JP7153397B2 - Floating carriages and programs for levitating carriages - Google Patents

Description

TECHNICAL FIELD The present invention relates to a levitation mobile platform and a program for the levitation mobile platform that floats and can be used as a platform for placing various articles in the vicinity of the user.

For example, when a worker replaces a fluorescent light fixture such as a fluorescent tube of a lighting fixture installed on the ceiling by himself, the worker has conventionally had to climb a step or the like to replace it. Remove the fluorescent tube or the like from the fluorescent lamp fixture, get off the step once, and place the old fluorescent tube (fluorescent lamp or fluorescent lamp) somewhere. After that, the operator climbs onto the footstool or the like again while holding a part such as a new fluorescent tube, and attaches the new part or the like to the fluorescent lamp fixture. Therefore, the worker had to repeatedly go up and down the step, which was troublesome.

If there is an assistant, the worker can hand the old fluorescent tube or the like to the assistant or have the worker hand the new fluorescent tube or the like to the assistant, so that the worker can replace the fluorescent tube without repeatedly going up and down the step. can work. However, the above-mentioned problem remains because the assistant is not always present.

Therefore, by preparing a mounting table in addition to the stepping table and placing the old and new fluorescent tubes to be replaced on the mounting table, the number of times the worker goes up and down the stepping table can be minimized. can be done.

However, it is desirable that such a mounting table has a height that corresponds to the height of the ceiling and that is suitable for the operator, but such a mounting table does not exist. . For this reason, even when using a mounting table, if the mounting table is too low, the operator must move the step to place an old fluorescent tube or the like to be replaced or pick up a new fluorescent tube or the like. Unless the work is done halfway down and then up again, it becomes difficult to work without damaging the fluorescent tubes, and there is also the problem of poor work efficiency and cumbersome work.

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

However, the method of using a liftable mounting table described in Patent Document 1 requires an installation space for the mounting table in addition to the installation space for the worker's stepping table, and in a situation where such an installation space cannot be secured. Not available. In addition, although it is necessary to adjust the height of the mounting table to an optimum height in advance according to the height of the ceiling and the operator, the pre-adjustment of the height can be done by actually stepping on the step and It is relatively troublesome because it is necessary to adjust while checking the height of the Furthermore, when the work is to be continued, the operator has to move not only the stepping stool but also the mounting table, which is troublesome.

Also, for example, when cooking in the kitchen, the person who cooks usually has a predetermined place, such as a place where ingredients such as vegetables and meat are prepared, and a place where cooking utensils such as a stove and an oven are located. Cooking work is carried out while moving the In addition, if there is a fixed place for cooking containers such as pots and frying pans, and a place for seasonings, etc., place the ingredients and cooking utensils You have to move between Furthermore, for example, when trying to cook while looking at a recipe book, etc., in addition to the above-described plurality of locations, the work of looking at the recipe book, etc., is added to confirm the cooking work.

However, it can't be helped because the place where ingredients are prepared and the place where cooking utensils such as stoves and ovens are located cannot be moved, but cooking containers such as pots and pans, seasonings, and even recipe books , it is also possible to move on the table, and some cooks do so.

In this case, if the table has movable wheels and is movable, the cook can move it as needed. cannot move the placing table together with the movement of the cook. Therefore, even if there is a movable table, it is rather difficult to move the table appropriately as the cook moves.

In addition, at construction sites, workers working in high places want to receive the necessary tools and materials from low places, or they are working in the same high place but in a remote place. When borrowing tools or receiving materials from a worker, conventionally, another worker throws the tools or materials to the worker who is in a high place requesting them, or takes the trouble to request them. It is moved to a higher place where the worker who did the work is and handed it to him.

However, if a worker in a high place fails to receive the thrown tools and materials, the tools and materials will fall and it is extremely dangerous, and the worker in the high place will also receive them. There are many accidents where people lose their balance and fall because of their movements. In addition, if another worker moves to a higher place where the requesting worker is and hands it over, the other worker will be forced to perform actions other than the original work, and it is inefficient. There is a problem.

Japanese Unexamined Patent Application Publication No. 2006-20866

As described above, conventionally, the work load can be reduced by using the mounting table, but the problems described above remain. In addition, there are environments such as construction sites where the mounting table cannot be used.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a levitation mobile platform that can eliminate the above 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;
ringing signal receiving means for receiving a ringing signal containing caller identification information;
identification information detection means for detecting the identification information from the identification information providing unit of the caller;
a mounting table on which an article can be placed or on which the placed article can be taken out;
Based on the identification information detected by the identification information detecting means, the identification information providing section that provides the same identification information as the identification information included in the calling signal received by the calling signal receiving means is detected. a control means for controlling the aerial flight mechanism unit to move to the position of the caller by controlling the aerial flight mechanism unit and to hover in the vicinity of the caller;
To provide a levitation mobile platform characterized by comprising:

In the levitation mobile platform of the present invention having the above configuration, when a call signal is received by the call signal receiving means, the control means controls the call signal received by the call signal receiving means based on the identification information detected by the identification information detecting means. By controlling the aerial flight mechanism unit to detect the identification information providing unit that provides the same identification information as the identification information included in to control the aerial flight mechanism.

Therefore, the caller having the identification information providing unit can call the levitation mobile platform to make it hover in the vicinity of the caller, and place an article on the platform of the hovering levitation mobile platform. Also, it is possible to take out an article placed on the placing table, which is convenient.

According to the levitation mobile platform of the present invention, the levitation mobile platform can be called and hovered near the caller, and the caller places an article on the platform of the hovering levitation mobile platform. Also, it is possible to take out an article placed on the placing table, which is convenient. Therefore, according to the levitation movable table of the present invention, it is possible to provide a useful and easy-to-use mounting table that overcomes the drawbacks of the conventional mounting table.

1 is a diagram showing a mechanical configuration example of a first embodiment of a levitation mobile platform according to the present invention; FIG. 1 is a block diagram showing a configuration example of a drive control unit of a first embodiment of a levitation mobile platform according to the present invention; FIG. FIG. 4 is a diagram showing part of a flowchart for explaining an operation example of the first embodiment of the levitation mobile platform according to the present invention; FIG. 4 is a diagram showing part of a flowchart for explaining an operation example of the first embodiment of the levitation mobile platform according to the present invention; FIG. 2 is a diagram for explaining an example of a usage mode of the first embodiment of the levitation mobile platform according to the present invention; FIG. 10 is a diagram for explaining another example of the mode of use of the first embodiment of the levitation mobile platform according to the present invention; FIG. 10 is a diagram for explaining still another example of the mode of use of the first embodiment of the levitation mobile platform according to the present invention; FIG. 10 is a block diagram showing a configuration example of a drive control unit of a second embodiment of the levitation mobile platform according to the present invention; FIG. 7 is a diagram showing part of a flowchart for explaining an operation example of the second embodiment of the levitation mobile platform according to the present invention; FIG. 7 is a diagram showing part of a flowchart for explaining an operation example of the second embodiment of the levitation mobile platform according to the present invention; FIG. 12 is a diagram for explaining an example of a usage mode of the second embodiment of the levitation mobile platform according to the present invention;

[First Embodiment]
DETAILED DESCRIPTION OF THE INVENTION A first embodiment of a floating mobile platform according to the present invention will be described below with reference to the drawings.

The levitation mobile platform 1 of this embodiment has a configuration of a flying object capable of autonomously flying in the air. FIG. 1(A) is a view of the floating platform 1 of this embodiment as seen from above, and FIG. 1(B) is a view of the floating platform 1 of this embodiment as seen from the front side. It is a diagram.

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

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

In this example, the motor drive units 51A, 51B, 51C, and 51D are independently controlled by the drive control signal from the drive control unit 3, so that the levitation mobile platform 1, which is an aircraft, can take off and land. , Rise (right up, diagonally up), Descend (right down, diagonally down), right turn, left turn, forward, backward, right shift, left shift, etc. , attitude control such as tilt angle with respect to the vertical direction, and position control of the hovering position.

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

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 trapezoidal pipe members, and as shown in FIG. It is The shape and member of the leg are not limited to this, and various types are conceivable. For example, the housing 6 may be made of wood or metal with four legs formed into a cylindrical shape at the four corners. Also, in order to facilitate movement on the landing surface 8, movable wheels may be attached to the legs.

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. FIG. Cameras CM2 to CM5 are provided on four sides of the housing 6, respectively, as shown in FIGS. 1(A) and 1(B). Further, a camera CM6 is provided on the bottom surface of the housing 6 as shown in FIG. 1(B).

