JP6551824B2 - Floating platform - Google Patents

Description

  The present invention relates to a floatation carriage which is suitable for use, for example, to provide food, drinks and the like and to provide a container for empty dishes and glasses and the like with a cleaning service, for example, at a dinner party or the like.

  For example, as a method of providing food and drinks at restaurants and hotels, a reception party listens to your orders and transports the ordered food and drinks to your customers. For example, there is also known a method called buffet style in which the food or drink to be provided is arranged in a table in advance, and the customer takes out the arranged food or drink.

  We also propose a method of offering dishes and drinks by the rotary table and belt conveyor method by offering dishes and drinks to customers while displaying them, thereby saving the trouble of customers and customers. (See, for example, Patent Document 1 (Japanese Patent Application Laid-Open No. 11-299626) and Patent Document 2 (Japanese Patent Application Laid-Open No. 2003-199654)).

JP-A-11-299626 Unexamined-Japanese-Patent No. 2003-199654

  In the case of a buffet style where food and drink are arranged in a predetermined predetermined place, the customer has to go for food and drink one by one, which is troublesome. In addition, when we were in talks with other customers, we sometimes suspended (interrupted) those talks, or gave up taking food and drinks if we didn't want to pause. In addition, it is necessary to set a place for food and drink, and there is also a problem that the space available to the customer is narrowed by that place.

  As in Patent Document 1 and Patent Document 2, when providing food and drinks using a rotary table or a belt conveyor system, customers do not have to go to the dishes and drinks every time, which is convenient. . However, the installation position of the turntable and the belt conveyor is necessary, and the space available to the customer is narrowed by the location, and the special provision device such as the turntable and the belt conveyor is needed. There's a problem. You also have to wait until you get what you want on a rotating table or conveyor belt.

  The problems as described above are not limited to articles such as dishes and drinks, but are the same in an environment where various articles are displayed and sold.

  In view of the above, the present invention does not need to provide a separate space for arranging or displaying articles, and a person goes for himself or herself to a predetermined place. It is an object of the present invention to provide a floating moving table which can be made unnecessary.

In order to solve the above-mentioned subject, invention of claim 1 is,
An air flight mechanism unit for floating and moving in the air and for hovering in the air;
A mounting table on which articles can be placed;
One or more sensors for attitude control to maintain the horizontal position of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
Determining means for determining whether or not a predetermined situation occurs in the spatial region;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling;
A placement amount detection unit that detects the presence or absence of an article placed on the mounting table, or more or less;
Equipped with
The control means is configured to move to a predetermined location when the article placed on the mounting table is gone, or when the number of articles is less than a predetermined number. Provided is a levitating platform that controls an aerial flight mechanism.

  The levitation moving platform according to the present invention having the above-described configuration includes a mounting table on which articles can be mounted, and an article such as food or drink is mounted on the mounting table and stored in the storage unit. It can move in the air in the spatial domain. That is, since the floating platform mounts an article such as a dish or a drink on the table and moves while presenting it to the recipient of the article, the space is not necessary for arranging the article such as the dish or the drink.

  In addition, the levitating platform of the present invention is, for example, whether or not a predetermined situation has occurred, such as the person to whom the article is provided calls, or the food container is empty or the drink container is empty at the party venue, for example. If it is determined that such a predetermined situation has occurred, hovering is performed beside the person in the place where the predetermined situation has occurred. As a result, the person who is in the state of hovering by the floating moving stand by side picks up and acquires articles such as dishes and drinks placed on the mounting table of the floating moving stand according to his / her preference. Alternatively, empty containers can be placed on the mounting table for recovery. Therefore, by using the levitation moving platform according to the present invention, a person does not have to go for picking up articles to a predetermined place.

  According to the apparatus of the present invention, it is possible to provide a levitation moving platform which can prevent the customer from having to go for food and drinks and the like without narrowing the space available to the customer. it can. Moreover, even while having a chat with another customer, there is no need to suspend the chat for taking food and drinks, and there is no need to give up food and drinks.

It is a figure which shows the mechanical structural example of embodiment of the levitation moving stand by this invention. It is a block diagram showing an example of composition of a drive control device part of an embodiment of a levitation mobile stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of embodiment of the levitation moving stand by this invention. It is a figure used in order to demonstrate the operation example of the embodiment of the levitation mobile stand by this invention. It is a figure used in order to demonstrate the operation example of the embodiment of the levitation mobile stand by this invention. It is a figure used in order to demonstrate the operation example of the embodiment of the levitation mobile stand by this invention. It is a figure used in order to demonstrate the operation example of the embodiment of the levitation mobile stand by this invention. It is a figure for demonstrating an example of the other utilization aspect of embodiment of the levitation mobile stand by this invention.

  Hereinafter, an embodiment of a levitation moving table according to the present invention will be described with reference to the drawings. In the embodiment to be described below, the levitation platform is used for serving food and drinks and collecting empty containers at the standing party site. However, it goes without saying that the levitation moving platform of the present invention is not limited to this example.

  The levitation moving platform 1 of this embodiment is a configuration of a flying body capable of autonomously flying in the air. FIG. 1 (A) is a view of the levitation mobile stand 1 of this embodiment as viewed from above, and FIG. 1 (B) is a plan view of the levitation mobile stand 1 of this embodiment from the front side FIG.

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

  The rotary wing mechanisms 5A, 5B, 5C, 5D are driven to rotate the rotary wings 52A, 52B, 52C, 52D by rotationally driving rotary wing shafts (not shown) by the motor drive units 51A, 51B, 51C, 51D. It is configured to rotate. The rotational speeds and rotational directions of the motor drive units 51A, 51B, 51C, and 51D are controlled by drive control signals from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotational driving and a power source for driving control. Power is supplied from the battery to a camera, a microphone, various sensors, a control unit, etc. described later. As the battery, for example, a rechargeable secondary battery is used. Alternatively, a solar cell may be used.

  In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by a drive control signal from the drive control unit 3, so that the levitation moving platform 1 that is a flying object takes off and landing. , Various movements such as ascending (directly above, diagonally up), descending (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, etc. And attitude control such as an inclination angle with respect to the vertical direction and position control of the hovering position.

  In the levitation carriage 1 of this embodiment, a camera to be described later, a nondirectional microphone, various sensors, and the like are attached integrally with the drive control unit 3, and the drive control unit 10 including the control unit is incorporated. A housing 6 is formed. The housing 6 is configured in a box-like 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 formed of a pipe member formed in a trapezoidal shape, and are formed so as to stably hold the levitation moving platform 1 on the landing surface 8 as shown in FIG. 1 (B). It is done. The shape and members of the leg are not limited to this, and various types are conceivable. For example, it may be wood or metal material in which four legs are formed in a cylindrical shape at the four corners of the housing 6. In addition, in order to facilitate movement on the landing surface 8, a movable wheel may be attached to the leg.

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

  The optical axes of the cameras CM1 to CM6 (corresponding to the imaging direction) are orthogonal to the attachment surfaces of the cameras CM1 to CM6, and a predetermined range of angle of view can be imaged around the optical axis direction.

  The mounting table 9 on which the article is placed is placed on the upper surface of the housing 6 at a position above the rotating blades 52A, 52B, 52C, 52D so as not to interfere with the rotation of the rotating blades 52A, 52B, 52C, 52D. It is supported and provided by being fixed to four support legs 9A, 9B, 9C, and 9D which are planted from. In this example, the mounting table 9 is configured to have a U-shaped cross section with a U-shaped cross section. In this mounting table 9, holes are formed in a mesh shape on the bottom and side of the crucible so that the flow of air generated by the rotation of the rotary wings 52A, 52B, 52C, 52D is as small as possible. ing.

