when the control unit 101 determines that the follower has performed the same action (or an approximate action) as the action of the control command stored in the control command storage area of the image memory 114M, the control unit 101 corresponds to the action. A control command is acquired from the control command storage area of the image memory 114M, and a control signal is supplied to the aerial flight mechanism unit 2 so that the floating moving table 1 performs an operation according to the acquired control command.

Further, in this embodiment, the levitation moving table 1 can be given the above-mentioned control command by the voice emitted by the follow-up target person.

The voice recognition unit 115 is for recognizing a voice control command by the follower, and is a voice memory 115M that stores correspondence information between the control command described above and the voice information of the phrase corresponding to the control command. It has.

The control unit 101 monitors the voice information picked up by the omnidirectional microphone MC, and the voice recognition unit 115 monitors the voice phrase of the control command stored in the control command storage area of the voice memory 115M by the follower. Try to determine if the same phrase (or similar phrase) was spoken. Then, when the control unit 101 determines that the follower has uttered the same voice phrase (or a similar phrase) as the control command stored in the control command storage area of the voice memory 115M, the control unit 101 corresponds to the voice phrase. The control command to be performed is acquired from the control command storage area of the image memory 114M, and a control signal is supplied to the aerial flight mechanism unit 2 so that the floating moving table 1 performs an operation according to the acquired control command.

In this case, when the control unit 101 is instructed to "lower the height a little", the control unit 101 is instructed to lower the height by, for example, 2 cm from the current height position, and to "increase the height a little". At that time, it is controlled to be raised by, for example, 2 cm from the current height position. Further, when there is a command to "rotate the mounting table 9", the control unit 101 keeps the horizontal state of the mounting table 9 and, for example, 90 degrees to 180 degrees around the center position of the mounting table 9. Control to rotate. When the mounting table 9 itself has a rotating mechanism (not shown), the mounting table 9 is controlled to rotate, and the mounting table 9 does not rotate and is fixed to the housing 6 of the levitation moving table 1. If so, the levitation moving table 1 itself controls the position of the mounting table 9 by controlling the position such as rotation.

In addition, when there is a command to "change the hovering position (centered on the follower) to the right" or "change the hovering position (centered on the follower) to the left", the control unit The 101 controls the left and right positions of the levitation moving table 1 with respect to the follow-up target person so as to change to a side different from the current state. Other voice commands may include "come a little", "here", "away", and the like.

The alarm notification unit 116 follows when the weight of the article placed on the mounting table 9 of the floating moving table 1 is such that the hovering cannot be held by the floating moving table 1 (overweight). The subject is notified to that effect through a speaker (not shown) as a voice alarm such as a buzzer sound. Alternatively, a voice message such as "overweight" may be emitted by a speaker as a voice alarm to notify the user. Whether or not the weight is over is determined based on the weight detected by the weight sensor 109. Even in a slightly light state before the weight is over, a voice alarm may be used to notify that further placement is dangerous.

Further, the image recognition unit 114 recognized that the image information of the article which is overweight was registered in advance in the image memory 114M and the registered article was about to be placed on the mounting table 9. Sometimes, even if the alarm notification unit 116 emits a voice message such as "It is overweight" or "There is a risk of overweight" by the speaker as a voice alarm before mounting it. good.

Further, the image recognition unit 114 recognized that the image information of the drink or liquid article was registered in advance in the image memory 114M and the registered article was about to be placed on the mounting table 9. Occasionally, the alarm notification unit 116 may use a speaker to emit a voice message such as "There is a risk of liquid spilling" as a voice alarm before the placement.

The alarm notification unit 116 may light or blink an indicator (not shown) or a display unit (not shown), or may display a message.

The learning unit 117 includes a history memory 117M that stores information (history information) of the past usage history of the levitation moving table 1. In this case, the history information consists of image information of the follow-up target person taken by the cameras CM1 to CM6, and is a history memory together with the position information of the place of use and the face image information of the follow-up target person using the levitation moving table 1. It is stored in 117M. When the tracking target person is a user registered in the image memory 114M, the identification information of the registered tracking target person is also stored.

As a result, when a registered user is selected as the follow-up target person at the start of use of the levitation moving table 1, the information of the past usage history by the follow-up target person can be referred to in the learning unit 117. Further, when the user registered as the follow-up target person is not selected at the start of using the levitation moving table 1, when the follow-up target person is recognized by any of the cameras CM2 to CM5, the face image and the history thereof. When the face image is matched with the face image stored in the memory 117M, the past history information of the follow-up target person of the matched face image is referred to in the learning unit 117.

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

The prediction unit 118 controls the levitation moving table 1 according to the items predicted from the captured image information of any of the cameras CM2 to CM5 when the levitation moving table 1 is used.

That is, when the levitation moving table 1 is hovering in the air and it is predicted that an article will be placed on the loading table 9 by the follower, the descent due to the weight of the placed article is minimized. Control so that the amount of descent is sufficient. In this case, the weight measured by the weight sensor 109 of the article mounted on the levitation moving table 1 is stored in the history memory 117M together with the image information of the article taken by the cameras CM1 to CM6, and the storage thereof is stored. When the same article as the article is about to be placed on the floating moving table 1, the weight of the article is known, so that the floating moving table 1 should not be lowered as much as possible even if the article is placed. It can be easily corrected.

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

The prediction unit 118 also moves the levitation moving table 1 to the optimum hovering position according to the predicted action when the next action can be predicted from the action of the follower user, and the action of the follower target person. To be able to perform optimal control ahead of time.

The operation unit 119 is for the user to input the flight start activation of the levitation moving table 1, the creation of the moving space information, the storage instruction to the moving space memory 110, and other operation instructions. Further, in the levitation moving table 1 of this embodiment, the user can set a mode according to the place of use and the purpose of use of the past history stored in the history memory 117M. For example, if the place of use is the kitchen, the kitchen mode, if the purpose of use is to replace the fluorescent tube, the fluorescent tube exchange mode, if the purpose of use is to dry the laundry, the laundry drying mode, if the purpose of use is to take in the laundry, , Laundry capture mode, etc. can be set.