The optical axes (corresponding to the photographing direction) of the cameras CM1 to CM6 are perpendicular to the respective mounting surfaces of the cameras CM1 to CM6, and a predetermined angle of view range can be photographed centered on the optical axis direction.

At a position above the rotor blades 52A, 52B, 52C, and 52D that does not interfere with the rotation of the rotor blades 52A, 52B, 52C, and 52D, a mounting table 9 for placing an article is provided on the upper surface of the housing 6. It is supported by being fixed to four support legs 9A, 9B, 9C, and 9D erected from the base. In this example, the mounting table 9 has an opening at the top and a basket shape with a U-shaped cross section. The mounting table 9 has mesh-like holes formed in the bottom and side surfaces of the cage so as not to affect the air flow caused 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 to illuminate the articles placed on the mounting table 9 so that work can be performed even in a dark place. .

A drive control unit 10 is provided in the housing 6 . FIG. 2 is a block diagram showing a configuration example of the drive control unit 10 in the levitation mobile base 1 of this embodiment. Note that the battery is omitted in FIG.

As shown in FIG. 2, the drive control unit 10 in this embodiment provides a control unit 101 consisting of a microcomputer (abbreviated as a microcomputer in FIG. 2) through a system bus 100 to an aerial flight drive unit 102, a gyro sensor, and a control unit 101. 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 detector 111, flight drive signal generator 112, position and attitude control signal generator Unit 113, cameras CM1 to CM6, omnidirectional microphone (abbreviated as omnidirectional microphone in FIG. 2) MC, image recognition unit 114, voice recognition unit 115, alarm notification unit 116, learning unit 117, prediction unit 118, operation unit 119 are connected to each other. The control unit 101 constitutes main control means for controlling the levitation mobile base 1 as a whole.

The aerial flight drive section 102 supplies drive control signals to the motor drive sections 51A, 51B, 51C, and 51D of the rotor mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism section 2 under the control of the control section 101, respectively. do.

The gyro sensor 103 detects changes in the acceleration of the levitating mobile base 1 during flight, and is used to detect the flying traveling direction, its speed, and attitude of the levitating mobile base 1 . The geomagnetic sensor 104 is used to detect which direction the levitation mobile base 1 is facing, north, south, east, and west, and which direction it is flying.

The gravity sensor 105 is for detecting the direction of gravity (vertical direction).

The altitude sensor 106 is for detecting the altitude at which the levitating mobile base 1 is positioned at that time, and is composed of, for example, an air pressure sensor.

The obstacle sensor 107 emits light, infrared rays, ultrasonic waves, or the like, and detects reflected waves from obstacles such as the person to be followed and walls, thereby detecting the existence of obstacles and detecting the presence of obstacles. Alternatively, it is possible to detect the time from when an ultrasonic wave is emitted to when the reflected wave is received, and to calculate the distance to the detected obstacle from that time. In this embodiment, the obstacle sensor 107 detects the object to be followed, people other than the object to be followed, animals such as pets, walls, drawers, beds, and desks in the indoor or outdoor space where the levitation mobile base 1 is used. , It is used to be controlled to avoid collisions with obstacles such as garden trees.

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

The temperature sensor 108 is used to detect a high-temperature atmosphere, assuming that the floating platform 1 is used in a kitchen, so that the floating platform 1 does not come close to an ignited stove or the like. In addition, when controlling the levitation mobile base 1 so as not to come close to an ignited stove or the like, the captured image information of the ignited stove is also used by one of the cameras CM1 to CM6. 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, when an article is placed on the mounting table 9, the weight of the article detected by the weight sensor 109 is the weight of the article placed on the mounting table 9 photographed 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 movement space memory 110 stores space information about the room in which the levitation movement platform 1 is used. The memory of the control unit 101 of the floating mobile platform 1 of this embodiment stores an application program for panoramic photography (for example, Photosynth). , all or some of the cameras CM1 to CM6 are used to photograph the room in a range of 360 degrees. Then, the control unit 101 uses an application program for panorama photography to generate indoor 3D image information from the photographed image information, and stores the generated 3D image information in the movement space memory 110 .

In this case, the moving space memory 110 also pre-stores information on the length, width, and height of a room such as a kitchen to be used. Further, structural information of rooms to be used, such as beams, pipe spaces, and pillars, 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 floating mobile base 1 . In order to obtain more accurate position information, the current position may be detected using radio waves from a mobile phone base station or radio waves from a Wi-Fi (Wireless Fidelity (registered trademark)) communication access point. . In addition, all or part of the cameras CM1 to CM6 are used to photograph the surroundings of the levitation mobile base 1, and the photographed image information is compared with the 3D image information stored in the moving space memory 110 for image recognition. By doing so, the current position may be detected by grasping the relative position in the 3D image space. In order to detect the current position after movement, the current position detector 111 also uses the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor .

The flight drive signal generator 112 performs the following processing operations under the control of the controller 101 .

First, when the levitation flight is started based on the activation command from the control unit 101, first, a flight drive signal is generated for finding the person to be followed. In this case, when the movement space in which the levitation mobile base 1 is used is the movement space stored in the movement space memory 110, the position information of the current position detected by the current position detector 111 and the movement space memory From the information of the movement space stored in 110, the movement direction and movement distance are calculated in order to generate the flight drive signal for moving to search for the person to be followed.

Then, the flight drive signal generator 112 uses information from the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, the temperature sensor 108, etc., based on the calculated direction and distance, and further , while referring to the captured images from the cameras CM1 to CM6, generates a flight driving signal for moving to detect the target to be followed.

The flight drive signal is composed of signals for driving the motor drive sections 51A to 51D of the four rotor mechanisms 5A to 5D, respectively. The generated flight drive signal is supplied to each of the motor drive sections 51A to 51D of the aerial flight mechanism section 2 through the aerial flight drive section 102 . Upon receiving this flight drive signal, the aerial flight mechanism section 2 rotates each of the rotor blades 52A to 52D, and performs movement by aerial flight so as to detect the follower.

When the levitation mobile base 1 detects the target to be tracked, the flight drive signal generation unit 112 generates a signal based on a specific physical part of the target to be tracked, in this example, the lower jaw position of the target to be tracked, under the control of the control unit 101 . A flight drive signal is generated for hovering while maintaining the horizontal state of the mounting table 9 at a predetermined distance from the person to be followed, and the aerial flight mechanism unit 102 generates a flight drive signal for hovering. 2. It should be noted that the generation of the signal for controlling the hovering height position is performed by the position/orientation control signal generation unit 113, as will be described later.

Then, when the follow target person moves, under the control of the control unit 101, the flight drive signal generation unit 112 generates a flight drive signal for causing the follow target person to follow and move according to the movement of the follow target person, and the aerial flight drive unit 102 through the aerial flight mechanism unit 2. During this movement, the levitation mobile base 1 uses information from the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, the temperature sensor 108, and the like, and also uses the information from the cameras CM1 to CM6. While referring to the photographed image of , avoiding collisions with obstacles and avoiding places where it should not fly, it follows and moves according to the movement of the target to be followed. Therefore, during this movement, the levitation mobile platform 1 does not take into consideration the maintenance of the height position and the strict separation of the predetermined distance from the object to be followed.

Then, when the follower stops moving, the levitation mobile base 1 is placed at a predetermined distance from the follower and the position of the lower jaw of the follower as a reference. A flight drive signal for hovering at the set height position is generated and supplied to the aerial flight mechanism section 2 through the aerial flight drive section 102. - 特許庁

Note that the flight drive signal generation unit 112 avoids flying above a burning stove based on the sensor output of the temperature sensor 108 when moving and hovering as described above. Generate flight drive signals, such as hovering.

Then, when a termination command (landing command) is issued from the control unit 101, the flight drive signal generation unit 112 cancels the above-mentioned relationship with the follow target person, and flies at a predetermined place or near the current position. , generates a flight drive signal for moving and landing at an arbitrary place that can be landed, and supplies it to the aerial flight mechanism section 2 through the aerial flight driving section 102 .

Under the control of the control unit 101, the position/orientation control signal generation unit 113 generates, based on the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the weight sensor 109, and the images captured by the cameras CM1 to CM6, Signals for controlling the height position of the levitation mobile base 1 and controlling the horizontal state of the bottom surface of the mounting base 9 are generated.

The position/orientation control signal generation unit 113 detects that an article is placed on the placement table 9 of the levitation mobile table 1 from the images captured by the cameras CM1 to CM5. The sensor output of the gravity sensor 105 is used to generate an attitude control signal for keeping the bottom surface of the mounting table 9 horizontal not only when ringing but also when moving in levitation flight. do.