  Moreover, although illustration is abbreviate | omitted, when the illumination is dropped and it darkens by illuminating the articles | goods mounted on the mounting base 9, or even in the case of moody illumination, the upper surface of the housing | casing 6 can be distinguished. An LED (Light Emitting Diode) light is provided on the

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

  As shown in FIG. 2, the drive control unit 10 in this embodiment transmits an air flight drive unit 102 and a gyro sensor to the control unit 101 including a microcomputer (abbreviated as a microcomputer in FIG. 2) through the system bus 100. 103, geomagnetic sensor 104, gravity sensor 105, altitude sensor 106, obstacle sensor 107, weight sensor 108, sound emission processing unit 109, moving space memory 110, current position detection unit 111, flight drive signal generation unit 112, position and orientation Control signal generation unit 113, cameras CM1 to CM6, nondirectional microphones (odirectional microphones are omitted in FIG. 2) MC, image recognition unit 114, voice recognition unit 115, alarm notification unit 116, order voice information storage unit 117, Each of the prediction unit 118, the operation unit 119, and the voice message storage unit 120 is connected. It has been constructed by. The control unit 101 constitutes a main control unit that controls the whole of the levitation moving table 1.

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

  The gyro sensor 103 detects an acceleration change during the flight of the levitation carriage 1, and is used to detect the flight traveling direction of the levitation carriage 1, its velocity, and the attitude. The geomagnetic sensor 104 is used to detect in which direction of the north, south, east, and west, and in which direction the levitation carriage 1 is moving.

  The gravity sensor 105 is for detecting the direction of gravity (vertical direction), and includes, for example, an acceleration sensor, and is used for control to keep the bottom of the mounting table 9 of the levitation moving table 1 horizontal.

  The altitude sensor 106 is for detecting the altitude at which the floating carriage 1 is located at that time, and is, for example, an air pressure sensor.

  The obstacle sensor 107 detects the presence of an obstacle by detecting light reflected by an obstacle such as a person or a wall by emitting light, infrared rays, or ultrasonic waves, and detects the presence of an obstacle. The time or the amount of attenuation from the generation of a sound wave to the reception of the reflected wave can be detected, and the distance to the detected obstacle can be calculated from the time or the amount of attenuation. In this embodiment, the obstacle sensor 107 is used to control the levitation mobile platform 1 so as to avoid a collision with an obstacle in a space in which it is used.

  Further, in this embodiment, as described later, the obstacle sensor 107 is a person (in this example, a participant of a standing party or a receptionist (serving)) who is in the vicinity of a place where the floating moving table 1 should fly. When hovering beside the person who called the mobile stand 1 (in this example, a participant in a standing party or a receptionist), the floating mobile stand 1 is hovered while maintaining a predetermined distance, for example, about 40 cm, with the person. It is also used for ring control. At this time, photographed image information from a camera for photographing a person among the cameras CM1 to CM6 is also used.

  The weight sensor 108 is for detecting the weight of the article placed on the placing table 9 or detecting a weight change after the article is picked up from the placing table 9. In this embodiment, the weight of the article detected by the weight sensor 108 when the article is placed on the placing table 9 is the weight of the placing table 9 of the article placed on the placing table 9 taken by the camera CM1. It is stored in association with the placement position on the bottom surface. In this embodiment, as described later, control of the height position of the hover ring in accordance with the weight of the article detected by the weight sensor 108 is performed.

  A speaker 121 is connected to the sound emission processing unit 109, and as described later, the stored sound message and the reproduced sound signal are subjected to acoustic conversion by the speaker and released according to the control of the control unit 101. Make it sound.

  The moving space memory 110 stores information on a moving space such as a room in which the floating moving table 1 is used. The memory of the control unit 101 of the levitating platform 1 of this embodiment stores an application program for panoramic photographs (for example, Photosynth), and the levitating platform 1 flies in the room to be used in advance. The room is photographed in a 360-degree range using all or part of the cameras CM1 to CM6. Then, using the application program for panoramic photography, the control unit 101 generates 3D image information of the room from the photographed image information taken, and stores the generated 3D image information in the moving space memory 110.

  In this case, in the mobile space memory 110, three-dimensional information such as the shape of the room such as the party hall to be used, the length, the width, and the height are also stored in advance. Furthermore, structural information of a room to be used, such as a beam, a pipe space, or a column may be stored in advance. The moving space may include a moving space from the kitchen or tableware washing place to the eating party hall, as well as the eating party hall. Furthermore, the storage information of the moving space memory 110 includes moving route information (route guidance information) in the moving space of the floating moving table 1.

  The current position detection unit 111 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the levitation mobile stand 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 an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . In addition, by using all or a part of the cameras CM1 to CM6, the surroundings of the levitation moving table 1 are photographed, and the photographed image information thus photographed is compared with 3D image information stored in the moving space memory 110 for image recognition Thus, the relative position in the 3D image space may be grasped and the current position may be detected. In order to detect the current position after movement, the current position detection unit 111 also uses the gyro sensor 103, the geomagnetic sensor 104, and the height sensor 106.

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

  First, when starting a levitating flight based on an activation command from the control unit 101, the flight drive signal generating unit 112 is a flight for moving in the air according to the movement path information stored in the moving space memory 110. Generate a drive signal. In this case, the flight drive signal generation unit 112 determines the movement direction and the movement distance from the position information of the current position detected by the current position detection unit 111 and the information of the movement space stored in the movement space memory 110. calculate.

  The flight drive signal generation unit 112 uses information on the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the obstacle sensor 107, and the like based on the calculated direction and distance, and further uses the cameras CM1 to CM1. While referring to the photographed image from the CM 6, a flight drive signal for moving is generated while avoiding a collision with an obstacle and avoiding a place that should not fly.

  The flight drive signal is a signal for driving each of the motor drive units 51A to 51D of the four rotary wing mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the air flight mechanism unit 2 through the air flight drive unit 102. In response to the flight drive signal, the air flight mechanism unit 2 rotationally drives each of the rotary wings 52A to 52D to perform movement by air flight.

  During this movement, the control unit 101 refers to the photographed images from the cameras CM1 to CM6 to perform image recognition to be described later, so that the levitation moving table 1 is a person (a participant of a standing party or a receptionist. The same applies hereinafter) Determine if there is a situation that should occur next to. Here, whether or not the situation where the levitation moving platform 1 should go beside a person has occurred is that in this example the container such as a plate or a glass in the vicinity of the standing party participant or the receptionist is empty (cooking Or the receptionist of the reception party makes an act (such as raising a hand) or a receptionist who floats the receptionist, or the receptionist makes the movement Doing works (calling up hands, etc.) to bring up the stand 1, or taking a work (participants looking around the surroundings) to find the levitation table 1 or customer service, etc. It is determined by determining whether or not it has started.

  In addition, in the following explanation, in order to avoid being scolded, “a situation that should be visited by a person (a participant in a standing party or a receptionist)” will be simply described as “a situation that should be crawled”.

  When the control unit 101 determines that the situation where the levitation moving table 1 should be crawled is generated, the flight drive signal generation unit 112 generates the situation where the levitation moving platform 1 should be crawled according to the control of the control unit 101. It moves to the side of the person who is near the place or the person who has made a move to call up the floating carriage 1, and is made to hover there. In this case, the flight drive signal generation unit 112 performs the control according to the control of the control unit 101 at the height position based on the position of the person's lower jaw in this example, the specific physical part of the person hovering alongside. A flight drive signal is generated so as to hover while maintaining the horizontal state of the mounting table 9 while being separated from a person by a predetermined distance, and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In this case, the height position at which the hovering is performed is high enough for a person to take out articles such as food and drink from the mounting table 9 and to place empty dishes or glasses on the mounting table 9. Position. The position / posture control signal generation unit 113 generates a signal for controlling the hovering height position, as described later.

  Then, when a movement start instruction or a return instruction to the kitchen or washing place is issued from the control unit 101, the flight drive signal generation unit 112 stops the hovering and starts further movement in the dining party hall. Alternatively, a flight drive signal for moving back to the kitchen or the washing place is generated, and supplied to the air flight mechanism unit 2 through the air flight drive unit 102.