Then, the levitation moving table 1 of this embodiment automatically creates a list of set modes, and displays the list of the modes on a display unit (not shown) prior to the start of use of the levitation moving table 1. To do. From the list of this mode, the user can select through the operation unit 119 according to the place and purpose for starting the use. Instead of providing a display unit, it is also possible to provide a plurality of buttons that can be associated with each mode and select a mode by operating any of the plurality of buttons. Then, when the mode is selected through the operation unit 119, the learning unit 117 uses the learning result obtained by referring to the history information corresponding to the mode for the control of the levitation moving table 1.

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

[Operation example of floating moving table 1]
Next, a processing operation example of the levitation moving table 1 of the first embodiment will be described with reference to the flowcharts of FIGS. 3 and 4. In the following description, the control unit 101 is a flight drive signal generation unit 112, a position / attitude control signal generation unit 113, an image recognition unit 114, a voice recognition unit 115, an alarm notification unit 116, a learning unit 117, and a prediction unit 118. The case where the processing function of each part of the above is realized as a software processing function will be described. The levitation moving table 1 may be loaded with articles necessary for work before the start of use, or may be loaded with articles necessary for work after the start of use.

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

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

Then, the control unit 101 determines whether or not the follow-up target person can be certified while performing the search flight of the follow-up target person (step S103), and when it is determined that the follow-up target person cannot be certified, the step Returning to S102, the search movement of the follow target person is continued. When it is determined in step S103 that the follow-up target person can be certified, the control unit 101 determines that the follow-up target person can be recognized, and as described above, the control unit 101 refers to the height at a position separated by a predetermined distance from the certified follow-up target person. As an example, hovering is performed while keeping the mounting table 9 horizontal at a height position 20 cm below the position of the lower jaw of the follow-up target person (step S104).

In this case, if the follow-up target person is not selected prior to the start command, the control unit 101 searches for and certifies a user existing in the vicinity as the follow-up target person. Then, the face image of the follow-up target person photographed and certified by any one or a plurality of cameras CM2 to CM5 is stored in the temporary storage area of the image memory 114M as the follow-up target person of the time. When the follow-up target person is selected and specified prior to the start command, the control unit 101 selects a follow-up target person that matches the face image stored in the image memory 114M of the selected follow-up target person. Search and certify. Then, the face image stored in the image memory 114M of the selected follow-up target person is stored in the temporary storage area of the image memory 114M as the follow-up target person of the time. The control unit 101 always grasps a person who matches the face image stored in the temporary storage area of the image memory 114M as a tracking target person in the following movement.

After step S104, the control unit 101 determines whether or not the article mounted on the mounting table 9 has been picked up based on the captured image information of the cameras CM1 to CM5 (step S105), and is said to have been picked up. When the determination is made, as described above, the height position correction control for correcting the change in the height position according to the weight change due to the picking up of the article is performed (step S106).

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

After step S106, the control unit 101 proceeds to step S119 of FIG. 4, determines whether or not an action (gesture) or a voice end command has been received from the follower, and has not received the end command. When it is determined, the process is returned to step S105, and the processes after this step S105 are repeated.

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

Further, when it is determined in step S108 that the follower is not moving, the control unit 101 determines whether or not a hovering height position change command has been received (step S111 in FIG. 4), and receives the command. When it is determined that the hovering height position has been determined, the hovering height position is controlled to be lowered or raised according to an instruction (step S112). After this step S112, the control unit 101 advances the process to step S119, determines whether or not the action (gesture) or the end command by voice has been received from the follower, and determines that the end command has not been received. When this is done, the process is returned to step S105, and the processes after this step S105 are repeated.

When it is determined in step S111 that the hovering height position change command has not been received, the control unit 101 determines whether or not the rotation command of the mounting table 9 has been received (step S113), and determines that the command has been received. Occasionally, as described above, the bottom surface of the mounting table 9 is controlled to be rotated around the center position while maintaining the horizontal state according to the rotation command (step S114). After this step S114, the control unit 101 advances the process to step S119, determines whether or not the action (gesture) or the end command by voice has been received from the follower, and determines that the end command has not been received. When this is done, the process is returned to step S105, and the processes after this step S105 are repeated.

When it is determined in step S113 that the rotation command of the mounting table 9 has not been received, the control unit 101 has the height of the lower jaw, which is an example of the physical part of the follower, which is the reference of the hovering height position. It is determined whether or not the position is displaced upward or downward (step S115). The amount of displacement above or below determined in this case is a significant amount of displacement such that it is considered necessary to change the height position at which the levitation moving table 1 is hovering.

When it is determined in step S115 that the height position of the lower jaw, which is an example of the physical part of the follower, is displaced upward or downward, the control unit 101 is predetermined after the displacement starts. It is determined whether or not a predetermined time, for example, 5 seconds or more has elapsed (step S116), and when it is determined that the predetermined time or more has not elapsed, the current height position of the mounting table 9 is maintained (step S117). After that, the process returns to step S115.

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

In the processes from step S115 to step S118, when the follower crouches or stretches and the position of the lower jaw is displaced up and down, if it is a short time, the follower does not follow and is the original. A process of waiting in a hovering state at a height position and changing the hovering height position of the levitation moving table 1 according to the displacement of the position of the lower jaw when it waits for a predetermined time or longer. Is. This is because it is considered that a short-time change in the lower jaw of the follower does not require a change in the height position of the mounting table 9, so that unnecessary change control of the height position of the floating moving table 1 is avoided. It is a process for.