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

Then, the hovering position in the horizontal direction centering on the target person to be tracked is assumed to be diagonally forward left or diagonally forward right of the target person to be tracked. However, if it interferes with the follow-up worker's original work (exchanging fluorescent tubes or cooking), it should be positioned so as not to interfere.

The position/orientation control signal generator 113 also detects the above-described hovering height position when the object to be followed places an article on the mounting table 9 of the levitation mobile table 1 or takes out an article from the mounting table 9. A position/orientation control signal for correction is generated based on the control of the control unit 101 .

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

The omnidirectional microphone MC is for picking up voice information of command words uttered by the person to be tracked. Although illustration is omitted, in the levitation mobile base 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 It is sent to the system bus 100 through a bandpass filter.

It is also possible to use the sound of clapping the hands or snapping the fingers of the person to be tracked, which is picked up by the omnidirectional microphone MC. In this case, the levitation mobile base 1 flies and moves in response to the clapping sound or snapping of the fingers of the caller or the follower picked up by the omnidirectional microphone MC. In general, a clapping sound has a frequency power peak of 0 to 2 KHz, and a finger snapping sound has a frequency power peak of 2 to 4 KHz. It may also recognize the sound of snapping fingers.

The image recognition unit 114 includes an image memory 114M for storing image information to be recognized from the captured image information from the cameras CM1 to CM6. In this embodiment, the levitation mobile base 1 is configured so that the face images of one to a plurality of persons to be followed can be registered in advance in the registered person storage area of the image memory 114M. .

Then, the levitation mobile platform 1 of this embodiment automatically creates a list of subjects to be followed whose face images are registered, and prior to the start of use of the levitation mobile platform 1, the list of subjects to be followed is The information is displayed on a display unit (not shown). The user can select and designate a person to be followed by the levitating mobile base 1 from the list of persons to be followed through the operation unit 119 . Instead of providing a display unit, a plurality of buttons that can be associated with each follower are provided, and the follower is selected by operating any one of the plurality of buttons. can also

In this embodiment, the levitating mobile base 1 can also be activated without selecting a target person to be followed. The face image of the target person to be followed is photographed by one of CM5, stored in the target person storage area of the image memory 114M, and thereafter stored in the target person storage area until an end command is given. The follow-up movement described above is controlled by using the face image of the person who is there as the face image of the person to be followed.

Further, in this embodiment, the follower makes gestures to the levitation mobile base 1 to "lower the height a little", "raise the height a little", "rotate the mounting base 9", and so on. ``Change the hovering position (centered on the follower) to the right'', ``Change the hovering position (centered on the follower) to the left'', etc. there is The image memory 114M is provided with a control command storage area, and the control command storage area stores correspondence information between the aforementioned control command and the image of the corresponding gesture. Although not shown in the drawings, the light touch of the levitation mobile base 1 by the follower is detected by a capacitive touch sensor or the like. You may enable it to control.

The control unit 101 monitors the captured image information of the cameras CM1 to CM6, and in the image recognition unit 114, the same motion (or similar motion) as the motion stored in the control command storage area of the image memory 114M is detected by the follow target person. (behavior) is performed. When the control unit 101 determines that the person to be tracked has made the same (or similar) action as the action of the control instruction stored in the control instruction storage area of the image memory 114M, the control unit 101 responds 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 section 2 so that the levitation mobile base 1 performs an operation according to the acquired control command.

Further, in this embodiment, it is possible to issue a control command as described above to the levitating mobile base 1 by means of the voice uttered by the person to be followed.

The voice recognition unit 115 is for recognizing the voice control command given by the person to be followed. It has

The control unit 101 monitors voice information picked up by the omnidirectional microphone MC, and the voice phrase of the control command stored in the control command storage area of the voice memory 115M is recognized by the target person in the voice recognition unit 115. It is determined whether or not the same phrase (or similar phrase) is uttered. When the control unit 101 determines that the follow target person has uttered the same voice phrase (or similar phrase) as the control command stored in the control command storage area of the voice memory 115M, the control unit 101 responds to the voice phrase. A control command to do so is acquired from the control command storage area of the image memory 114M, and a control signal is supplied to the aerial flight mechanism section 2 so that the levitation mobile base 1 performs an operation according to the acquired control command.

In this case, when the control unit 101 receives a command to "lower the height a little", for example, the control unit 101 controls to lower the current height by 2 cm, for example, and receives a command to "raise the height a little". For example, the current height position is controlled to be raised, for example, by 2 cm. Further, when there is an instruction to "rotate the mounting table 9", the control unit 101 rotates the mounting table 9 by, for example, 90 degrees to 180 degrees around the center position of the mounting table 9 while maintaining the horizontal state of the mounting table 9. Control to rotate. If 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 movable table 1 . In this case, the position of the mounting table 9 is controlled by the levitation mobile table 1 itself performing position control such as rotation.

Also, when there is an instruction to "change the hovering position (centering on the follower) to the right" or "change the hovering position (centering on the follower) to the left", the control unit Reference numeral 101 controls the left and right positions of the levitation mobile base 1 with respect to the person to be followed so as to change to a side different from the current state. The voice command may also be "Come here", "Come here", "Leave", or the like.

The alarm notification unit 116 follows when the weight of the article placed on the mounting table 9 of the levitating mobile base 1 is such that the levitating mobile base 1 cannot hold the hovering (overweight). The subject is notified of this as an audio alarm such as a buzzer through a speaker (not shown). Alternatively, a voice message such as "Overweight" may be emitted from a speaker as a voice alarm. Whether or not the vehicle is overweight is determined based on the weight detected by the weight sensor 109 . It should be noted that even if the weight is slightly light before it becomes overweight, an audio alarm may be issued to notify that further placement is dangerous.

Image information of an overweight article is registered in advance in the image memory 114M, and the image recognition unit 114 recognizes that the registered article is about to be placed on the table 9. In some cases, the alarm notification unit 116 may issue a voice message such as "Overweight" or "There is a risk of overweight" by emitting sound from a speaker as an audio alarm before placing the object. good.

Further, image information of articles such as drinks and liquids is registered in advance in the image memory 114M, and the image recognition unit 114 recognizes that the registered article is about to be placed on the table 9. In some cases, the alarm notification unit 116 may issue a voice message such as "There is a risk of liquid spillage."

Note that the alarm notification unit 116 may be lighting or blinking of an indicator (not shown) or a display unit (not shown), or display of a message.

The learning unit 117 includes a history memory 117M that stores past usage history information (history information) of the floating mobile platform 1 . In this case, the history information consists of image information of the target to be followed taken by the cameras CM1 to CM6. 117M. When the target person to be followed is a user registered in the image memory 114M, the identification information of the registered target person to be followed is also stored.

As a result, when a registered user is selected as a target person to be followed at the start of use of the levitation mobile platform 1, the learning part 117 can refer to the past usage history information of the target person to be followed. Further, when the user registered as the follower is not selected at the start of use of the levitation mobile platform 1, when the follower is recognized by one of the cameras CM2 to CM5, the face image and the history are displayed. When the face image matches the face image stored in the memory 117M, the learning unit 117 references the past history information of the target person whose face image matches.

The learning unit 117 learns the usability of the follow target by learning the past use history of the follow target person stored in the history memory 117M, and based on the learning result, the levitation mobile base 1 is operated. Control. For example, when the dominant hand of the follower is found as a result of referring to the past usage history, the levitation mobile platform 1 is hovered on the dominant hand side of the follower. Also, for example, in cooking work in the kitchen, after cutting ingredients such as vegetables, there is a tendency to place them on a plate and place them on the mounting table 9 of the floating table 1 with the non-dominant hand. , when such a situation is predicted from the captured image information of any one of the cameras CM2 to CM5 at the time of use, when it becomes clear by learning, the levitation mobile base 1 advances and moves to the side opposite to the dominant hand. to hover and wait.

The prediction unit 118 performs control on the levitating mobile base 1 according to matters predicted from the captured image information of any one of the cameras CM2 to CM5 when the levitating mobile base 1 is used.

That is, when the levitation mobile base 1 is hovering in the air and it is expected that an article will be placed on the placing table 9 by the person to be followed, 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 of the article placed on the floating platform 1 measured by the weight sensor 109 is stored in the history memory 117M together with the image information of the article taken by the cameras CM1 to CM6. When the same article as the article that has been lifted is to be placed on the levitation mobile base 1, the weight of the article is known. Correction is easy.

Further, as described above, when an article is picked up from the levitation movable table 1, it can be recognized as the weight stored in association with the mounting position of the picked-up article on the bottom surface of the mounting table 9. The unit 118 controls the levitation mobile base 1 to be lifted as little as possible based on the approved weight.