  The control unit 101 detects a move permission gesture (a gesture of waving a hand, etc.) from a person hovering by the floating carriage 1 by a side, a voice of the move permission ("Mow yo") "Go When a hovering state is continued for a predetermined period of time or longer without recognizing any voice (such as “off”) or receiving any action from a person, a movement start instruction is issued. In addition, in the mode in which food and drink are provided, the controller 101 issues a return instruction to the kitchen when food or drink is exhausted or low on the mounting table 9. Further, when it is determined that the weight of the container placed on the placing table 9 exceeds the predetermined weight in the mode for collecting the empty container, the control unit 101 issues a return instruction to the washing place. Furthermore, when the container placed on the mounting table 9 falls down and the contents are spilled, the control unit 101 recognizes the fact from the captured image information of the camera CM 1 and sets the levitation moving table 1 to the kitchen Or control to return to the washing area.

  Under the control of the control unit 101, the position / orientation control signal generation unit 113 is based on the images taken by the gyro sensor 103, the geomagnetic sensor 104, the gravity sensor 105, the altitude sensor 106, the weight sensor 108, and the cameras CM1 to CM6. A signal is generated for height position control of the levitation moving table 1 and horizontal state maintenance control of the bottom surface of the mounting table 9.

  Under the control of the control unit 101, the position / posture control signal generation unit 113 detects that an article is placed on the mounting table 9 of the levitation moving table 1 from the captured images of the cameras CM1 to CM5. Generates a posture control signal for keeping the bottom surface of the mounting table 9 horizontal by using the sensor output of the gravity sensor 105 not only when the ring is moving but also when moving by levitation flight. Do.

  Then, as an example of the reference height position, the position / orientation control signal generation unit 113 detects the height position of the lower jaw of a human face image photographed by any of the cameras CM2 to CM5 in this example, After temporarily hovering to the height position, a position / posture control signal is generated so as to hover at a height position, for example, 20 cm below the height position. The height position can be adjusted by a human action (gesture) or an instruction by voice, as described later.

  The position / posture control signal generation unit 113 is also used when a person places an article such as a dish or a drink on the placing stand 9 of the levitation moving stand 1 or takes out an article such as a dish or a drink from the placing stand 9. The generation of the position and orientation control signal for correcting the hovering height position described above is performed based on the control of the control unit 101.

  Each of the cameras CM <b> 1 to CM <b> 6 outputs captured image information of a moving image to the system bus 100. Identification information for identifying from which camera the captured image information is added to the captured image information sent to the system bus 100 from each of the cameras CM1 to CM6. Note that the captured image information from each of the cameras CM1 to CM6 may be captured image information of still images at predetermined time intervals, for example, 0.5 second intervals, instead of moving image captured image information.

  The nondirectional microphone MC is for picking up voice information such as a command issued by a person who is a person at a reception party or a serving person. Although not shown, in the levitation mobile stand 1 of this embodiment, of the acoustic information collected by the nondirectional microphone MC, only the acoustic information of a band (for example, 200 Hz to 4 KHz) of human speech is selected. The data is sent to the system bus 100 through a band pass filter.

  In addition, it is also possible to use as a command that a person utters a hand clapping sound or a finger squeezing sound collected by the nondirectional microphone MC. In this case, the levitation moving platform 1 moves in response to the caller's hand picked up by the omnidirectional microphone MC and the sound of clapping hands and fingers of the orderer of dishes and drinks described later, and flies. In general, there is a peak of frequency power between 0 and 2 KHz for the clapping sound and 2 to 4 KHz for the finger ringing sound, so that band is sent through the band pass filter to the system bus 100 and the clapping sound is generated. Or the sound of a finger ringing may be recognized.

  The image recognition unit 114 includes an image memory 114M that stores image information of an image recognition target to be recognized from the photographed image information from the cameras CM1 to CM6. As a result, whether the container in the vicinity of the participants of the standing party or the receptionist is empty or not, whether the person (participant of the standing party or receptionist) calls the floating moving table 1 to be called, works for searching, works for leaving permission And so on.

  In this embodiment, as will be described later, the control unit 101 is configured to receive a food or drink order from a person in a hovering state. When the order is received, The face image of the orderer of the order can be registered in the order orderer storage area (not shown) of the image memory 114M in association with the position information (position information in the moving space). .

  Then, the levitating platform 1 of this embodiment returns to the location of the position information stored in the order orderer storage area of the image memory 114M in order to deliver food and drink to the order orderer, and the image recognition unit 114 The order ordering person is recognized based on the face image of the order ordering person stored in the order ordering person storage area of the image memory 114M.

  Moreover, in this embodiment, a person who is in the vicinity of the floating moving platform 1 that is hovering may “drop the height slightly” or “increase the height slightly to the floating moving platform 1 by gestures”. , "Rotate the mounting table 9", "Change the hovering position (centered on the person to be followed) to the right", "Change the hovering position (centered on the person to be followed) to the left" Etc. can be issued. The control instruction storage area (not shown) is provided in the image memory 114M, and in the control instruction storage area, correspondence information between the control instruction described above and the image of the corresponding action (gesture) is stored. It is memorized.

  In addition, although illustration is abbreviate | omitted that a person lightly touches the levitation moving stand 1, according to the position and the pressure direction which a person touches, it detects up and down, left and right, diagonal direction etc. It may be possible to control it.

  The control unit 101 monitors the photographed image information of the cameras CM1 to CM6, and in the image recognition unit 114, a person present in the vicinity of the hovering moving platform 1 is stored in the control command storage area of the image memory 114M. Make it possible to determine whether or not you have done the same (or a similar) action as the one being done. Then, the control unit 101 causes the person in the vicinity of the hovering floating platform 1 to perform the same (or similar) operation as the operation of the control instruction stored in the control instruction storage area of the image memory 114M. When it is determined that it has been made, a control command corresponding to the operation is acquired from the control command storage area of the image memory 114M, and the flying platform 1 performs an operation in accordance with the acquired control command. The control signal is supplied to the unit 2.

  Moreover, in this embodiment, the control instruction etc. which were mentioned above with respect to the levitation mobile stand 1 are enabled to be able to be recognized by the voice which the participant and receptionist of a reception party utter.

  The voice recognition unit 115 is for recognizing a voice control command or the like by a participant of the food service party or a customer service representative, and stores correspondence information between the control command described above and the corresponding voice information of the phrase. The voice memory 115M is provided.

  The control unit 101 monitors the voice information collected by the omnidirectional microphone MC, and is stored in the control command storage area of the voice memory 115M by the participant of the eating party or the customer service in the voice recognition unit 115. It is determined whether or not the same phrase (or an approximate phrase) as the speech phrase of the control command has been uttered. When the control unit 101 determines that the same voice phrase (or approximate phrase) as the control command stored in the control command storage area of the voice memory 115M has been uttered by a participant of the buffet party or the customer service, The control command corresponding to the voice phrase is obtained from the control command storage area of the voice memory 115M, and the control signal to the air flight mechanism unit 2 so that the levitation moving base 1 performs the operation according to the obtained control command. Supply.

  In this case, when there is a command to “lower the height a little”, the control unit 101 performs control to lower the height by, for example, 2 cm from the current height position, and a command to “raise the height a little”. When it does, it controls, for example to raise 2 cm from the current height position, for example. Further, when there is a command “rotate the mounting table 9”, the control unit 101 keeps the mounting table 9 in a horizontal state, for example, 90 degrees to 180 degrees with respect to the center position of the mounting table 9. Control to rotate. When the mounting table 9 itself has a rotating mechanism (not shown), the mounting table 9 is controlled to be rotated, and the mounting table 9 is not rotated and is fixed to the casing 6 of the levitation moving table 1 In this case, the position of the mounting table 9 is controlled by controlling the position of the levitation moving table 1 itself such as rotation.

  Also, change the hovering position (centered at the standing party participants and receptionists) to the right, and change the hovering position (centered at the standing parties and receptionists) to the left When there is an instruction “,” the control unit 101 controls to change the left and right positions with respect to the participants and receptionists of the standing party of the floating moving table 1 to a side different from the current state. As voice commands, there may be other words "Come a minute," "It's here," "Away," and so on.