After this step S118, the control unit 101 advances the process to step S119, determines whether or not an action (gesture) or a voice end command has been received from the follower, and determines that the end command has not been received. When this is done, the process is returned to step S105, and the processes after this step S105 are repeated.

When it is determined in step S115 that the height position of the lower jaw, which is an example of the physical part of the follow-up target person, is not displaced upward or downward, the control unit 101 advances the process to step S119 and advances the process to the follow-up target person. It is determined whether or not the end command has been received by the action (gesture) or voice from the above, and when it is determined that the end command has not been received, the process is returned to step S105, and the processes after this step S105 are repeated.

Then, when it is determined in step S119 that the end command from the follow target person has been received, the control unit 101 ends the follow control for the follow target person and controls the levitation moving table 1 to land (step S120). ). This completes one processing operation of the levitation moving table 1.

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

In the example of FIG. 5, the recipe book 201 is placed on the mounting table 9 of the floating moving table 1, and various seasonings 202 such as soy sauce, salt, and pepper are placed. The recipe book 201 and the seasoning 202 are placed on the mounting table 9 of the levitation moving table 1 before the housewife 203, which is an example of the follower, is placed on the loading table 9 or is in a hovering state. It will be placed later.

Then, when the housewife 203, which is an example of the follower, gives a start command to the levitation moving table 1, the levitation moving table 1 is hovered at the above-mentioned height position while being separated from the housewife 203 by an appropriate distance. It will be in a ringing state. FIG. 5 shows the state. The housewife 203 can select herself as a follower if her face image is registered before issuing the start command, and if the cooking mode is set as a history. Can select and specify it. Further, when a suitable correspondence according to the recipe is set as a history, the recipe to be cooked may be selected and specified.

The levitation moving table 1 moves following the housewife 203, which is an example of the follow-up target person, moving between the kitchen sink 204, the cooking table 205, and the stove 206. At that time, the levitation moving table 1 moves while always maintaining the horizontal state of the bottom surface of the mounting table 9 and maintaining the height position. Then, the levitation moving table 1 avoids moving to the sky above the ignited stove 206 based on the sensor output of the temperature sensor 108. Further, the levitation moving table 1 predicts the behavior and movement of the housewife 203 by the learning unit 117 and the prediction unit 118, and hovering on the left side of the housewife 203 or hovering on the right side, and the hovering position is determined. Change as appropriate.

Further, when the housewife 203 bends down or crouches to take out an article from the drawer 207 or the cupboard 208, the levitation moving table 1 changes the hovering height position accordingly. Therefore, the housewife 203 can easily place the taken-out article on the mounting table 9 of the floating moving table 1 while bending over or crouching. The hovering height position when crouching can also be based on the position of the lower jaw of the follower, as in the case of standing. Further, the height position may be controlled according to the posture, for example, the height position may be set to a height position 10 cm lower than the position of the lower jaw instead of the height position 20 cm lower than the position of the lower jaw.

In addition, the housewife 203 gives instructions such as changing the height position of the levitation moving table 1 and changing the positions of the left side and the right side of the levitation moving table 1 according to his / her own convenience by actions (gestures) or voice commands. Can be done. In addition, when the seasoning 202 is placed on the bottom surface of the mounting table 9 on the side far from the housewife 203, it is convenient to instruct the mounting table 9 to rotate so that the seasoning 202 can be closer to oneself. Is. In this case, by recognizing the article placed on the mounting table 9 with the captured images of the cameras CM1 to CM5, the soy sauce in the seasoning 202 is the closest when it is said to "take the soy sauce". Also, if you say "toward the recipe book here", you can also instruct the recipe book 201 to rotate the mounting table 9 in the easy-to-read direction of the housewife 203. The recipe book 201 may be provided with a dedicated stand separate from the mounting stand 9 so that only the recipe book 201 can be rotated. When viewing the recipe book 201, illuminate the recipe book 201 with an LED light (not shown) provided on the upper surface of the housing 6, so that the recipe book can be firmly displayed even if it becomes dark or in the shadow. You can cook while watching.

As described above, in the cooking work, the housewife is in the process of cooking by placing the recipe book 201 on the mounting table 9 of the floating moving table 1 and placing the necessary seasoning 202 in advance. Since the floating moving table 1 moves according to one's own movement, cooking work can be easily performed while looking at the recipe book 201 each time, and the seasoning placed on the mounting table 9 of the floating moving table 1 is possible. The effect is that 202 can be appropriately and appropriately selected and used on the spot. Of course, not only the recipe book 201 and the seasoning 202 but also ingredients and cooking utensils may be placed on the mounting table 9.

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

Housewife 203, which is an example of the follower, takes out the washed laundry from the washing machine, puts it in the laundry basket 210, and floats the laundry basket 210 containing the washed laundry. It is placed on the mounting table 9 of the moving table 1. Then, the housewife 203 gives a start command to the levitation moving table 1 by voice or action (gesture). Also in this example, the housewife 203, which is an example of the follow-up target person, is the follow-up target person when his / her face image is registered on the mounting table 9 of the levitation moving table 1 before issuing the flight start command. You can select yourself as, and if the laundry drying mode is set as a history, you can select and specify it.

When the start command is detected, the levitation moving table 1 is in a state of hovering at the above-mentioned height position in a state of being separated from the housewife 203, which is an example of the follower, by an appropriate distance. Then, when the housewife 203 moves to the laundry drying area, the levitation moving table 1 moves to the laundry drying area following the housewife 203 with the laundry basket 210 placed on it. FIG. 6 shows the state.

At the laundry drying place, the housewife 203 takes out the laundry 211 from the laundry basket 210 placed on the mounting table 9 of the floating moving table 1 and hangs it on the clothes drying rod 212 to dry it. At this time, when the control unit 101 of the levitation moving table 1 detects by the learning unit 117 that, for example, the housewife 203 always positions the laundry basket 210 on its right side, the hovering position is set to the housewife 203. Control so that it is on the right side. Then, when the housewife 203 moves according to the progress of the laundry drying work, the levitation moving table 1 also moves following the movement.