Further, when the next action can be predicted from the action of the following user, the prediction unit 118 moves the levitation mobile base 1 to the optimum hovering position according to the predicted action. to be able to perform optimal control in advance of

The operation unit 119 is used by the user to input instructions to start the flight of the levitation mobile base 1, create movement space information and store it in the movement space memory 110, and other operation instructions. Further, in the levitation mobile base 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, kitchen mode, if the purpose of use is to replace fluorescent tubes, the fluorescent tube exchange mode, if the purpose of use is to dry the laundry, the laundry drying mode, and to take in the laundry , laundry take-in mode, etc. can be set.

Then, the levitation mobile base 1 of this embodiment automatically creates a list of the set modes, and displays the list of modes on a display unit (not shown) before starting to use the levitation mobile base 1. make sure to The user can select from this list of modes through the operation unit 119 according to the location and purpose of 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 operate one of the plurality of buttons to select the mode. When a mode is selected through the operation section 119, the learning section 117 uses the learning result obtained by referring to the history information corresponding to the mode for controlling the levitation mobile base 1.例文帳に追加

In FIG. 2, 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 controlled by the control unit 101. It can also be implemented as a software processing function.

[Example of operation of levitation mobile base 1]
Next, an example of the processing operation of the levitation mobile base 1 of the first embodiment will be described with reference to the flow charts of FIGS. 3 and 4. FIG. In the following description, the control unit 101 includes 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, the prediction unit 118, and the will be described assuming that the processing functions of the respective units are realized as software processing functions. It should be noted that, on the mounting table 9 of the levitation movable table 1, the articles necessary for the work may be placed in advance before the start of use, or the articles necessary for the work may be placed 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 to be followed can select and set one of the above-described kitchen mode, fluorescent tube replacement mode, laundry drying mode, laundry loading mode, etc. before giving the start command. In addition, the user who is to be followed can select and set himself/herself as a follower 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 step S101 and waits for the start command. Then, when it is determined in step S101 that a start command has been received, the control section 101 controls the aerial flight mechanism section 2 to take off and move upward to search for a follow target (step S102).

Then, the control unit 101 determines whether or not the target person to be followed has been identified while performing the search flight for the target person to be tracked (step S103). Returning to S102, the search movement of the follow target is continued. When it is determined in step S103 that the target person to be tracked has been identified, the control unit 101, as described above, places the height reference at a position a predetermined distance away from the identified target person to be tracked. At a height position 20 cm lower than the position of the lower jaw of the person to be followed as an example, hovering is performed while the mounting table 9 is kept horizontal (step S104).

In this case, if the target person to be followed is not selected prior to the start command, the control unit 101 searches for and recognizes a nearby user as the target person to be followed. Then, the face image of the target to be followed taken by one or more of the cameras CM2 to CM5 and identified is stored in the temporary storage area of the image memory 114M as the target to be followed for the time concerned. In addition, when a target person to be followed is selected and specified prior to the start command, the control unit 101 selects a target person to be followed that matches the face image stored in the image memory 114M of the selected target person to be followed. Explore and authenticate. Then, the face image stored in the image memory 114M of the selected target to be followed is stored in the temporary storage area of the image memory 114M as the target to be followed for that time. In this follow-up movement, the control unit 101 always recognizes a person whose face image matches the face image stored in the temporary storage area of the image memory 114M as a follow-up target person.

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

When it is determined in step S105 that the article placed on the placing table 9 has not been picked up, the control unit 101 places the article on the placing table 9 based on the image information captured by the cameras CM1 to CM5. (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 the height position according to the weight change due to the placement of the article is corrected. height position correction control is performed (step S106).

After step S106, the control unit 101 advances the process to step S119 in FIG. 4, determines whether or not an end command has been received by a gesture or voice from the person to be followed, and has not received an end command. If so, the process returns to step S105, and the processes after step S105 are repeated.

In step S107, when it is determined that the article is not placed on the placing table 9, the control unit 101 determines whether the follow target person is It is determined whether or not it has moved (step S108). When it is determined in step S108 that the follower has moved, the control unit 101 maintains the horizontal state of the bottom surface of the mounting table 9 and causes the aerial flight mechanism to move so as to follow the movement of the follower. It controls the unit 2 (step S109). Then, the control unit 101 advances the process to step S119 in FIG. 4, determines whether or not an end command has been received from the person to be tracked by a gesture or voice, and when it determines that the end command has not been received. , the process returns to step S105, and the processes after step S105 are repeated.

Further, when it is determined in step S108 that the person to be followed has not moved, the control unit 101 determines whether or not an instruction to change the hovering height position has been received (step S111 in FIG. 4). When it is determined that it is, as described above, the height position for hovering is controlled to be lowered or raised according to the command (step S112). After step S112, the control unit 101 advances the process to step S119, determines whether or not an end command has been received by a gesture or voice from the person to be followed, and determines that the end command has not been received. If so, the process returns to step S105, and the processes after step S105 are repeated.

When it is determined in step S111 that a command to change the hovering height position has not been received, the control unit 101 determines whether or not a command to rotate the mounting table 9 has been received (step S113), and determines that the command has been received. Sometimes, as described above, the bottom surface of the mounting table 9 is controlled so as to maintain a horizontal state and rotate around its center position according to the rotation command (step S114). After step S114, the control unit 101 advances the process to step S119, determines whether or not an end command has been received from the person to be tracked by gesture or voice, and determines that the end command has not been received. If so, the process returns to step S105, and the processes after step S105 are repeated.

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

When it is determined in step S115 that the height position of the mandible, which is an example of the body part of the person to be tracked, has been displaced upward or downward, the control unit 101 performs a predetermined shift after the displacement has started. It is determined whether or not a predetermined time period, for example, five seconds or more, has elapsed (step S116). When it is determined that the predetermined time period or longer has not elapsed, the current height position of the mounting table 9 is maintained (step S117). , and then the process returns to step S115.

When it is determined in step S116 that the significant upward or downward displacement of the lower jaw, which is an example of the body part of the person to be tracked, has continued for a predetermined period of time or more, the control unit 101 performs hovering. The height position is controlled to be raised or lowered according to the displacement of the height position of the mandible, which is an example of the body part of the follow target person (step S118).

In the processing from step S115 to step S118, when the person to be tracked squats or stretches and the position of the mandible is displaced up and down for a short period of time, the person is not followed and returns to the original position. A process of waiting in a hovering state at a height position and changing the hovering height position of the levitation mobile base 1 in accordance with the displacement of the position of the mandible when the hovering state continues for a predetermined time or more. is. This is because it is considered that a short-time change in the lower jaw of the person to be followed does not require a change in the height position of the mounting table 9, thus avoiding unnecessary change control of the height position of the levitation mobile base 1. This process is for

After step S118, the control unit 101 advances the process to step S119, determines whether or not an end command has been received from the person to be tracked by gesture or voice, and determines that the end command has not been received. If so, the process returns to step S105, and the processes after step S105 are repeated.

When it is determined in step S115 that the height position of the mandible, which is an example of the body part of the tracking target, is not displaced upward or downward, the control unit 101 advances the process to step S119, and It is determined whether or not an end command has been received by a gesture (gesture) or voice from the user, and when it is determined that the end command has not been received, the process returns to step S105, and the processes after step S105 are repeated.

Then, when it is determined in step S119 that a termination command has been received from the person to be followed, the control unit 101 terminates the follow-up control for the person to be followed, and controls the levitation mobile base 1 to land (step S120). ). Thus, one processing operation of the levitation mobile base 1 is completed.

[Usage mode (mode) example of the levitation mobile platform 1 of the first embodiment]
<Cooking mode>
FIG. 5 is a diagram for explaining how the levitating mobile platform 1 operates in a cooking mode as an example of a usage mode (mode) of the levitating mobile platform 1 of the first embodiment. FIG. 5 assumes a home kitchen as a place (moving space) where the cooking mode of this example is executed.

In the example of FIG. 5, a recipe book 201 is placed on the table 9 of the floatable mobile table 1, and various seasonings 202 such as soy sauce, salt, and pepper are placed thereon. The recipe book 201 and the seasoning 202 are placed on the mounting base 9 of the levitation mobile base 1 by a housewife 203, who is an example of a follower, before giving a flight start command, or in a hovering state. I will put it on later.

Then, when the housewife 203, who is an example of the person to be followed, issues a start command to the levitation mobile platform 1, the levitation mobile platform 1 hovers at the above-described height position while being separated from the housewife 203 by an appropriate distance. It will be in a ring state. FIG. 5 shows that state. Note that the housewife 203 can select herself as a follower if her face image is registered before giving the start command, and if the cooking mode is set as a history, can select it. Furthermore, if a history is set for a suitable response according to the recipe, the recipe to be cooked may be selected and specified.