  When the weight of the article placed on the placing table 9 of the levitation moving table 1 is such that the hovering cannot be held by the levitation moving table 1 (overweight), the alarm notification unit 116 stands up. A party participant, a cook, and a customer service representative of the party are notified of that as an audio alarm such as a buzzer sound through a speaker (not shown). Alternatively, a voice message such as "overweight" may be emitted as a voice alarm by a speaker and notified. Whether the weight is over or not is determined based on the weight detected by the weight sensor 108. In addition, even in a slightly light state before the weight is over, it may be notified by voice alarm that the further placement is dangerous.

  Further, the image recognition unit 114 recognizes that the image information of the article that is overweight is registered in the image memory 114M in advance, and the registered article is about to be placed on the placing table 9. When the alarm notification unit 116 issues a voice message such as "It's over weight." Or "There is a risk of over weight." As a voice alarm by the speaker before announcing it. Good.

  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. Assign multiple colors to the indicator and display, for example, `` blue '' when there is enough weight, `` yellow '' when approaching overweight, `` red '' when there is a danger of overweight, You may control the color.

  In addition, by disposing the weight sensors 108 at a plurality of places on the mounting table 9 or the like, weight balance can also be detected. When it is detected that the weight balance is broken, a voice message such as "The weight balance is broken." Or "Please put on the other side" by the alarm notification unit 116 is emitted by the speaker as a voice alarm and notified. You may do it.

  The order voice information storage unit 117 stores the voice information of the order in the voice memory 117M when the participant of the breakfast party places an order for food or drink. The order voice information storage unit 117 reads out and reproduces the order voice information stored in the voice memory 117M when the levitating platform 1 returns to the kitchen according to the control of the control unit 101. The reproduced order sound information is emitted by the speaker 121 through the sound emission processing unit 109, and the order by the participant of the buffet party is transmitted to the kitchen. Note that the food and drink order voice in this example is an example of the voice of the provided service request.

  The predicting unit 118 controls the levitation moving table 1 according to a matter predicted from the captured image information of any of the cameras CM <b> 2 to CM <b> 5 when the levitation moving table 1 is used.

  That is, when the floating moving platform 1 is hovering in the air, an article may be taken out of the mounting table 9 by the standing party participant, or an article may be placed by the standing party participant or the receptionist. When expected, the increase in weight of the picked-up article and the decrease in weight of the placed article are controlled to be as small as possible.

  In this case, the prediction unit 118 stores the weight measured by the weight sensor 108 of the article placed on the levitation moving table 1 together with the image information of the article photographed by the cameras CM1 to CM6. Since the weight of the article is known when the same article as the selected article is picked up from the levitation carriage 1, the levitation carriage 1 should be corrected so as not to rise as much as possible even if the article is picked up. But easy to do.

  Further, as described above, when containers such as empty plates and glasses are placed on the placing table 9 of the levitation moving table 1, the weights of these containers are stored in the storage unit of the prediction unit 118 in advance. Thus, the prediction unit 118 controls the floating moving table 1 so as to reduce the amount of lowering as much as possible.

  The operation unit 119 is for the user to input flight start activation of the levitation moving table 1, creation of moving space information, storage instruction to the moving space memory 110, and other operation instructions. Furthermore, the levitation transfer stand 1 of this embodiment is provided in any mode of a provision mode for offering dishes and drinks to participants of a standing party and a recovery mode for recovering containers such as empty dishes and glasses. It is possible to select and set, and the setting operation of the mode is also performed through the operation unit 119.

  In this example, the operation unit 119 includes a plurality of buttons associated with each mode, and a mode can be selected and set by operating any one of the plurality of buttons. Note that a list of selectable modes may be displayed on a display unit (not shown) so that it can be selected and set from the list of modes.

  The voice message storage unit 120 stores voice message information emitted from the levitation mobile stand 1 to the participants of the eating and drinking party. In the voice message storage unit 120, a voice message such as "Please cook or drink please" is stored for the provision mode, which should be emitted to the participant of the standing party when hovering. In addition, for the collection mode, a voice message such as “I will collect an empty container” is stored, for example, that should be emitted to participants of the eating party when hovering.

  In FIG. 2, the flight drive signal generation unit 112, the position and orientation control signal generation unit 113, the image recognition unit 114, the voice recognition unit 115, the alarm notification unit 116, the order voice information storage unit 117, and the prediction unit 118 101 can also be realized as a software processing function.

[Operation example of the levitation carriage 1]
Next, an example of the processing operation of the levitation moving table 1 of this embodiment will be described with reference to the flowcharts of FIGS. 3 to 8 and the explanatory views of FIGS. 9 to 12. In the following description, the control unit 101 includes a flight drive signal generation unit 112, a position / attitude control signal generation unit 113, an image recognition unit 114, a voice recognition unit 115, an alarm notification unit 116, an order voice information storage unit 117, A case where the processing function of each unit of the prediction unit 118 is realized as a software processing function will be described.

  Note that, for the floating carriage 1, either of the above-described provision mode and recovery mode is set via the operation unit 119 before the start of use.

  The control unit 101 determines whether or not the start instruction has been received, and waits for the start instruction (step S101), and when it is determined that the start instruction has been received, the setting mode is checked (step S102). Then, the control unit 101 determines whether the setting mode is the provision mode or the collection mode (step S103), and when it is determined that the setting mode is the provision mode, the table for placing an article such as food or drink to be provided. 9 is checked (step S104).

  Then, the control unit 101 determines from the captured image information of the camera CM 1 whether or not a predetermined number or more of the articles are placed on the mounting table 9 (step S105). An alarm message such as "Please place a dish or a drink" is emitted from the speaker 121 to give an alarm notification (step S106). Here, the predetermined number or more in step S105 may be one or more, but it is inefficient, so it is desirable to set at least a plurality, preferably more than a number that does not cause an overweight.

  Next, the control unit 101 determines whether or not articles such as food and drink provided corresponding to the alarm notification have been placed on the mounting table 9 by a predetermined number or more (step S107), and a predetermined number or more are mounted. If it is determined that there is not, the process returns to step S106, and alarm notification is continued. When it is determined in step S107 that articles to be provided such as food and drink have been placed on the mounting table 9 by a predetermined number or more, the control unit 101 stops alarm notification (step S108).

  When it is determined in step S105 that an article such as a food or drink to be provided is placed on the placing table 9, and after step S108, the control unit 101 places the article placed on the placing table 9. It is determined whether or not the weight of the vehicle exceeds the transportable weight, that is, whether the weight is over (step S111 in FIG. 4).

  When it is determined in step S111 that the weight is over, the control unit 101 reads out an alarm message such as “Weight over. Please reduce food and drink” from the voice message storage unit 120 and outputs it from the speaker 121. The sound is emitted and an alarm is notified (step S112). Next, the control unit 101 determines whether or not an article such as a dish or a drink provided on the mounting table 9 corresponding to the alarm notification is reduced (step S113), and determines that it is not reduced. If it has, the process returns to step S112, and alarm notification is continued. When it is determined in step S113 that articles such as food and drink to be provided are reduced, the control unit 101 further determines whether or not the weight is over, and if over, returns the process to step S112. The alarm notification is continued, and when it is determined that the weight is not over, the alarm notification is stopped (step S114).

  After stopping the alarm notification in step S114 or when it is determined in step S111 that the weight is not over, the control unit 101 stores the total number M of foods and drinks provided on the mounting table 9 (step S111). S116). Then, the control unit 101 controls the levitation moving table 1 to move the predetermined route stored in the moving space memory 110 at a predetermined speed while avoiding the obstacle (step S117). .