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

In the laundry take-in mode, the housewife 203 takes in the laundry instead of drying the laundry, puts it in the laundry basket 210, and moves it indoors. Therefore, the levitation moving table 1 operates in the same manner as described above. Is to do.

As described above, in both the laundry drying mode and the laundry taking-in mode, the floating moving table 1 is used to transport the laundry basket 210, assist in taking out the laundry from the laundry basket 210, and the laundry basket 210. Since it plays a role of assisting the laundry in taking in the dry laundry, the housewife 203 has an advantage that the work of drying the laundry and taking in the laundry becomes easy and is very easy to use.

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

The householder 221 who is an example of the follower places a new fluorescent tube 222, a glow starter (glow starter) 223, a bean ball 224, and the like for replacement on the mounting table 9 of the floating moving table 1. Then, the family member 221 gives a start command to the levitation moving table 1 by voice or action (gesture). In this example as well, the householder 221 who is an example of the follow-up target person is the follow-up target person when his / her face image is registered on the mounting table 9 of the levitation moving table 1 before issuing the flight start command. You can select yourself as, and if the fluorescent tube replacement mode is set as a history, you can select and specify it.

When the start command is detected, the levitation moving table 1 is in a state of hovering at the above-mentioned height position in a state of being separated from the householder 221 which is an example of the follow-up target person by an appropriate distance. Then, when the family member 221 climbs the stepladder 225, the levitation moving table 1 changes the height position according to the movement of the family member 221 with a delay of about 10 seconds in this example. Then, when the householder 221 reaches the height position where the fluorescent tube is replaced and stops moving above it, the levitation moving table 1 also follows the householder 221 so that the height of the householder 221 is increased. Hovering is performed 20 cm below the position of the lower jaw, which is a physical part that serves as an example of the standard. FIG. 7 shows the state. At this time, when the control unit 101 of the levitation moving table 1 detects by the learning unit 117 that, for example, the householder 221 always positions the floating moving table 1 on his / her left side, the hovering position is set to the householder 221. Control so that it is on the left side of. Further, at this position, the householder 221 can adjust the hovering height position of the levitation moving table 1 and the horizontal position centered on himself / herself by a gesture or a voice command.

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

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

In this way, the householder 221 who has finished the fluorescent tube replacement work and got off the stepladder 225 gives an end command to the levitation moving table 1. Then, the levitation moving platform 1 lands and ends its operation. The householder 221 lowers the old fluorescent tube 226, the old glow ball (not shown), the old bean ball (not shown), and the like from the mounting table 9 of the floating moving table 1, and finishes the work.

As described above, the worker 221 removes the old fluorescent tube 226 and places it on the mounting table 9 of the floating moving table 1, and the new fluorescent lamp mounted on the mounting table 9 of the floating moving table 1. It is very convenient to be able to pick up the tube 222 and work to attach it to the luminaire.

Then, in the fluorescent tube replacement mode of this example, the fluorescent tube replacement worker can preliminarily place items necessary for replacement, such as a new fluorescent tube 222, glow bulb 223, and bean bulb 224, on the mounting table 9 of the floating moving table 1. The floating moving table 1 can be moved to a height position where the fluorescent tube is replaced by simply climbing the step 225. Then, when the replacement work is completed, the replacement worker can also lower the levitation moving table 1 simply by getting off the stepladder 225.

Therefore, when the replacement worker climbs the stepladder 225, he / she climbs with a new fluorescent tube 222, and when he / she descends the stepladder 225, he / she takes the old fluorescent tube 226 after replacement and descends. It disappears and safety is improved.

It goes without saying that the above-mentioned operation mode of the floating moving table 1 is an example and is not limited to these, and various other usage modes are possible. For example, instead of replacing the fluorescent tube, the LED bulb or the incandescent bulb may be replaced. It can also be used to replace air conditioner filters, organize and clean the top of refrigerators and cupboards. Furthermore, it can be used for decorations such as Christmas trees and decorations at high positions in rooms.

[Second Embodiment]
The levitation moving table 1 of the first embodiment described above is also used for business use, but is mainly for home use, and the voice of the follower can always be picked up by the microphone, or the follower's action (gesture). ) Was used in an environment where it could be captured by a camera. In the second embodiment, since the follower is located at a place farther away from the follower, such as a construction site or a construction site, the voice of the follower cannot be picked up by the microphone, or the follower's behavior (gesture). This is a case where the levitation moving table can be called so that the person to be followed can be made to follow and move even if the camera cannot capture the image.

The levitation moving table 1A of the second embodiment may have the same mechanical configuration as the levitation moving table 1 of the first embodiment shown in FIG. However, the levitation moving table 1A of the second embodiment can be made larger than the one used in the home of the first embodiment, and a heavier article can be placed on it. To do so. Therefore, the mechanical configuration of the levitation moving table 1A of the second embodiment can be substantially the same except that the size is different from that of the levitation moving table 1 of the first embodiment. The illustration of the target configuration is omitted.

FIG. 8 shows a configuration example of the drive control device unit 10A of the levitation moving table 1A of the second embodiment. In the configuration example of FIG. 8, the same reference numerals are given to the same parts as the drive control device unit 10 of the levitation moving table 1 of the first embodiment shown in FIG. 2, and detailed description thereof will be omitted. ..

As shown in FIG. 8, in the drive control device unit 10A of the levitation moving table 1A of the second embodiment, the communication unit 120 is connected to the system bus 100, and the communication unit 120 is used. The only difference is that the control unit 101A, which also has a function of controlling the communication, is provided, and other than that, it is the same as the drive control device unit 10 of the levitation moving table 1 of the first embodiment. The control unit 101A has all the functions of the control unit 101 of the drive control device unit 10 of the levitation moving table 1 of the first embodiment, and also has a function of controlling communication using the communication unit 120. The unit 101A is provided.