A housewife 203 , who is an example of a follower, moves between a kitchen sink 204 , a cooking table 205 and a stove 206 , and the floating platform 1 moves. At this time, the levitation movable table 1 moves while always maintaining the horizontal state of the bottom surface of the mounting table 9 and also maintaining the height position. Based on the sensor output from the temperature sensor 108, the floating platform 1 avoids moving above the burning stove 206. FIG. In addition, the levitation mobile platform 1 predicts the actions and motions of the housewife 203 by the learning unit 117 and the prediction unit 118, hovering on the left side of the housewife 203, hovering on the right side of the housewife 203, and determining the hovering position. Change accordingly.

When the housewife 203 bends down or squats down to take out articles from a drawer 207 or a cupboard 208, the floating platform 1 changes the hovering height position accordingly. Therefore, the housewife 203 can easily place the taken-out article on the platform 9 of the floating platform 1 while bending down or squatting. The height position for hovering when crouching can also be based on the position of the lower jaw of the target person to be tracked, as when standing. Also, the height position may be controlled according to the posture, for example, to a height position 10 cm lower than the lower jaw instead of 20 cm lower than the lower jaw.

In addition, the housewife 203 can change the height position of the levitation mobile base 1 or change the positions of the left side and the right side of the housewife 203 appropriately according to her own convenience by means of 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 far side from the housewife 203, by instructing the mounting table 9 to rotate, it is possible to conveniently place it on the side closer to the housewife 203. is. In this case, by recognizing the images of the articles placed on the mounting table 9 using the images captured by the cameras CM1 to CM5, if one says, "Please take some soy sauce," the soy sauce of the seasoning 202 comes closest. Also, by saying "turn the recipe book over here", the recipe book 201 can be commanded to rotate the table 9 so that the housewife 203 can easily read it. In addition, as for the recipe book 201, a dedicated frame other than the mounting table 9 may be provided so that only the recipe book 201 can be rotated. When viewing the recipe book 201, the LED light (not shown) provided on the upper surface of the housing 6 illuminates the recipe book 201, so that the recipe book can be seen clearly even if it is dark or shadowed. You can cook while watching.

As described above, the housewife can place the recipe book 201 on the mounting table 9 of the floatable movable table 1 and place the necessary seasonings 202 in advance during the cooking work. Since the floating table 1 moves following one's own movement, the cooking work can be easily performed while looking at the recipe book 201 each time, and the seasoning placed on the mounting table 9 of the floating mobile table 1. 202 can be appropriately selected and used on the spot. Of course, the table 9 is not limited to the recipe book 201 and seasoning 202, and ingredients, cooking utensils, and the like may be placed thereon.

<Laundry drying mode and laundry loading mode>
FIG. 6 is a diagram for explaining how the levitating mobile platform 1 operates in the laundry drying mode as an example of the mode of use of the levitating mobile platform 1 of the first embodiment. FIG. 6 assumes a laundry drying space in a home as a place (moving space) where the laundry drying mode of this example is executed.

A housewife 203, who is an example of a follower, takes out the washed laundry from the washing machine, puts it in the laundry basket 210, and levitates 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 floating mobile base 1 by voice or gesture. In this example as well, the housewife 203, who is an example of the follower, has her face image registered on the mounting table 9 of the levitation mobile base 1 before issuing the flight start command. , and if the laundry drying mode is set as history, it can be selected and specified.

When the start command is detected, the levitation mobile platform 1 is in a state of hovering at the above-described height position while being separated from the housewife 203, who is an example of the person to be followed, by an appropriate distance. Then, when the housewife 203 moves to the laundry drying place, the floating mobile platform 1 with the laundry basket 210 placed thereon follows the housewife 203 to the laundry drying space. FIG. 6 shows that state.

In the laundry drying area, the housewife 203 takes out the laundry 211 from the laundry basket 210 placed on the mounting table 9 of the floating platform 1 and hangs it on the clothesline 212 to dry. At this time, when the learning unit 117 detects that the housewife 203 always has the laundry hamper 210 on her right side, the control unit 101 of the floating platform 1 changes the hovering position to that of the housewife 203. Control to be on the right. Then, when the housewife 203 moves according to the progress of the laundry drying work, the floatable movable table 1 also moves following it.

When the laundry drying operation is finished, the housewife 203 returns from the laundry drying area to the room where the washing machine is located, for example. Then, the levitating mobile platform 1 follows the movement, so the housewife 203 issues a termination command to the levitating mobile platform 1 . Then, the levitation mobile platform 1 lands and finishes its operation. The housewife 203 unloads the empty laundry basket 210 from the mounting table 9 of the floating platform 1 to complete 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. It is intended to

As described above, in both the laundry drying mode and the laundry taking-in mode, the floatable mobile platform 1 carries the laundry basket 210, assists in taking out the laundry from the laundry basket 210, and Since it plays a role of assisting when taking in the dry laundry, the housewife 203 has the merit of being very easy to use because the work of drying the laundry and taking in the laundry becomes easier.

<Fluorescent tube replacement mode>
FIG. 7 is a diagram for explaining how the levitating mobile base 1 operates in a fluorescent tube replacement mode as an example of a usage mode (mode) of the levitating mobile base 1 of the first embodiment. FIG. 7 assumes, for example, a living room in a home as a place (moving space) where the fluorescent tube replacement mode of this example is executed.

A family member 221 , who is an example of a person to be followed, places a new fluorescent tube 222 , a lighting tube (glow bulb) 223 , a miniature ball 224 and the like for replacement on the mounting table 9 of the levitation mobile table 1 . Then, the family member 221 issues a start command to the levitation mobile base 1 by voice or gesture. In this example as well, if the family member 221, who is an example of the follower target, has his/her face image registered on the mounting table 9 of the levitation mobile base 1 before issuing the flight start command, If the fluorescent tube replacement mode is set as history, it can be selected and specified.

When the start command is detected, the levitation mobile base 1 is in a state of hovering at the height position described above while being separated from the family member 221, who is an example of the person to be followed, by an appropriate distance. Then, when the family member 221 climbs the stepladder 225, the floating platform 1 changes its height position in accordance with the movement of the family member 221 with a delay of about 10 seconds in this example. Then, when the family member 221 reaches the height position where the fluorescent tube replacement work is to be performed and stops moving upward, the floating platform 1 also follows the family member 221 to the height of the family member 221. Hover at 20 cm below the position of the mandible, which is an exemplary body part of the height reference. FIG. 7 shows that state. At this time, when the control unit 101 of the levitating mobile base 1 detects, for example, that the resident 221 always positions the levitating mobile base 1 on his/her left side, the control unit 101 of the levitating mobile base 1 changes the hovering position to the relative 221 to the left of the Also, at this position, the family member 221 can adjust the hovering height position of the levitation mobile base 1 and the horizontal position centered on the user by actions (gestures) or voice commands.

In this state, the family member 221 removes the old fluorescent tube 226 from the fluorescent lamp fixture (not shown), places it on the mounting table 9 of the floatation mobile base 1, picks up the new fluorescent tube 222, and puts it into the fluorescent lamp fixture. work to attach it to the Subsequently, replacement work of the lighting tube 223, replacement work of the miniature ball 224, and the like are performed as necessary.

After completing the replacement work, the householder 221 gets off the stepladder 225 . Then the family need not own anything. As the family member 221 descends from the stepladder 225, the floating platform 1 also descends with a slight delay (10 seconds).

In this way, after completing the fluorescent tube replacement work, the householder 221 who got down from the stepladder 225 issues a termination command to the floating mobile base 1. - 特許庁Then, the levitation mobile platform 1 lands and finishes its operation. The family member 221 unloads the old fluorescent tube 226, the old glow bulb (not shown), the old miniature ball (not shown), etc. from the mounting table 9 of the levitation mobile base 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 levitating mobile table 1, and replaces the new fluorescent tube 226 mounted on the mounting table 9 of the levitating mobile table 1 with the new fluorescent tube. It is very convenient to be able to pick up the tube 222 and work to attach it to the lighting fixture.

In the fluorescent tube replacement mode of this example, the fluorescent tube replacement operator places items necessary for replacement, such as new fluorescent tubes 222, glow bulbs 223, and mini-balls 224, in advance on the mounting table 9 of the floating table 1. The floating platform 1 can be moved to a height position for exchanging the fluorescent tubes only by climbing the stepladder 225. - 特許庁After the replacement work is completed, the replacement worker can lower the floatable mobile base 1 simply by getting off the stepladder 225.例文帳に追加

Therefore, the conventional work that the replacement worker climbs up the stepladder 225 with the new fluorescent tube 222 and climbs down the stepladder 225 with the old fluorescent tube 226 after replacement is eliminated. Eliminates and improves safety.