  For example, as shown in FIG. 9, when a plurality of tables TB1, TB2, TB3, TB4, TB5, and TB6 are placed at the party venue, the participant party 201 of the buffet party is positioned so as to surround each table. Conceivable. Therefore, in the moving space memory 110, as shown by the space information of the party venue and the solid line 202 with an arrow in FIG. 9, the table TB1, TB2, TB3, TB4, TB5, and TB6 are uniformly distributed. A moving route that goes around is stored. The levitation carriage 1 levitates along the stored movement path. However, if there is no participant, as in table TB2 in FIG. 9, for example, it is judged from the photographed image information of the cameras CM2 to CM5 and moves around it as shown by a dotted line in FIG. Can be moved from the table TB1 to the movement path of the table TB3. Of course, the movement route is not limited to this, and can be freely set. For example, you may make it move centering on an area with many people. In addition, the control unit 101 waits for the floating platform 1 around the entrance of the venue at the start of the party, recognizes the visitors from the image information of the cameras CM2 to CM5, and enters the visitors in the form of a so-called welcome drink. It may be controlled to approach to provide a drink.

  Then, during movement along the movement path, the control unit 101 analyzes captured image information of the cameras CM2 to CM6, performs image recognition by the function of the image recognition unit 114, and collects sound with the nondirectional microphone MC. The voice recognition unit 115 performs voice recognition on the voice (step S118), and determines whether or not the floating mobile stand 1 in the provision mode has a situation to be heard (step S119).

  As described above, whether or not the situation which should be crawled in step S119 has occurred is that the participants of the breakfast party or the service clerk are acting to call the floating moving table 1 or the participants of the breakfast party Doing a panoramic view of the surroundings, as well as emptying or running out of containers such as plates and glasses in the vicinity of attendees and receptionists at the party, and serving additional food and drinks It is determined from image recognition and analysis of the photographed image information of the cameras CM2 to CM6 whether or not there is a situation where there is a possibility of request.

  Also, the participant's conversation picked up by the omnidirectional microphone MC, for example, "drink, is it empty?" "Are you going to be there?" "Next, what do you drink?" "Eat something?" "Sweet things (sweets) "Eating?" Can be voice-recognized to determine if it is a situation that may require additional food and drink.

  In step S119, when it is determined that the situation to be crawled does not occur, the control unit 101 returns the process to step S117, and avoids the obstacle by using the levitation moving table 1, and determines a predetermined route. The state of moving in the air at a predetermined speed is continued.

  When it is determined in step S119 that a situation to be struck has occurred, the control unit 101 has made a levitation moving table 1 a person in the vicinity of the place where the situation to be sought has occurred or an action to be called or searched. It is moved to the side of a person to make it hover (step S121 in FIG. 5).

  For example, the lower part of FIG. 10 shows the participants 201A and 201B exchanging business cards at the party venue. The control unit 101 of the levitation moving base 1 uses the captured image information of the cameras CM2 to CM5 as described above. It is determined that it is not a situation that should be seen by the participants of the standing party and the levitation movement is continued.

  Then, as shown in the upper part of FIG. 10, when the participant 201C raises his hand and recognizes by the image recognition that he / she is working to call the levitation moving table 1, the control unit 101 of the levitation moving table 1 Then, it is recognized that a situation to occur beside a participant of a standing party has occurred, and is moved to the side of the participant 201C for hovering (see FIG. 11A).

  Then, in the hovering state, as shown in FIG. 11A, the control unit 101 reads from the voice message storage unit 120 a voice message recommending provision of an article such as “please drink or cook”. The speaker 121 is made to emit sound (step S122). Next, the control unit 101 determines whether the food or drink placed on the mounting table 9 has been taken based on the captured image information of the cameras CM1 to CM5 (step S123).

  When it is determined in step S123 that the food or drink placed on the placing table 9 has been taken, the control unit 101 detects the number N of the taken articles based on the photographed image information of the cameras CM1 to CM5. Then, a calculation is performed to subtract the detected number N of articles from the total number M of articles placed on the mounting table 9, and the calculated total number M is stored (step S125).

  When it is determined in step S123 that the food or drink placed on the mounting table 9 has not been taken, or the storage of the total number M after the articles are taken from the mounting table 9 in step S125 is completed. Later, the control unit 101 asks the participants of the buffet party, “Is there any order for food or drink? If there is, please say the order and then the food or drink to order.” In this example, a message for inquiring about the order of an article desired to be provided is emitted from the speaker 121 (step S126).

  Next, the control unit 101 determines whether or not the order voice corresponding to the inquiry in step S126 has been recognized (step S127). In this example, whether or not the order voice is recognized in step S127 is determined based on whether or not the spoken word “order” is recognized (see FIG. 11A).

  When it is determined in step S127 that the order voice has not been recognized, whether the total number of articles placed on the placing table 9 is M = 0, that is, whether or not there are no articles placed on the placing table 9 is reached. It discriminates (step S129). When it is determined in this step S129 that the total number of articles placed on the placing table 9 has become M = 0, the control unit 101 sets the levitation moving stage 1 to the kitchen as shown in FIG. 12 (A). Air movement control is performed so as to return (step S141 in FIG. 6).

  It should be noted that instead of returning to the kitchen when there are no articles placed on the mounting table 9, return to the kitchen when the number of articles placed on the mounting table 9 is less than a predetermined number. May be In addition, you may be allowed to return to the kitchen even when problems such as cooking or drinking spills occur. Further, when it is detected that a dish or drink has been spilled, it may be landed at a place that does not interfere with the participants of the buffet party and collected by a customer service representative.

  When it is determined in step S129 that the total number of articles placed on the placing table 9 is not M = 0, the control unit 101 performs a leave permission operation or sound by a person in the vicinity of the hovering place. Is determined (step S130), and if it is determined that the behavior of leaving permission or the voice is detected, the process returns to step S117 in FIG. 4 to resume the air movement according to the determined route. Do.

  If it is determined in step S130 that no leave-permission action or voice has been detected, the control unit 101 remains in a state where there is no action on the levitating platform 1 by a person in a hovering state for a predetermined time or more. It is discriminated whether or not (step S131). If it is determined in step S131 that no action has been taken by the person on the levitating platform 1 for a predetermined time or longer, the process returns to step S117 in FIG. When the movement is resumed and it is determined that the predetermined time or more has not elapsed, the process returns to step S123, and the processes after step S123 are repeated.

  Further, as shown in FIG. 11A, when it is determined that the order voice is recognized in step S127 in response to the participant 201C having issued the order voice, the control unit 101 recognizes the order voice. In the case of the originating person (FIG. 11A, the face image of the participant 201C) is photographed using the cameras CM2 to CM5, and the photographed image information of the face image is hovered in the image memory 114M. The voice information 117M of the order voice information storage unit 117 is stored in association with the information on the current position, and the order voice information collected by the omnidirectional microphone MC is associated with the information on the hovering position. (Step S128). Then, after this step S128, the process proceeds to step S141 in FIG. 6, and the control unit 101 controls the movement in the air so as to return the levitating platform 1 to the kitchen.

  After step S141, the control unit 101 determines whether or not the stored information of the order voice exists (step S142). When it is determined that the stored information of the order voice does not exist, the control unit 101 performs the process. It returns to step S104 of 3, and repeats the process after this step S104.

  When it is determined in step S142 that the stored information of the order voice exists, the control unit 101 reads the order voice information from the voice memory 117M, supplies the order voice information to the voice sound emission processing unit 109, and the speaker 121 The sound is emitted (step S143).

  The kitchen chef or customer service staff listens to the order audio to obtain the ordered food or drink, prepares the ordered food or drink, and places it on the mounting table 9 of the levitating platform 1. I put it on.

  The order is not limited to voice. For example, the levitation moving base 1 may be provided with a display screen so that various dishes and drinks are displayed, and the user can make an order by selecting them by touch operation.

  The control unit 101 determines whether a dish or a drink has been additionally placed on the placing table 9 by referring to the captured image information of the camera CM1 and the detection output of the weight sensor 108 (step S144). When it is determined in step S144 that no food or drink is additionally mounted on the mounting table 9, the control unit 101 waits for the food or drink to be additionally mounted on the mounting table 9, and step S144. Thus, when it is determined that the food or drink is additionally placed on the placing table 9, the weight of the article placed on the placing table 9 exceeds the transportable weight, that is, whether the weight is over. It is determined (step S145).