Then, in the second embodiment, the external portable device 121 that communicates with the communication unit 120 of the levitation moving table 1A is used. The external mobile device 121 has a function of detecting the current position of the own device and also has a function (software application) of communicating with the communication unit 120 of the floating mobile phone 1A. Can be used. When this smartphone is used as an external portable device 121, an application program having a function of communicating with the communication unit 120 of the levitation moving platform 1A is installed in the smartphone in advance.

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

Then, in the second embodiment, the levitation moving table 1A can be activated and called from the external portable device 121 by this communication. The call signal at the time of calling from the external portable device 121 includes information on the current position including the height position of the external portable device 121.

Then, the levitation moving table 1A detects the position information included in the calling signal, jumps to the position indicated by the position information, and moves following the tracking target person at that position.

Further, in the second embodiment, the levitation moving table 1A is called even in a state of following another follow-up target person, and after obtaining the permission of the follow-up target person who is following at that time, a call request is made. It is configured so that the person who does it can follow him.

[Main processing operation in the floating moving table 1A of the second embodiment]
9 and 10 are flowcharts showing an example of the flow of the processing operation at the time of calling from the above-mentioned external portable device 121 in the floating moving table 1A of the second embodiment. In FIGS. 9 and 10, as in the examples of FIGS. 3 and 4, the control unit 101A will be described as a case where the necessary processing function of each unit is realized as a software function as in the control unit 101.

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

When it is determined in step S201 that the call signal has been received, the control unit 101A determines whether or not the follow-up target person is being followed (step S202). When it is determined in step S202 that the follow-up target person is following, for example, a speaker (not shown) notifies that the other person has called (step S203).

Next, the control unit 101A determines the action (gesture) of the follow-up target person, the call permission by voice, or the non-permission response to this notification (step S204). When it is determined in step S204 that the call of another person is not permitted, the control unit 101A notifies the caller through the communication unit 120 that the other person is "in use" (step S205), and at that time. Maintains the follow-up state with respect to the follow-up target person (step S206).

Next, the control unit 101A determines whether or not a call signal has been received from another person (step S207), and when it determines that the call signal has not been received, returns the process to step S206 for the follow-up target person at that time. Maintain the follow-up state.

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

Then, when it is determined in step S202 that the follow-up target person does not exist, and when it is determined in step S204 that the call of another person is permitted, the control unit 101A is included in the received call signal. The position information including the height position information is extracted to recognize the position of the caller (step S211 in FIG. 10).

Then, the control unit 101A controls the levitation moving table 1A so as to fly and move to the position of the caller (step S212). Then, when the flight moves to the position of the caller, the control unit 101A recognizes the follow-up target person existing at the position, maintains a predetermined distance between the recognized follow-up target person, and The position of the lower jaw, which is the height reference of the person to be followed, is detected, and the hovering is controlled at a height position 20 cm below the position of the lower jaw (step S213). Further, the control unit 101A puts the levitation moving table 1A into a following state so that the recognized tracking target person moves following when the recognized tracking target person moves (step S214).

Next, the control unit 101A determines whether or not a call signal from another person has been received (step S215), and when it determines that the call signal has not been received, returns the process to step S214 to follow the target. Maintain a follow-up state to the person.

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

[Example of usage of the floating moving table 1A of the second embodiment]
By providing the above configuration, the levitation moving table 1A of the second embodiment can be used, for example, as shown in FIG.

In the example of FIG. 11, a scaffolding 231 is assembled at a construction site of a multi-story building, and a worker 232 at the scaffolding 231 on the upper floor works on a tool such as a saw on the scaffolding 231 on the lower floor. This is the case when you ask the worker 233 to lend (or give) to you. In this case, it is assumed that the worker 233 working on the lower floor is using the levitation moving table 1A at that time, and the levitation moving table 1A has the worker 233 as the follower.

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

Then, the worker 232 on the scaffolding on the upper floor sends a call signal including information on his / her position (including the height position) to the levitation moving table 1A by the external portable device 121 that he / she possesses. Send. Then, the levitation moving table 1A that has received the call signal notifies the worker 233, who is the follower of the scaffolding 231 on the lower floor, of the call by another person by the speaker.

Therefore, the worker 233 on the lower floor responds to the levitation moving table 1A by, for example, pronouncing "OK" by voice or making an "OK" mark by hand and gesturing. Upon receiving this, the levitation moving table 1A determines that the permission from the worker 233 on the lower floor has been obtained, and releases the follow-up state to the worker 233 on the lower floor.

Then, the levitation moving table 1A extracts the position information of the worker 232 of the scaffolding 231 on the upper floor included in the call signal, recognizes the position of the worker 232, and flies to that position to move. Then, the levitation moving table 1A recognizes the worker 232 as a new follow-up target person, hovering to a height position based on the reference height position of the recognized follow-up target person, and the recognized follow-up target person. It is set to the following state in which it moves following the movement.

Therefore, the worker 232 of the scaffolding 231 on the upper floor can take out the saw mounted on the mounting table 9 of the floating moving table 1A from the mounting table 9 and use it, and return it to the mounting table 9 after use. .. Then, when the worker 232 moves appropriately, the levitation moving table 1A moves following, so that the saw mounted on the mounting table 9 can be picked up and used even at the moved position.

In the above example, the follow-up state with respect to the worker 233 is completely canceled and the follow-up state is transferred to the worker 232, but it is also possible to temporarily cancel the follow-up state. In this case, when the worker 233 rents (or gives) the saw to the worker 232, the follow-up state is temporarily released, and when the worker 232 finishes the saw work and returns the saw, the follow-up state is changed. Return.