The operation mode of the levitation mobile base 1 described above is an example, and it is needless to say that the operation mode is not limited to these, and various other utilization modes are possible. For example, replacement of an LED light bulb or an incandescent light bulb may be performed instead of replacement of a fluorescent tube. It can also be used to change air conditioner filters, organize and clean the top of refrigerators and cupboards. Furthermore, it can be used to decorate Christmas trees, etc.

[Second embodiment]
The levitation mobile platform 1 of the first embodiment described above is also used for commercial purposes, but is mainly for home use. ) was used in an environment where it was possible to capture it with a camera. In the second embodiment, since the target is located farther away from the target, such as a construction site or a building site, the voice of the target cannot be picked up by a microphone, and the gestures of the target cannot be picked up. This is a case where the levitation mobile base can be called and moved to follow the target person even if the target person cannot be caught by the camera.

A floating mobile platform 1A of the second embodiment can have the same mechanical configuration as the floating mobile platform 1 of the first embodiment shown in FIG. However, the levitation mobile platform 1A of the second embodiment can be made larger than the one used in the home of the first embodiment so that heavier articles can be placed thereon. make it Therefore, the mechanical configuration of the levitating mobile base 1A of the second embodiment can be substantially the same as that of the levitating mobile base 1 of the first embodiment except for the size. Illustration of a typical configuration is omitted.

FIG. 8 shows a configuration example of the drive control unit 10A of the levitation mobile base 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 unit 10 of the levitation mobile base 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 unit 10A of the levitation mobile base 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 a control section 101A also having a function of controlling communication is provided, and the rest is the same as the drive control device section 10 of the levitation mobile base 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 mobile base 1 of the first embodiment, and also has a function of controlling communication using the communication unit 120. It has a part 101A.

Then, in the second embodiment, an external portable device 121 that communicates with the communication unit 120 of the levitation mobile base 1A is used. This external portable device 121 has a function of detecting the current position of its own device and a function (software application) of communicating with the communication unit 120 of the levitation mobile base 1A. can be used. When this smart phone is used as the external mobile device 121, an application program for communicating with the communication unit 120 of the levitating mobile base 1A is installed on the smart phone in advance.

In this case, for communication between the external portable device 121 and the communication unit 120 of the floating mobile base 1A, for example, Bluetooth (registered trademark) standard short-range communication or Wi-Fi (registered trademark) communication can be used. can.

In the second embodiment, this communication enables the external portable device 121 to activate and call the levitation mobile base 1A. A call signal when calling from the external portable device 121 includes current position information including the height position of the external portable device 121 .

Then, the levitation mobile base 1A detects the position information included in the call signal, flies to the position indicated by the position information, and moves following the target person at that position.

Further, in the second embodiment, the levitation mobile platform 1A calls even when it is following another follower, and after obtaining permission from the follower who is being followed at that time, makes a call request. It is configured so that the person who did it can make him follow him.

[Major processing operations in the levitation mobile base 1A of the second embodiment]
9 and 10 are flow charts showing an example of the flow of processing operations in the levitation mobile platform 1A of the second embodiment when a call is made from the external portable device 121 described above. 9 and 10, similarly to the examples of FIGS. 3 and 4, the control unit 101A implements necessary processing functions of each unit as software functions.

First, the control unit 101A determines whether or not a call signal has been received from the external portable device 121 (step S201). waiting for the receipt of

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

Next, the control unit 101A discriminates whether the target person's gesture or voice response to this notification permits or disallows the call (step S204). When it is determined in this step S204 that the calling of the other person is not permitted, the control unit 101A notifies the caller that the other person is "in use" through the communication unit 120 (step S205). maintains the state of following the person to be followed (step S206).

Next, the control unit 101A determines whether or not a call signal has been received from another person (step S207). Stay tracked.

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

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

Then, the control unit 101A controls the levitation mobile base 1A to fly to the position of the caller (step S212). Then, after flying and moving to the position of the caller, the control unit 101A recognizes the target person to be followed existing at the position, maintains a predetermined distance from the recognized target person to be followed, and , the position of the mandible, which is the height reference of the target person to be followed, is detected, and control is performed so that hovering is performed at a height position 20 cm below the position of the mandible (step S213). Further, the control unit 101A puts the levitation mobile base 1A into a follow-up state in which it follows and moves when the recognized target person to be followed moves (step S214).

Next, the control unit 101A determines whether or not a call signal has been received from another person (step S215). 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 step S203.

[Example of utilization mode of the levitation mobile platform 1A of the second embodiment]
With the configuration as described above, the levitation mobile base 1A of the second embodiment can be used in a mode of use as shown in FIG. 11, for example.

In the example of FIG. 11, scaffolding 231 is assembled at a construction site of a building with multiple floors, and a worker 232 on the scaffolding 231 on the upper floor uses a tool such as a saw to work on the scaffolding 231 on the lower floor. This is the case where the operator 233 is asked to lend (or hand over) the equipment. In this case, it is assumed that the worker 233 working on the lower floor is using the levitating mobile platform 1A at that time, and the levitating mobile platform 1A has the worker 233 as the target to follow.

In this example, when a voice is heard between the worker 232 on the upper floor and the worker 233 on the lower floor, the above-described lending and borrowing (or delivery) of the saw is communicated between them. If your voice does not reach you, you may use a walkie-talkie or mobile phone. The worker 233 on the lower floor who has received this information places the requested saw on the mounting table 9 of the floating mobile table 1A following him.

Then, the worker 232 on the scaffolding on the upper floor uses the external portable device 121 that he/she owns to send a call signal including his position information (including the height position) to the levitation mobile platform 1A. Send. Then, the levitation mobile platform 1A that has received the call signal notifies the worker 233, who is the target follower of the scaffolding 231 on the lower floor, of the call by the other person through the speaker.

Therefore, the worker 233 on the lower floor responds to the levitating mobile base 1A by, for example, pronouncing "OK" or making an "OK" mark with a hand and gesturing. The floating mobile platform 1A receiving this determines that it has received permission from the worker 233 on the lower floor, and cancels the state of following the worker 233 on the lower floor.

Then, the levitation mobile platform 1A extracts the position information of the worker 232 on the scaffolding 231 on the upper floor included in the call signal, recognizes the position of the worker 232, and flies to that position. Then, the levitation mobile platform 1A recognizes the worker 232 as a new target to be followed, hovers to the height position based on the reference height position of the recognized target to be followed, and Put it in a follow-up state that follows the movement and moves.

Therefore, the worker 232 on the scaffolding 231 on the upper floor can take out the saw placed on the mounting table 9 of the levitation mobile base 1A from the mounting table 9, use it, and return it to the mounting table 9 after use. . When the operator 232 moves appropriately, the levitation movable table 1A follows and moves, so that the saw placed on the table 9 can be picked up and used even at the moved position.

In the above example, the follow-up state for the worker 233 is completely released and the follow-up state is transferred to the worker 232, but it is also possible to temporarily release it. In this case, the follow-up state is temporarily canceled when the worker 233 lends (or hands over) the saw to the worker 232, and the follow-up state is resumed when the worker 232 finishes working with the saw and returns the saw. return.

[Modification of Second Embodiment]
In the above description of the second embodiment, the caller's position information is included in the call signal, and the levitation mobile base 1A is moved to the position specified by the position information. However, the method of moving the levitation mobile platform 1A to the position of the caller is not limited to this, and it is possible to move to the position of the caller based on the information contained in the call signal. It is possible.

For example, at construction sites and construction sites, field workers wear ID cards and name tags in recent years. Therefore, RFID (Radio Frequency Identification or Radio Frequency Identifier) that generates unique ID information (identification information) for each field worker is embedded in the ID card or name tag worn by the field worker, and the call signal , to include unique identification information for each field worker stored on an RFID embedded in an ID card or name tag. The levitation mobile base 1A is provided with ID information detection means for detecting the ID information contained in the call signal, and the ID information detection means generates the same ID information as the ID information contained in the call signal. By detecting an ID card or a name tag, it moves to the position of the caller.

The use of the levitation mobile platform 1A at a building construction site is an example, and it is needless to say that the use is not limited to a building construction site, and that various other uses are possible. For example, it can be used for inspection work and various construction work on electric poles, inspection of various devices in station premises and factories, replacement of consumables, and various work such as repair.