  When it is determined in step S145 that the weight is over, the control unit 101 reads out an alarm voice message such as “Over weight. Please reduce food and drink” from the voice message storage unit 120, and outputs it to the speaker. A sound is emitted from 121 and an alarm is notified (step S146). Next, the control unit 101 determines whether or not an article such as a dish or a drink provided on the mounting table 9 corresponding to the alarm notification has been reduced (step S147), and determines that it has not been reduced. If YES, the process returns to step S146 to continue alarm notification. If it is determined in step S147 that the food or drink provided has been reduced, the control unit 101 further determines whether the weight is over or not. If the weight is over, the process returns to step S146. The alarm notification is continued, and when it is determined that the weight is not over, the alarm notification is stopped (step S149).

  After stopping the alarm notification in step S149, or when it is determined in step S145 that the weight is not over, the control unit 101 is based on the position information stored in the image memory 114M and the sound memory 117M. 1 is moved to the place where the order voice was sent, and control is made to hover by the side of the person (step S150). At this time, the control unit 101 recognizes the person who has made the order sound using the face image of the person who has made the order sound stored in the image memory 114M, and hoveres beside the recognized person. Control. After step S150, the control unit 101 shifts the process to step S122 in FIG. 5, and repeats the process after step S122. In step S22 at this time, a voice message such as “I have ordered food or drink” can be read from the voice message storage unit 120 and emitted from the speaker 121. .

  Next, when it is determined in step S103 of FIG. 3 that the set mode is the collection mode, the control unit 101 determines whether or not an article (a container such as a plate or a glass) is placed on the placement table 9. When it is determined (step S161 in FIG. 7) and it is determined that the article is placed, an alarm voice message such as “Please lower the container” is read from the voice message storage unit 120, An alarm is issued by emitting sound from the speaker 121 through the sound emission processing unit 109 (step S162).

  Then, the control unit 101 determines whether or not nothing is placed on the mounting table 9 with reference to the captured image information of the camera CM1 and the detection output of the weight sensor 108 (step S163). When the control unit 101 determines in step S 163 that nothing is placed on the mounting table 9, the control unit 101 returns the process to step S 162 to continue alarm notification, and the processing table 9 is displayed on the mounting table 9. If it is determined that nothing is on the alarm notification, the alarm notification is stopped (step S164).

  After stopping the alarm notification in step S164, or when it is determined in step S161 that no article is placed on the mounting table 9, the control unit 101 avoids the obstacle while avoiding the obstacle on the levitation moving platform 1. A predetermined route is controlled to move in the air at a predetermined speed (step S165).

  Then, the control unit 101 analyzes captured image information of the cameras CM2 to CM6, performs image recognition by the function of the image recognition unit 114, and causes the voice recognition unit 115 to perform voice recognition on the voice collected by the nondirectional microphone MC. The recognition is performed (step S166), and it is determined whether or not a situation in which the levitation moving table 1 in the recovery mode is to be crawled has occurred (step S167). As described above, whether or not the situation to be asked in step S167 has occurred is determined by calling the levitation table 1 so that the participants of the eating party can clean up empty containers such as plates and glasses. It is judged from image recognition and analysis of the photographed image information of the cameras CM2 to CM6 whether or not a container such as a plate or a glass in the vicinity of the standing party participant or the receptionist is empty.

  When it is determined in this step S167 that the situation to be crawled does not occur, the control unit 101 returns the process to step S165, and takes a predetermined route along the levitation moving table 1 while avoiding the obstacle. The state of moving in the air at a predetermined speed is continued.

  When it is determined in step S167 that the situation to be crawled has occurred, the control unit 101 has made the levitation mobile platform 1 a person in the vicinity of the place where the crawl situation has occurred, or an act of calling or searching. It is moved to the side of a person to make it hover (step S168) (see FIG. 11B).

  And in this hovering state, as shown in FIG. 11 (B), the control unit 101 performs collection of empty containers such as “Please lower the empty container, so place it on the mounting table”. The voice message notifying that the voice message is read out from the voice message storage unit 120, and the voice message is emitted from the speaker 121 (step S169).

  Next, the control unit 101 determines whether an article, in this example, an empty container, has been mounted on the mounting table 9 based on the photographed image information of the cameras CM1 to CM5 (step S171 in FIG. 8). When it is determined in this step S171 that an empty container is placed, the total weight of the empty containers placed on the placing table 9 is detected by the weight sensor 108 (step S172), and the total weight is determined in advance. It is determined whether or not the threshold is exceeded (step S173). In this case, the weight threshold in the recovery mode of the empty container is set relatively low. This is to avoid a situation in which the empty container has to be taken down if the weight of the empty container is over when the participant of the eating party places the empty container.

  When it is determined in step S173 that the total weight does not exceed the threshold value, the control unit 101 determines whether or not an action or voice of leaving permission is detected by a person in the vicinity of the hovering place ( Step S174) When it is determined that the behavior of leaving permission or the voice is detected, the process returns to step S165 of FIG. 7 to resume the air movement according to the determined route.

  If it is determined in step S174 that no action or sound of permission to leave has been detected, the control unit 101 remains in a state where there is no action on the levitating platform 1 by a person in a hovering state for a predetermined time or more. It is determined whether or not it has been done (step S175). Then, if it is determined in step S175 that there is no action by the person on the levitation carriage 1 that continues for a predetermined time or more, the process returns to step S165 in FIG. 7 and the air follows the determined route. The movement is resumed, and when it is determined that the predetermined time or more has not elapsed, the process returns to step S171, and the processes after step S171 are repeated.

  When it is determined in step S173 that the total weight of the empty containers placed on the placing table 9 has exceeded the threshold value, the control unit 101 sets the floating moving table 1 to the tableware as shown in FIG. It is controlled to move to the washing place of (step S176). After step S176, the control unit 101 returns the process to step S161 of FIG. 7 and repeats the processes after step S161.

  In the above description, in the recovery mode, the service request from the participants of the breakfast party, that is, the order of food and drink is not received, but even in this recovery mode, the participants of the breakfast party receive The provision service request, that is, the order of food and drink may be received in the same manner as the provision mode.

  In that case, after the levitation moving table 1 moves the levitation moving table 1 to the dishwashing place, it moves to the kitchen to reproduce the order voice. Then, after delivering the ordered food and drink to the participant of the standing party who made the order, the floating mobile stand 1 returns to the collection mode and moves to the movement for collecting the empty container.

  In the recovery mode, the levitating platform 1 does not move on the table TB1 to TB6 in the sky above the party venue, instead of moving on a moving route that goes around the tables TB1 to TB6 as shown in FIG. In order to be able to photograph the situation with a camera, it may be made to move linearly, and if necessary, it may be moved to the side of a party participant or a receptionist near a vacant container.

  In the above description, the total number M of articles in step 116, step 125, and step 129 and the number N of articles in step 124 and step 125 are counted regardless of the type of article, but dishes (dish) and drinks ( (Glass) may be counted separately, and further, it is possible to count by type of food and type of drink. Of course, there may also be a levitation platform 1 dedicated to cooking and a levitation platform 1 dedicated to drinks. In this case, of course, it is not necessary to count dishes (dishes) and drinks (glasses) separately.

[Effect of the embodiment]
As described above, according to the levitating platform 1 of the above-described embodiment, dishes and drinks are placed on the placing table 9 and moved in the party venue to be presented to the party participants. Therefore, the space is not necessary because it is not necessary to arrange food and drinks in a predetermined place.

