JP2019180956A - Mobile body - Google Patents

Abstract

To make it possible to perform air purification by a photocatalytic function while moving, and to perform air purification of a wide range.SOLUTION: A mobile body comprises: a housing which is constituted of a material at least outer surface sides of which exert a photocatalytic function; housing moving means which is attached to the housing and used for spatially moving the housing; light emission parts which are provided so as to irradiate the outer surface of the housing with light; and a control part which is provided inside the housing, controls supply of driving voltage to the light emission parts, and controls drive of the housing moving means. The control part includes a function of supplying driving voltage to the light emission parts to irradiate the outer surface of the housing with light and execute a photocatalytic function while moving the housing by the housing moving means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body having a function of removing organic substances such as fungi and bacteria floating in space by a photocatalytic function.

In recent years, a photocatalytic function of a semiconductor material such as titanium oxide (TiO ₂ ) has attracted attention, and it is known that an antibacterial action and an antifouling action can be exhibited by this photocatalytic function. In titanium oxide, the oxidizing power of holes generated in the valence band is very strong. For this reason, when titanium oxide is adsorbed, the photocatalytic function of the titanium oxide eventually causes the organic substance to be removed from water and carbon dioxide. Can be broken down into

  However, titanium oxide itself has a poor ability to adsorb any substance on its surface. Patent Document 1 (Japanese Patent Application Laid-Open No. 2000-327315) discloses a photocatalytic apatite that improves this defect and has an increased ability to adsorb organic substances. Photocatalytic apatite is obtained by bonding a metal oxide having a photocatalytic function and apatite at an atomic level. Patent Document 1 discloses a metal-modified apatite in which titanium oxide as an example of a metal oxide having a photocatalytic function and a high adsorbing power such as calcium hydroxyapatite are combined at an atomic level.

  Patent Document 2 (Japanese Patent Laid-Open No. 2012-63435) discloses a photocatalyst layer by spraying a coating liquid containing titanium oxide particles on a protective layer of printed matter as an advertising / notification medium installed outdoors. It has been proposed to form. According to the advertisement / notification medium of Patent Document 2, since the organic substance adsorbed on the surface of the printed matter can be decomposed, the air purification function can be exhibited.

JP 2000-327315 A JP 2012-63435 A

  If the advertisement / notification medium of Patent Document 2 is used, the air purification function can be exhibited only in the vicinity of the place where the printed material for the advertisement or notification is installed. For this reason, it is not suitable for air purification of a space in a relatively wide predetermined area. If you intend to purify the air in an area of a predetermined area using the advertisement / notification media of Patent Document 2, it is necessary to prepare a large number of advertisement / notification media and install them in that area. is there.

  In addition, even if the place where the advertisement / notification media is installed is indoors or outdoors, in an environment where sufficient external light cannot be obtained, in order to make the photocatalytic function work effectively, On the other hand, it is necessary to accompany a light source that emits light. Therefore, there is a problem that a system provided with a large number of advertisement / notification media devices of Patent Document 2 consumes a large amount of power.

  An object of this invention is to provide the moving body which can improve the above problem.

In order to solve the above problems, the present invention provides:
A housing formed of a material having at least an outer surface side having a photocatalytic function;
A housing moving means attached to the housing for moving the housing in space;
A light emitting unit provided to irradiate light to the outer surface of the housing;
A control unit that is provided in the housing and controls the supply of a driving voltage to the light emitting unit, and controls the driving of the housing moving unit;
With
The control unit supplies the driving voltage to the light emitting unit, and irradiates light on the outer surface of the casing to perform a photocatalytic function, and moves the casing by the casing moving unit. Provided is a mobile object characterized by having the function of:

  The moving body having the above-described configuration includes a housing made of a material having a photocatalytic function at least on the outer surface side, and a light emitting unit provided to irradiate light to the outer surface of the housing. Furthermore, the moving body of the present invention includes a housing moving means for moving the housing in space. Then, the control unit of the moving body according to the present invention supplies the driving voltage to the light emitting unit, irradiates the outer surface of the housing with light, and executes the air purification by the photocatalytic function, while performing the air purification by the housing moving means. To move.