Furthermore, it can be used for harvesting fruits such as mandarin oranges, apples, grapes, cherries and peaches in orchards. In that case, the levitation mobile platform is adapted to pick up the fruit harvested by the follower based on the photographed image of the camera CM1 whose photographing direction is the upward direction or the camera (one of the cameras CM2 to CM5) photographing the follower. You may make it move-control so that it may be located under.

[Other embodiments or modifications]
In the above-described embodiment, the housing of the levitation mobile base and the mounting base are configured in a box-like shape as a whole. can be Moreover, although the size of the mounting table is substantially the same as that of the outer portion of the rotary blade mechanism, it is not limited to this, and may be smaller or larger than the outer portion of the rotary blade mechanism. Furthermore, it is also possible to make the mounting table replaceable and use an appropriate mounting table according to the application.

Further, in the above-described embodiment, the mounting table has mesh-like holes formed in the bottom surface and side surfaces of the cage. Any configuration is acceptable.

Furthermore, in the above-described embodiment, the mounting table was provided above the levitation moving table, but it can also be made to hang from the lower part.

Further, in the above-described embodiment, when the height position of hovering is determined, the position of the lower jaw is used as a reference as a specific physical part of the follow target person. , ear, nose, mouth position, elbow position, etc. may be used as references. Further, the positions of specific parts such as the collar, first button, breast pocket, etc. of clothes worn by the follower can also be used as references, instead of being limited to the body part of the follower. Also, the position of accessories such as pierced earrings, earrings, necklace pendants, and brooches worn by the follower can be used as a reference. In government offices, business establishments, factories, offices, construction sites, etc., employees and workers must wear attachments such as employee ID cards, ID cards, name tags, name plates, and company emblems and insignias. However, the positions of these employee ID cards, ID cards, name tags, name plates, and the positions of company emblems and insignias may be used as a reference. Of course, these reference positions may be registered in advance in the levitation mobile base.

Furthermore, if the follower uses a moving object such as a wheelchair, the position of the arm of the seated wheelchair is determined in relation to the follower. can be used as a reference when determining the height position of It is extremely convenient for a follower who has difficulty walking and uses a wheelchair to have the levitation mobile platform follow the wheelchair.

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

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

Also, in the above-described embodiment, the number of cameras is six and the number of microphones is one omnidirectional microphone, but the number is of course not limited. Also, various positions for providing the camera and the microphone are conceivable. Furthermore, the microphone is not limited to an omnidirectional microphone, and a directional microphone may be used to pick up the voice or sound of a person to be tracked or in a specific direction. The camera may be a standard camera, a wide-angle camera, a fisheye camera, or a 360-degree camera. Also, a close-up camera or a telephoto camera may be used. Of course, these cameras may be used together.

In addition, it goes without saying that various modifications of the levitation carriage are conceivable in terms of its mechanism.

DESCRIPTION OF SYMBOLS 1, 1A... Floating mobile base, 2... Aerial flight mechanism part, 3... Drive control unit, 6... Housing, 9... Mounting base, 10, 10A... Drive control device part, 101, 101A... Control part, CM1-CM6 …camera

Claims (57)