  Then, in order for the levitation carriage 1 to pass by the party participant, the party participant can use the articles placed on the placing carriage 9 of the levitation carriage 1 while moving on the spot, It can be easily confirmed. Furthermore, the party participant and the receptionist can call the levitation mobile stand 1 by performing a call or a search work. In this case, the levitation transfer stand 1 can be used as a party participant or a customer service representative. Since the hovering is performed beside the seat, it is possible to easily pick up the articles placed on the placing table 9 and place the articles to be collected on the placing table 9.

  Therefore, even when a party participant wants food and drink, it is not necessary to go to a table or the like on which food and drink are lined up as in the past. In addition, the situation where an empty container or an uneaten container remains untidy and becomes annoying is also improved. Moreover, in the above-mentioned embodiment, the party participant can order the food and drink which are not mounted in the mounting base 9 with respect to the levitation mobile stand 1 by voice, and it is very convenient.

  In addition, the party operator only needs to prepare the levitation moving platform 1 and does not need to install a rotary table or a belt conveyor at the party hall. In addition, food and drinks prepared in the kitchen can be placed on the levitation table 1 and provided to the party participants, so that warm items are kept warm and cold items are cold. It is possible to keep and provide the state.

[An example of other usage modes of levitation mobile stand 1 of an embodiment]
The above is the description about the aspect which utilized the levitation mobile stand of this invention in the dining party, However, the levitation mobile stand of this invention is applicable to other various usage aspects.

  FIG. 13 shows how the clothes store is used. In this example, particularly recommended products are placed in advance on the mounting table 9 of the levitation moving table 1, and are placed in a landing state at a predetermined place in the store. Then, when the customer 201D comes to the store, the floating carriage 1 moves to the side of the customer 201D and hovers to show recommended products. When there are multiple customers, show them the recommended products. When the customer shows interest and makes an action or voice that signifies a stop, hover by the customer.

  When a product is to be displayed at a height not reached by the customer, the product is placed and displayed on the mounting table 9 of the floating carriage 1. When the customer requests that the product be viewed at hand, the floating carriage 1 can come to the side of the customer and hover to present the product to the customer.

  Of course, the store clerk can call the levitating platform 1 with a work to call. In that case, the floating carriage 1 hovers beside the store clerk who called for.

  This usage mode is applicable not only to clothes stores but also to various stores such as cosmetics stores, pharmacies, precious metal stores, and various products.

  In addition, the floatation mobile stand 1 recognizes the image of the customer whether it is an adult or a child so as not to pick up medicine or alcoholic beverage dangerous to the child, and if it is recognized as a child, the hand of the child reaches. It can be controlled so that it stays at no height position.

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

  Moreover, in the above-mentioned embodiment, although the mounting base was made into the thing in which the hole was formed in the mesh shape in the bottom face and the side surface of the crucible, it is not restricted to this and influences the flow of the air which arises by rotation of a rotary wing. It is sufficient if the configuration is small.

  When the distance between the rotor and the mounting table 9 is large so that the flow of air generated by the rotation of the rotor is small, the mounting table 9 has holes formed in a mesh shape. It is not necessary to use, for example, it may be constituted by a transparent plate or the like.

  Furthermore, in the above-mentioned embodiment, although the mounting base was provided in the upper part of the levitation moving stand, it can also be made to be hung at the lower part. In that case, since the presence of the mounting table 9 lessens the influence of the air flow generated by the rotation of the rotary wings, the mounting table 9 needs to use one in which holes are formed in a mesh shape. For example, you may be comprised by the transparent plate etc.

  In the above embodiment, the surface on which the article of the mounting table 9 is placed is flat in the above-described embodiment, but the container for food or drink is on the surface on which the article of the mounting table 9 is placed. A recess or hole to be fitted or engaged may be formed, and the container may be placed in the recess or hole so that the food or drink can be stabilized so as not to spill.

  Further, in the above embodiment, when determining the height position of the hovering, the position of the lower jaw is referred to as a specific physical site of the person, but the position of the shoulder, eyes, and ears are not limited to the lower jaw. , Nose, mouth position, elbow position, etc. Furthermore, it is also possible to refer to the position of a specific place such as a collar, a first button, a chest pocket or the like worn by a person, not limited to the physical part of the person. In addition, you can also reference the position of jewelry and accessories such as earrings and necklaces, necklace pendants, and brooches. Employee IDs and ID cards may be worn at company parties, and name tags may be worn at general parties. The positions of these employee ID cards, ID cards and name tags may be used as a reference. Of course, these reference positions may be registered in advance in the levitating platform.

  Furthermore, when a person is using a mobile object such as a wheelchair, the position of the arm of the wheelchair being seated is determined in relation to the person, so the position of the arm of this wheelchair is hovering height position It can be used as a standard for determining. For those who use a wheelchair because it is difficult to walk, it is very convenient to hover near the wheelchair, such as the work that the levitation table brings together, so you can participate in a dinner party with confidence.

  In the above-described embodiment, the air flight mechanism unit 2 is described as an example of a helicopter-type mechanism unit 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 a helicopter type mechanical section, and any mechanical type capable of hovering such as an airplane type mechanical section is applicable.

  Moreover, in the above-mentioned embodiment, although the number of cameras was six and the microphone was one of the nondirectional microphones, it is needless to say that the number is not limited. Various positions where a camera and a microphone are provided are also conceivable. Furthermore, the microphone is not limited to a nondirectional microphone, and a directional microphone may be used to collect voice or sound of a specific person or direction. The camera may be a standard camera, a wide angle camera, a fisheye camera, or a 360 degree camera. Also, it may be a close-up camera, a telephoto camera, an infrared camera, or the like. Of course, these cameras may be used in combination.

  Furthermore, it goes without saying that a plurality of gyro sensors, geomagnetic sensors, gravity sensors, altitude sensors, obstacle sensors, and weight sensors may be provided.

  Although the above-mentioned embodiment explained the method of using a camera and a microphone for distinction of the situation which should go to a person's side, it is not restricted to this, Temperature sensors, such as a radiation thermometer, a smell sensor, a tactile sensor, etc. These sensors may be used or used together. For example, a temperature sensor measures whether a person is eating or drinking, or whether a warm dish or hot drink is cold, and whether a cold dish or cold drink is warm. However, in the case of a positive measurement result, it can be determined that the situation should be on the side of a person. Note that the temperature state can be measured with an infrared camera. Also, in the case of a normal camera, whether or not the situation should be met by a person by recognizing the presence or absence of steam, melting of ice (presence / absence), melting of ice cream or sherbet, etc. from the captured image information. Discrimination can be made.

  In the above embodiment, the air flight drive control and the like are performed regardless of the type of the article to be placed, but the type of the article to be placed is determined, and the air flight according to the determination result Drive control or the like may be performed. For example, when placing and moving a glass containing a liquid such as beer, wine, juice, water, etc., the camera recognizes that the liquid is a liquid, and the acceleration and deceleration are reduced to reduce vibration. Control flight control. Furthermore, in the case of a liquid, it may be recognized by a weight sensor, a camera or the like which part of the glass is filled up, and air flight drive control with less vibration may be performed as the amount increases.

  In addition, it is difficult for the levitation platform to hover near the person who is in the vicinity of the place where the situation to be crawled occurs or the person who is calling or looking for it because of space, obstacles or battery problems. In such a case, the control unit or the like can judge the situation and land on a nearby table or the like.

  Other than that, it is a matter of course that various modifications can be considered in terms of the mechanism of the floating moving table.