[Modified example of the second embodiment]
In the above description of the second embodiment, the position information of the caller is included in the call signal, and the levitation moving table 1A moves to the position specified by the position information. However, the method of moving the levitation moving table 1A to the position of the caller is not limited to this, and the levitation moving table 1A may move to the position of the caller based on the information contained in the call signal. It can be done.

For example, at construction sites and construction sites, on-site workers often wear ID cards and name tags. Therefore, RFID (Radio Frequency IDentification) that generates unique ID information (identification information) for each field worker is incorporated in the ID card or name tag worn by the field worker, and the ID card or ID card is used as the call signal. Include unique ID information for each field worker stored in the RFID embedded in the name tag. The levitation moving table 1A includes an ID information detecting means for detecting the ID information included in the calling signal, and the ID information detecting means generates the same ID information as the ID information included in the calling signal. By detecting the ID card or name tag, it moves to the position of the caller.

It goes without saying that the above-mentioned usage mode of the floating mobile platform 1A at the construction site of the building is an example, and is not limited to the construction site of the building, and various other usage modes are possible. For example, it can be used for inspection work on utility poles, various constructions, inspections of various devices in station premises and factories, replacement of consumables, repairs, and the like.

Furthermore, it can also be used for harvesting fruits such as mandarin oranges, apples, grapes, cherries, and peaches in orchards. In that case, the floating moving table is a fruit harvested by the follower based on the images taken by the camera CM1 whose shooting direction is upward and the camera (one of the cameras CM2 to CM5) that shoots the follower. The movement may be controlled so that it is located below.

[Other Embodiments or Modifications]
In the above-described embodiment, the housing and the mounting table of the floating moving table are configured in a box shape as a whole, but the present invention is not limited to this, and various shapes such as a cylindrical shape and a hemispherical shape are formed. Can be. Further, the size of the mounting table is substantially the same as the outer portion of the rotary wing mechanism, but the size is not limited to this, and may be smaller or larger than the outer portion of the rotary wing mechanism. Furthermore, the mounting table can be replaced, and an appropriate mounting table can be used according to the application.

Further, in the above-described embodiment, the mounting table is assumed to have holes formed in a mesh shape on the bottom surface and the side surface of the cage, but the present invention is not limited to this, and the air flow generated by the rotation of the rotor blades is less affected. It may be a configuration.

Further, in the above-described embodiment, the mounting table is provided on the upper part of the floating moving table, but it can also be hung from the lower part.

Further, in the above-described embodiment, when determining the height position of hovering, the position of the lower jaw is used as a reference as a specific physical part of the follower, but the position of the shoulder and the eyes are not limited to the lower jaw. , Ear, nose, mouth position, elbow position, etc. may be used as a reference. Further, it is not limited to the physical part of the follower, and the position of a specific part such as the collar, the first button, and the chest pocket of the clothes worn by the follower can be used as a reference. It can also be based on the position of jewelry such as pierced earrings, earrings, necklace pendant tops, and brooches worn by the follower. In addition, at government offices, offices, factories, offices, construction sites, etc., employees and workers must wear employee ID cards, ID cards, name tags, nameplates, and attachments such as company emblems and emblems. However, the positions of these employee ID cards, ID cards, name tags, name plates, and the positions of company emblems and emblems may be used as a reference. Of course, these reference positions may be registered in advance on the levitation moving table.

Furthermore, when the follower is using a moving object such as a wheelchair, the position of the arm of the seated wheelchair is determined in relation to the follower, so hovering the position of the arm of this wheelchair. It can be used as a reference when determining the height position of. It is extremely convenient for the levitation moving platform to follow the side of the wheelchair for the follower who is using a wheelchair because it is difficult to walk.

In addition, in areas where there is no danger in terms of road traffic, it can be applied not only to wheelchairs but also to bicycles. In this case, the position of the handlebar of the bicycle in the driver's seat where the follower is seated may be used as a reference. Further, when the follower faces the desk and sits on a chair for work, the position of the upper surface of the desk or the arm of the chair may be used as a reference.

Further, in the above-described embodiment, the aerial flight mechanism unit 2 has been described with the example of a helicopter type mechanism unit having four rotor blade mechanisms, but the number of rotor blade mechanisms may be three or less or five or more. .. Further, it is applicable not only to the helicopter type mechanism part but also to any mechanism part capable of hovering such as an airplane type mechanism part.

Further, in the above-described embodiment, the number of cameras is six and the microphone is one omnidirectional microphone, but the number is not limited, of course. In addition, various positions for providing cameras and microphones can be considered. Further, the microphone is not limited to the omnidirectional microphone, and the directional microphone may be used to collect voices and sounds of a follower or a specific direction. The camera may be a standard camera, a wide-angle camera, a fisheye camera, or a 360-degree camera. Further, it may be a close-up camera or a telephoto camera. Of course, these cameras may be used together.

In addition, it goes without saying that various modifications of the floating moving table can be considered due to its mechanism.

1,1A ... Floating moving table, 2 ... Air flight mechanism unit, 3 ... Drive control unit, 6 ... Housing, 9 ... Mounting table, 10,10A ... Drive control device unit, 101, 101A ... Control unit, CM1 to CM6 …camera

Claims (43)