an aerial flight mechanism for floating and moving in the air and hovering in the air;
ringing signal receiving means for receiving a ringing signal containing caller identification information;
identification information detection means for detecting the identification information from the identification information providing unit of the caller;
a mounting table on which an article can be placed or on which the placed article can be taken out;
Based on the identification information detected by the identification information detecting means, the identification information providing section that provides the same identification information as the identification information included in the calling signal received by the calling signal receiving means is detected. a control means for controlling the aerial flight mechanism unit to move to the position of the caller by controlling the aerial flight mechanism unit and to hover in the vicinity of the caller;
A levitation mobile platform comprising: 2. The identification information providing unit according to claim 1, wherein the identification information providing unit includes transmission means for transmitting the identification information, and the identification information detection means receives and detects the identification information from the transmission means. Floating platform. 3. The levitation mobile platform according to claim 2, wherein the identification information providing unit and the identification information detecting means are composed of RFID (Radio Frequency Identification or Radio Frequency Identifier). one or more cameras for filming the caller;
recognition means for recognizing the caller and/or a location identified in relation to the caller from the captured image information from the one or more cameras;
with
The control means controls the aerial flight mechanism to hover in the vicinity of the caller recognized by the recognition means and/or a position identified in relation to the caller. The floating mobile platform according to any one of claims 1 to 3. The position identified in relation to the caller recognized by the recognition means is a position maintaining a predetermined distance from the caller and/or a height position identified in relation to the caller. 5. A floating mobile platform according to claim 4. 5. The position identified in relation to the caller recognized by the recognition means is a height position based on the part or location identified in relation to the caller. The levitation mobile platform according to claim 5. Parts or parts identified in relation to the caller include specific physical parts of the caller, specific parts of the clothes worn by the caller, accessories or accessories worn by the caller. or at a particular point when the caller is seated. 8. The levitation mobile platform of claim 7, wherein the specific physical part of the caller is the lower jaw of the caller. When the height position of the specific body part of the caller changes, the control means controls the hovering height position to change according to the change in posture of the caller. The levitation mobile platform according to claim 7 or 8. When it is determined that the height position of the specific body part of the caller has changed and a predetermined time or more has passed, the control means adjusts the hovering height position to match the posture change of the caller. 10. The levitation mobile platform of claim 9, wherein the levitation mobile platform is controlled to change accordingly. 3. The control means controls to maintain the hovering height position within a predetermined time even if the height position of the specific body part of the caller changes. The floating mobile platform according to any one of claims 7 to 10. If the caller is a wheelchair user, the position identified in relation to the caller is the position of the arm of the wheelchair. The floating mobile platform described in . If the caller is a user of a bicycle, the position identified in relation to the caller is the position of the handle of the bicycle. The floating mobile platform described in . The levitation mobile platform according to any one of claims 4 to 13, wherein the location identified in relation to the caller is pre-registered. one or more sensors for controlling the attitude of the mounting table so as to maintain a horizontal state;
The control means uses the detection output of the one or more sensors to control the mounting table to maintain a horizontal state and hover in the vicinity of a position specified in relation to the caller. The floating mobile platform according to any one of claims 4 to 14. an in-use determining means for determining whether or not a person other than the caller is in use when the calling signal receiving means receives the calling signal;
The control means controls the aerial flight mechanism so as to move to the position of the caller when the in-use determination means determines that a person other than the caller is not in use. The floating mobile platform according to any one of claims 1 to 15. an in-use determining means for determining whether or not a person other than the caller is in use when the calling signal receiving means receives the calling signal;
notification means for notifying a person other than the caller of a call from another person when the in-use determination means determines that the person other than the caller is in use;
a permission determination means for determining a response of permission or non-permission of a call from a person other than the caller who received the notification by the notification means;
The control means controls the aerial flight mechanism to move to the position of the caller when the permission determination means determines the response of the call permission. 17. A floating mobile platform as claimed in any one of claims 16 to 17. Equipped with a means of communication,
When the permission determining means determines that the call is not permitted, the caller is notified through the communication means that a person other than the caller is in use, and the use by the person other than the caller is prohibited. 18. The floating platform of claim 17, wherein the floating platform continues. The call signal includes information for maintaining a predetermined distance from the caller and/or specifying a height position for hovering. A floating mobile platform according to any one of the above. one or more cameras for photographing the caller;
The caller is a fruit harvester, and the control means controls the caller to hover under the fruit to be harvested based on the images captured by the one or more cameras. do
The levitation mobile platform according to any one of claims 1 to 19, characterized in that: The caller is a worker at a construction site or a construction site, who places work tools and/or articles used for work on the platform and flies between upper and lower floors. The floating mobile platform according to any one of claims 1 to 20. one or more cameras for filming the caller;
image recognition means for performing image recognition on images captured by the one or more cameras;
with
22. The control device according to any one of claims 1 to 21, wherein, based on the recognition result of the image recognition device, the control device performs control so as to hover at a height position corresponding to the posture of the caller. The floating mobile platform described in . Voice recognition means for recognizing a hovering height position change command and/or a hovering horizontal position change command by the caller's voice,
The control means controls the height position and/or horizontal position of hovering in response to the command to change the height position of hovering and/or the command to change the horizontal position by the voice recognized by the voice recognition means. 23. The levitation mobile platform according to any one of claims 1 to 22, wherein the directional position is controlled to change. one or more cameras for filming the caller;
image recognition means for recognizing an instruction to change a hovering height position and/or a horizontal position change command made by the caller from the images captured by the one or more cameras;
with
The control means responds to the command to change the height position of hovering and/or the command to change the horizontal position of hovering by the action of the caller recognized by the image recognition means. 24. The levitation mobile platform according to any one of claims 1 to 23, wherein the horizontal position is changed and controlled. one or more cameras for filming the caller;
image recognition means for recognizing a rotation command to rotate the mounting table while maintaining a horizontal state in the hovering state by the action of the caller from the images captured by the one or more cameras;
with
According to the rotation command by the caller's gesture recognized by the image recognition means, the control means controls to rotate the mounting table while maintaining a horizontal state. 25. A floating mobile platform as claimed in any preceding claim. one or more cameras for photographing the caller;
When the control means predicts the action of the caller 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. 26. The levitation mobile platform according to any one of claims 1 to 25, characterized in that: voice recognition means for recognizing the caller's voice indicating the hovering position to either the right or left side of the caller;
According to the voice of the caller recognized by the voice recognition means, the control means controls the hovering position to either the right side or the left side of the caller. 27. A floating mobile platform according to any of claims 26. one or more cameras for filming the caller;
image recognition means for recognizing the gesture of the caller who indicates the hovering position to either the right side or the left side of the caller from the images captured by the one or more cameras;
with
The control means controls the hovering position to either the right side or the left side of the caller according to the gesture of the caller recognized by the image recognition means. 28. A floating mobile platform as claimed in any preceding claim. one or more cameras;
storage means for storing image information of an article placed on the placing table or an article to be placed in association with the fact that the article is an article containing liquid;
an alarm when image recognition is made that the article containing the liquid stored in the storage means has been placed or is about to be placed on the placing table from the images captured by the one or more cameras; or announcing means for announcing a message;
The levitation mobile platform according to any one of claims 1 to 28, comprising: one or more cameras;
storage means for storing image information of an overweight article that cannot hold hovering when placed on the placing table;
When it is image-recognized from the photographed images of the one or more cameras that the overweight article stored in the storage means has been placed or is about to be placed on the placing table, the weight a notification means for notifying over;
The levitation mobile platform according to any one of claims 1 to 29, comprising: 31. The levitation movable table according to any one of claims 1 to 30, wherein the mounting table is rotatable around a rotation axis in a direction orthogonal to the bottom surface. voice recognition means for recognizing a rotation command to rotate the mounting table while maintaining a horizontal state in a hovering state by the voice of the caller;
32. The levitation according to claim 31, wherein said control means controls said mounting table to maintain a horizontal state and rotate according to said rotation command by said voice recognized by said voice recognition means. mobile platform. Contact detection means for detecting contact and/or pressing of the caller to the mounting table,
Recognizing a command to change the hovering height position and/or a command to change the horizontal position using the contact detection means;
The control means controls the height position of hovering in response to the command to change the height position of hovering and/or the command to change the horizontal position due to the contact and/or pressure recognized by the contact detection means. and/or change control of horizontal position. one or more cameras;
an indicator and/or display;
storage means for storing image information of an article placed on the placing table or an article to be placed in association with the fact that the article is an article containing liquid;
with
When image recognition is performed that the article containing the liquid stored in the storage means has been placed or is about to be placed on the placing table from the images captured by the one or more cameras, 34. The levitation mobile platform according to any one of claims 1 to 33, wherein the indicator and/or the display section are lit or blinked, or a message is displayed on the display section. a weight sensor for detecting the weight of the article placed on the placing table or the article taken out from the placing table;
state detection means for detecting a state in which the weight of the article placed on the mounting table is too heavy to hold the hovering and/or a state in which there is a danger of being too heavy based on the detection result of the weight sensor;
notification means for notifying the overweight state and/or the danger of being overweight when the state detection means detects the overweight state and/or the danger of being overweight;
The levitation mobile platform according to any one of claims 1 to 34, comprising: 36. The levitation mobile table according to any one of claims 1 to 35, wherein the mounting table has a plurality of types of shapes and/or sizes and is replaceable. When the caller is riding or using a mobile body, the site or location identified in relation to the caller is a specific location of the mobile body. The levitation mobile platform according to any one of claims 1 to 36. 38. The levitation mobile platform according to claim 37, wherein the specific point of the moving body is the position of the handle or the position of the arm. 39. The levitation mobile platform according to any one of claims 1 to 38, wherein the control means controls the aerial flight mechanism so as to follow and move with the movement of the caller. one or more cameras for filming the caller;
recognition means for recognizing the face image of the caller from the images captured by the one or more cameras;
with
40. The levitation mobile platform according to claim 39, wherein the control means controls the aerial flight mechanism to follow the caller based on the recognized face image. A first mode for controlling to cancel the state of following the caller and transition to a state of following the other; 41. The levitation mobile platform of claim 39 or claim 40, further comprising a second mode of controlling to follow the caller and then return to following the caller. list presenting means for presenting a list of people to be tracked who are registered as people to be tracked and moved;
means for receiving selection designation of one follower target from the list of follower targets presented by the list presenting means;
The levitation mobile platform according to any one of claims 1 to 41, comprising: Equipped with a temperature sensor,
43. The air flight mechanism according to any one of claims 1 to 42, wherein the control means controls the air flight mechanism so as not to approach an area with a high-temperature atmosphere based on the sensor output of the temperature sensor. Floating platform. comprising means for determining the handedness of the caller;
44. The levitation mobile platform according to any one of claims 1 to 43, wherein the control means hovers to a position corresponding to the determined handedness of the caller. Having a plurality of modes according to the place of use and/or purpose of use, and means for presenting a list of the modes to the caller,
The levitation mobile platform according to any one of claims 1 to 44, wherein the control means executes a mode selected from the list of modes. a history memory for storing past usage history information;
46. The levitation mobile platform according to claim 45, wherein the mode list is presented to the caller based on the past usage history information in the history memory. comprising means for accepting a start command,
47. A floating mobile platform according to claim 45 or 46, wherein said control means accepts said start command after said caller has selected a predetermined mode from said list of modes. Equipped with means for accepting a termination order,
48. The levitation mobile platform according to any one of claims 1 to 47, wherein the control means controls the aerial flight mechanism unit to land when the end command is received. equipped with a microphone
The control means controls the caller so that it flies and moves in response to a clapping sound or a snapping sound of the caller's fingers, which is detected from sounds picked up by the microphone. 49. A levitation mobile platform according to any one of Clauses 48. 50. The levitation moving table according to any one of claims 1 to 49, wherein holes are formed in a mesh shape on the bottom surface and/or the side surface of the mounting table. 51. The floating mobile table according to any one of claims 1 to 50, wherein the mounting table is provided on the upper part and/or the lower part of the floating mobile table. Equipped with a means of communication,
The communication means communicates with a separate portable device,
The levitation mobile platform according to any one of claims 1 to 51, characterized in that it receives an activation signal and/or a call signal from said separate portable device. 53. The floating mobile platform of Claim 52, wherein the separate mobile device is a mobile terminal, including a smart phone, or a transceiver. a weight sensor for detecting the weight of the article placed on the placing table or the article taken out from the placing table;
The control means controls the weight of the article detected by the weight sensor when the article is placed on the mounting table in the hovering state or when the article is removed from the mounting table. 54. The levitation mobile platform according to any one of claims 1 to 53, wherein control is performed so as to correct a change in the height position of the hovering due to the weight of the article based on.
a weight sensor for detecting the weight of the article placed on the placing table or the article taken out from the placing table;
The control means controls the weight of the article detected by the weight sensor when the article is placed on the mounting table in the hovering state or when the article is removed from the mounting table. to reduce the amount of descent of the mounting table according to the weight of the article when the article is placed on the mounting table, or to reduce the amount of movement of the article when the article is removed from the mounting table, based on 54. The levitation and movement table according to any one of claims 1 to 53, wherein the aerial flight mechanism section is controlled so as to reduce the lift amount of the mounting table according to the weight. 56. The levitation mobile platform according to any one of claims 1 to 55, wherein when there are a plurality of callers, the identification information for each caller is different. A levitation and movement table comprising an aerial flight mechanism for levitating and moving in the air and hovering in the air, and a mounting table on which an article can be mounted or the mounted article can be taken out. a computer equipped with
ringing signal receiving means for receiving a ringing signal containing caller identification information;
identification information detection means for detecting the identification information from the identification information providing unit of the caller;
Based on the identification information detected by the identification information detecting means, the identification information providing section that provides the same identification information as the identification information included in the calling signal received by the calling signal receiving means is detected. Control means for controlling the aerial flight mechanism to move to the position of the caller by controlling the aerial flight mechanism and hover in the vicinity of the caller;
Program for levitation mobile platform to function as

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