DESCRIPTION OF SYMBOLS 1 ... levitation moving stand, 2 ... air flight mechanism part, 3 ... drive control unit, 6 ... housing | casing, 9 ... mounting base, 10 ... drive control apparatus part, 101 ... control part, CM1-CM6 ... camera

Claims (16)

An air flight mechanism unit for floating and moving in the air and for hovering in the air;
A mounting table on which articles can be placed;
One or more sensors for attitude control to maintain the horizontal position of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
Determining means for determining whether or not a predetermined situation occurs in the spatial region;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling;
A placement amount detection unit that detects the presence or absence of an article placed on the mounting table, or more or less;
Equipped with
The control means is configured to move to a predetermined location when the article placed on the mounting table is gone, or when the number of articles is less than a predetermined number. A levitating platform that controls the aerial flight mechanism. An air flight mechanism unit for floating and moving in the air and for hovering in the air;
A mounting table on which articles can be placed;
One or more sensors for attitude control to maintain the horizontal position of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
Determining means for determining whether or not a predetermined situation occurs in the spatial region;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling;
A placement amount detection unit that detects the presence or absence of an article placed on the mounting table, or more or less;
Equipped with
The control means is configured to move the air to move to a predetermined location when there is an article placed on the mounting table or when the number of articles exceeds a predetermined number. A levitation mover characterized by controlling a flight mechanism unit. A total weight measuring means for detecting the total weight of one or more articles placed on the table mentioned above;
The levitation moving table according to claim 1 or 2, wherein the placement detecting means issues an alarm when the total weight of the article detected by the total weight measuring means exceeds a predetermined value. . An air flight mechanism unit for floating and moving in the air and for hovering in the air;
A mounting table on which articles can be placed;
One or more sensors for attitude control to maintain the horizontal position of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
One or more cameras for shooting in the space area;
Determining means for determining whether or not a predetermined situation occurs in the space area;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling;
Position detection means for detecting a position in the space area when the hovering is performed;
Voice collecting means for picking up voices of people who are present at the place where the predetermined situation occurs when the user is hovering;
Voice recognition means for recognizing whether the voice collected by the voice collection means is a request for provision service of a predetermined article;
Equipped with
The control means is the voice recognition means, and when it is recognized that the voice collected by the voice collection means is the provision service request, the control means collects the provision service request collected by the voice collection means The voice, the face image photographed by the one or more cameras of the person who made the provision service request, and the position in the hovering space area detected by the position detection means are associated with each other Control the air flight mechanism to move to a predetermined location, and reproduce the voice of the stored service request stored at the predetermined location; After confirmation of placement of the article on the table in response to reproduction of the voice, the air flight mechanism unit is controlled to move to the stored position, and the stored face image Levitation moving base, characterized by controlling so that hovering beside the. An air flight mechanism unit for floating and moving in the air and for hovering in the air;
A mounting table on which articles can be placed;
One or more sensors for attitude control to maintain the horizontal position of the mounting table;
A storage unit for storing information of a spatial region moved by the aerial flight mechanism unit;
One or a plurality of cameras for photographing in the space area;
Determining means for determining whether or not a predetermined situation occurs in the space area;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling;
A leaving permission recognizing unit that recognizes leaving permission from a person near the hovering position from photographed image information from the one or more cameras;
Equipped with
When the leaving permission recognition means recognizes the leaving permission, the control means returns to the state of moving in the space area at a predetermined moving speed while avoiding an obstacle. A floating movable table characterized by controlling A placement amount detection unit that detects the presence or absence of an article placed on the mounting table, or more or less;
And a total weight measuring means for detecting the total weight of the one or more articles placed on the table.
6. The levitating platform according to claim 4 or 5, wherein the placement detecting means issues an alarm when the total weight of the article detected by the total weight measuring means exceeds a predetermined value. . Comprising one or a plurality of cameras for photographing the space area;
The said determination means determines whether the said predetermined condition has generate | occur | produced in the said space area | region from the picked-up image information from the said 1 or several camera, It is characterized by the above-mentioned. Floating lift described in crab. The said determination means determines whether the said predetermined condition has generate | occur | produced in the said space area | region from the picked-up image information from the said 1 or several camera. Floating lift described in crab. One or more microphones for picking up the voice of the person in the space area;
Voice recognition means for recognizing voice collected from the one or more microphones;
Equipped with
The judging means judges whether or not the predetermined situation has occurred from the result of speech recognition by the speech recognition means. The floating platform according to 7. One or more second sensors for measuring the condition of an article within the space area;
10. The apparatus according to any one of claims 1 to 9, wherein the determination means determines whether or not the predetermined situation occurs from measurement information from one or more of the second sensors. Floating lift described. The occurrence of the predetermined situation determined by the determination means includes whether or not a call request for a person present in the space area has been recognized.
When the control means recognizes a call request of a person existing in the space area by the determination means, the control means moves the air flight mechanism unit so as to move and hover the person who issued the call request. The floating moving platform according to any one of claims 1 to 10, characterized by controlling. Voice message storage means for storing predetermined voice message information;
Sound emitting means for emitting voice message information stored in the message storage means in the hovering state under the control of the control means;
The floating movable stand according to any one of claims 1 to 11, comprising: For floating and moving in the air, an aerial flight mechanism for hovering in the air, a mounting table on which articles can be mounted, and attitude control for maintaining the horizontal state of the mounting table A computer included in a levitation moving platform including one or more sensors and a storage unit that stores information on a space area moved by the air flight mechanism unit;
A discriminating means for discriminating whether or not a predetermined situation occurs in the space area;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means to control,
Mounting amount detection means for detecting presence or absence of an article placed on the mounting table,
A program to function as
The control means is configured to move to a predetermined location when the article placed on the mounting table is gone, or when the number of articles is less than a predetermined number. A program for a levitation moving platform characterized by controlling an air flight mechanism unit. For floating and moving in the air, an aerial flight mechanism for hovering in the air, a mounting table on which articles can be mounted, and attitude control for maintaining the horizontal state of the mounting table A computer included in a levitation moving platform including one or more sensors and a storage unit that stores information on a space area moved by the air flight mechanism unit;
A discriminating means for discriminating whether or not a predetermined situation occurs in the space area;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means to control,
Mounting amount detection means for detecting presence or absence of an article placed on the mounting table,
A program to function as
The control means is configured to move the air to move to a predetermined location when there is an article placed on the mounting table or when the number of articles exceeds a predetermined number. A program for a levitating platform characterized by controlling the flight mechanism. For floating and moving in the air, an aerial flight mechanism for hovering in the air, a mounting table on which articles can be mounted, and attitude control for maintaining the horizontal state of the mounting table When hovering with one or more sensors, a storage unit storing information of a space area moved by the air flight mechanism unit, and one or a plurality of cameras for photographing the inside of the space area to, a computer buoyant mobile platform has provided a voice sound pickup means for picking up the utterance of a person being in place Tokoro constant conditions has occurred,
Discriminating means for the given situation is determined whether or not generated in the spatial domain,
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means to control,
Position detecting means for detecting a position in the space area when the hovering is performed;
Voice recognition means for recognizing whether the voice collected by the voice collection means is a request for provision service of a predetermined article;
A program to function as
The control means is the voice recognition means, and when it is recognized that the voice collected by the voice collection means is the provision service request, the control means collects the provision service request collected by the voice collection means The voice, the face image photographed by the one or more cameras of the person who made the provision service request, and the position in the hovering space area detected by the position detection means are associated with each other Control the air flight mechanism to move to a predetermined location, and reproduce the voice of the stored service request stored at the predetermined location; After confirmation of placement of the article on the table in response to reproduction of the voice, the air flight mechanism unit is controlled to move to the stored position, and the stored face image Levitation moving base of programs and controls so that hovering beside the. For floating and moving in the air, an aerial flight mechanism for hovering in the air, a mounting table on which articles can be mounted, and attitude control for maintaining the horizontal state of the mounting table A computer having a levitating platform comprising one or more sensors, a storage unit for storing information on a spatial region moved by the aerial flight mechanism unit, and one or a plurality of cameras for photographing the inside of the spatial region The
Determining means for determining whether or not a predetermined situation occurs in the space area;
When the predetermined situation is determined to have occurred in the determination means, by moving the side of the person who is in a location that the predetermined situation occurs, the aerial flight mechanism to hovering Control means for controlling,
A leaving permission recognizing means for recognizing a leaving permission from a person near the hovering position from photographed image information from the one or more cameras;
Is a program for functioning as
When the leaving permission recognition means recognizes the leaving permission, the control means returns to the state of moving in the space area at a predetermined moving speed while avoiding an obstacle. Control program.

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