An aerial flight mechanism for floating and moving in the air and hovering in the air,
A receiving means for receiving a calling signal containing information for locating the caller, and
One or more cameras for photographing the caller and the surrounding environment of the caller,
A mounting table on which articles can be placed or the articles on which they are placed can be taken out,
A recognition means for recognizing the caller and the position specified in relation to the caller from the image information taken from the one or more cameras.
Based on the information for identifying the position of the caller, the aircraft moves to the position of the caller and hovering in the vicinity of the position identified in relation to the caller recognized by the recognition means. A control means for controlling the aerial flight mechanism unit and
A levitation moving platform characterized by being equipped with. The receiving means is provided with an in-use determining means for determining whether or not a person other than the caller is in use when the calling signal is received.
The control means is characterized in that when it is determined by the in-use determining means that a person other than the caller is not in use, the aerial flight mechanism unit is controlled so as to move to the position of the caller. The levitation moving table according to claim 1. The receiving means is provided with an in-use determining means for determining whether or not a person other than the caller is in use when the calling signal is received.
When the in-use determination means determines that a person other than the caller is in use, the notification means for notifying the person other than the caller of the call of another person.
A permission determining means for determining a call permission or a call disapproval response from a person other than the caller who received the notification by the notification means.
The control means is characterized in that, when the permission determination means determines the response of the call permission, the control means controls the aerial flight mechanism unit so as to move to the position of the caller. The floating moving table according to claim 2. Equipped with communication means
When the permission determination means determines the response of the call disapproval, the caller is notified that the call is in use through the communication means, and the use for a person other than the caller is continued. The levitation moving table according to claim 3. The levitation moving table according to any one of claims 1 to 4, wherein the information for identifying the position of the caller is position information indicating the position of the caller. The information for identifying the position of the caller includes the same identification information as the identification information for identifying the caller included in the transmission signal transmitted from the transmission means included in the caller.
An identification information detecting means for receiving a transmission signal from the transmission means and detecting the identification information included in the received signal is provided.
The control means is the identification information detecting means, and controls the aerial flight mechanism unit so as to detect the transmitting means that generates the same identification information as the identification information included in the calling signal, and the calling. The levitation moving table according to any one of claims 1 to 4, wherein the floating moving table is moved to the position of a person. Claims 1 to 6, wherein the call signal includes information for maintaining a predetermined distance from the caller and / or identifying a hovering height position. Floating platform described in any of. The position identified in relation to the caller recognized by the recognition means is a position that maintains a predetermined distance from the caller and / or a height position that is identified in relation to the caller. The levitation moving table according to any one of claims 1 to 7. Claims 1 to 1, wherein the position specified in relation to the caller recognized by the recognition means is a height position with respect to a part or a place specified in relation to the caller. The floating moving table according to any one of claims 8. The parts or parts identified in relation to the caller are specific physical parts of the caller, specific parts of clothing worn by the caller, and accessories and accessories worn by the caller. The levitation moving table according to claim 9, wherein the levitation moving table is located at either the position of the above or a specific part of the surrounding environment when the caller is seated. The caller is a fruit harvester, and the control means controls to hover to a position below the fruit harvested by the caller based on images taken by the one or more cameras. The floating moving table according to any one of claims 1 to 10, wherein the floating moving table is characterized in that. A voice recognition means for recognizing a hovering height position change command and / or a horizontal position change command by the caller's voice is provided.
In response to the voice-based hovering height position change command and / or the horizontal position change command recognized by the voice recognition means, the control means has the hovering height. The floating moving table according to any one of claims 1 to 11, wherein the position and / or the horizontal position is changed and controlled. An image recognition means for recognizing a hovering height position change command and / or a horizontal position change command by the caller's action from the images taken by the one or a plurality of cameras is provided.
The control means responds to a command to change the height position and / or a command to change the horizontal position of hovering by the action of the caller recognized by the image recognition means, and the control means is hovering. The floating moving table according to any one of claims 1 to 12, wherein the height position and / or the horizontal position of the above is changed and controlled. A voice recognition means for recognizing a rotation command for rotating the above-described stand while maintaining a horizontal state in a hovering state by the voice of the caller is provided.
Claims 1 to 13, wherein the control means controls the above-described stand to rotate while maintaining a horizontal state in response to the rotation command by the voice recognized by the voice recognition means. Floating platform described in any of. An image recognition means for recognizing a rotation command for rotating the above-mentioned pedestal while maintaining a horizontal state in the hovering state by the action of the caller from the images taken by the one or a plurality of cameras is provided.
Claims 1 to 1, wherein the control means controls the above-described stand to rotate while maintaining a horizontal state in response to the rotation command by the caller's action recognized by the image recognition means. The floating moving table according to any one of claims 14. When the control means predicts the caller's action based on the captured image information from the one or more cameras, the control means controls the hovering position and / or state according to the predicted action. The levitation moving table according to any one of claims 1 to 15. When the height position of the specific physical part of the caller, which is the reference of the hovering height position, changes, the control means sets the hovering height position according to the posture change of the caller. The levitation moving table according to any one of claims 1 to 16, wherein the floating moving table is controlled so as to be changed. When it is determined that the height position of the specific physical part of the caller, which is the reference of the hovering height position, has changed and a predetermined time or more has elapsed, the control means determines the hovering height. The levitation moving table according to claim 17, wherein the position is controlled so as to change according to a change in the posture of the caller. The control means shall maintain the hovering height position within a predetermined time even if the height position of the specific physical part of the caller, which is the reference of the hovering height position, changes. The levitation moving table according to any one of claims 1 to 16, wherein the levitation moving table is controlled. A face image storage unit that stores the registered user's face image,
The recognition means is said to match the registered user's face image stored in the face image storage unit with the caller's face image taken by the one or a plurality of cameras. The floating mobile table according to any one of claims 1 to 19, wherein the levitation moving table is characterized by recognizing a caller. A contact detecting means for detecting contact and / or pressing of the caller with the preceding table is provided.
Using the contact detecting means, the hovering height position change command and / or the horizontal position change command is recognized, and the hovering height position change command is recognized.
The control means responds to a command to change the height position of hovering by the contact and / or pressing recognized by the contact detecting means and / or a command to change the horizontal position of the hovering. The floating moving table according to any one of claims 1 to 20, wherein the floating and / or horizontal position is changed and controlled. An image information of an article placed on the above-mentioned stand and a storage means for storing the article as being an article containing a liquid in association with each other.
An alarm means for notifying an alarm when it is image-recognized from the images taken by the one or more cameras that an article containing the liquid stored in the storage means is about to be placed on the above-mentioned stand. ,
The levitation moving table according to any one of claims 1 to 21, wherein the levitation moving table is provided. Equipped with an indicator and / or display
An image information of an article placed on the above-mentioned stand and a storage means for storing the article as being an article containing a liquid in association with each other.
When it is recognized from the images taken by the one or more cameras that the article containing the liquid stored in the storage means is about to be placed on the above-mentioned stand, the indicator and / or the display unit. The floating moving table according to any one of claims 1 to 22, wherein a message is displayed on the display unit. A weight sensor for detecting the weight of an article placed on the above-mentioned pedestal or an article taken out from the above-mentioned pedestal,
Based on the detection result of the weight sensor, a state detecting means for detecting a state in which the weight of the article placed on the above-mentioned table is overweight and / or a state in which there is a risk of overweight cannot hold the hovering.
When the state detecting means detects the overweight state and / or the overweight state and / or the overweight state, the notification means for notifying the overweight state and / or the overweight state and / or the overweight state.
The levitation moving table according to any one of claims 1 to 23. A storage means for storing image information of an article that becomes overweight and cannot hold hovering when placed on the above-mentioned stand, and a storage means.
Notification means for notifying the overweight when it is image-recognized from the images taken by the one or more cameras that the overweight article stored in the storage means is about to be placed on the above-mentioned stand. When,
The levitation moving table according to any one of claims 1 to 24. The levitation moving table according to any one of claims 1 to 25, wherein the above-mentioned table has a plurality of types of shapes and / or sizes and is replaceable. When the caller is on a moving body or is using a moving body, the part or place specified in relation to the caller is a specific place of the moving body. The floating mobile table according to any one of claims 1 to 26. 28. The floating moving table according to claim 27, wherein the specific portion of the moving body is the position of a handle or the position of an arm. The levitation moving table according to any one of claims 1 to 28, wherein the control means controls the aerial flight mechanism unit so as to follow the movement of the caller. The first mode that completely releases the state of following the caller and controls the transition to the state of following another person, and the state of temporarily releasing the state of following the caller are temporarily released to the other person. The levitation moving table according to claim 29, further comprising a second mode in which the caller is temporarily followed and then returned to a state of following the caller. Equipped with a temperature sensor
The control means according to any one of claims 1 to 30, wherein the control means controls the aerial flight mechanism unit so as not to approach an area having a high temperature atmosphere based on the sensor output of the temperature sensor. Floating mobile platform. A means for determining the dominant hand of the caller is provided.
The levitation moving table according to any one of claims 1 to 31, wherein the control means hover at a position corresponding to the determined dominant hand of the caller. It is provided with a plurality of modes according to the place of use and / or the purpose of use, and is provided with means for presenting a list of the modes to the caller.
The levitation moving table according to any one of claims 1 to 32, wherein the control means executes a mode selected from the list of modes. A history memory that stores past usage history information and
The levitation moving table according to claim 33, wherein the caller is presented with a list of the modes based on the information of the past usage history of the history memory. Equipped with a means to accept the start command
The levitation moving table according to any one of claims 1 to 34, wherein the control means receives the start command after the caller selects a predetermined mode from the list of modes. The levitation moving table according to any one of claims 1 to 35, wherein the bottom surface and / or the side surface of the above-mentioned table is formed with holes in a mesh shape. The levitation moving table according to any one of claims 1 to 36, wherein the pedestal is provided above and / or below the levitation moving table. The levitation moving platform according to any one of claims 1 to 37, wherein the position specified in relation to the caller is registered in advance. Equipped with communication means
The communication means communicates with another portable device and also
The levitation moving table according to any one of claims 1 to 38, which comprises receiving an activation signal and / or a calling signal from the separate portable device. A weight sensor for detecting the weight of an article placed on the above-mentioned stand or an article taken out from the above-mentioned stand is provided.
The control means is the weight of the article detected by the weight sensor when the article is placed on the above-mentioned pedestal in the hovering state or when the article is taken out from the above-mentioned pedestal. The levitation moving table according to any one of claims 1 to 39, wherein the hovering is controlled so as to correct a change in the height position of the hovering due to the weight of the article. A weight sensor for detecting the weight of an article placed on the above-mentioned stand or an article taken out from the above-mentioned stand is provided.
The control means is the weight of the article detected by the weight sensor when the article is placed on the above-mentioned pedestal in the hovering state or when the article is taken out from the above-mentioned pedestal. Based on the above, the amount of descent of the above-mentioned article according to the weight of the article when the article is placed on the above-mentioned pedestal is reduced, or the amount of the article when the article is taken out from the above-mentioned pedestal is reduced. The levitation moving table according to any one of claims 1 to 39, wherein the aerial flight mechanism unit is controlled so as to reduce the amount of rise of the above-mentioned table according to the weight. One or more sensors for attitude control to keep the pedestal horizontal, as described above.
The control means uses the detection outputs of the one or more sensors to control hovering while maintaining the horizontal state of the above-mentioned pedestal in the vicinity of a position specified in relation to the caller. The levitation moving table according to any one of claims 1 to 41. An aerial flight mechanism for floating and moving in the air and hovering in the air, one or more cameras for photographing the caller, and one or more cameras for photographing the surrounding environment of the caller, and an article. A computer provided with a levitation moving platform provided with a loading platform capable of mounting or taking out the mounted articles.
A receiving means for receiving a calling signal containing information for identifying the location of the caller,
A recognition means for recognizing the caller and a position specified in relation to the caller from image information captured by the one or more cameras.
Based on the information for identifying the position of the caller included in the call signal received by the receiving means, the caller moves to the position of the caller, and the caller and the caller recognized by the recognition means are used. A control means that controls the aerial flight mechanism to hover in the vicinity of a position identified in relation to the caller.
A program for a levitation platform to function as.

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