  According to the moving body of the present invention, air purification can be performed by the photocatalytic function while moving, and a wide range of air purification can be performed.

It is a figure for demonstrating the structural example of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows the example of the movement pattern of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 1st Embodiment of the moving body by this invention. It is a figure for demonstrating the structural example of the example of the flying body as 2nd Embodiment of the moving body by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of the example of the flying body as 2nd Embodiment of the moving body by this invention. It is a figure for demonstrating the example of the flight plan of the example of the flying body as 2nd Embodiment of the moving body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 2nd Embodiment of the mobile body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 2nd Embodiment of the mobile body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 2nd Embodiment of the mobile body by this invention. It is a figure which shows a part of flowchart for demonstrating the operation example of the example of the flying body as 2nd Embodiment of the mobile body by this invention. It is a figure for demonstrating the structural example of the example of the traveling mobile body as 3rd Embodiment of the mobile body by this invention. It is a block diagram which shows the structural example of the drive control apparatus part of the example of the traveling mobile body as 3rd Embodiment of the mobile body by this invention.

[First Embodiment]
Hereinafter, a first embodiment of a moving body according to the present invention will be described with reference to the drawings. The first embodiment of the moving body described below is a case where the configuration of the flying body is capable of flying in the air and capable of hovering stopping in the air.

  FIG. 1 is a diagram showing a configuration example of a flying object 1 as a first embodiment of a moving object according to the present invention. The flying object 1 according to the first embodiment is configured to be able to autonomously fly and move in the air. FIG. 1 (A) is a view of the flying object 1 of this embodiment as viewed from above, and FIG. 1 (B) is a view of the flying object 1 of this embodiment as viewed from the front. .

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

  The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blade shafts (not shown) by the motor drive units 51A, 51B, 51C, and 51D, thereby rotating the rotary blades 52A, 52B, 52C, and 52D. It is configured to rotate. The motor drive units 51 </ b> A, 51 </ b> B, 51 </ b> C, 51 </ b> D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotational driving and a power source for driving control. A light emitting unit, a camera, a microphone, various sensors, a display, a control unit, and the like, which will be described later, are also supplied with power from the battery. As the battery, for example, a rechargeable secondary battery is 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 air vehicle 1 takes off, landings, and climbs (directly above) , Diagonally up), descending (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, etc. Posture control such as corners and position control of the hovering position can be performed.

  In the flying object 1 of this embodiment, a housing 6 is formed integrally with the drive control unit 3. Of course, the drive control unit 3 and the housing 6 are not integral, and the drive control unit 3 may be attached to the housing 6. In this embodiment, the aerial flight mechanism unit 2 and the drive control unit 3 constitute a housing moving unit.

  The housing 6 includes a light emitting unit, a camera, a microphone, various sensors, and the like, which will be described later, and a drive control device unit 10 including a control unit. In this example, the housing 6 has a box shape as a whole.

  The housing 6 is made of a material having at least an outer surface side having a photocatalytic function. In this embodiment, the housing 6 is made of a high-functional composite material in which a plate-like resin, for example, is used as a base material and the metal-modified apatite described in Patent Document 1 is formed as a thin film on the base material. . The housing 6 has a rectangular parallelepiped shape in this embodiment. In this embodiment, the entire surface of the housing 6, that is, the metal-modified apatite thin film is formed by the upper surface on which the drive control unit 3 is provided, the bottom surface facing the upper surface, and the upper surface and the bottom surface. It is formed so as to be exposed on each of the four side surfaces. The metal-modified apatite thin film is not necessarily provided on the entire surface of the housing 6 and may be formed only on the four side surfaces excluding the upper surface and the bottom surface, for example. The housing 6 is not limited to a rectangular parallelepiped shape, and may be spherical or cylindrical. In that case, the metal-modified apatite thin film may be provided on the entire surface of the spherical surface or the cylindrical surface, or may be provided on a part of the surface.

  Therefore, the organic substance including bacteria in the atmosphere around the housing 6 is adsorbed on the metal-modified apatite thin film exposed on the surface of the housing 6 and is decomposed into moisture and carbon dioxide by the photocatalytic function. The atmosphere is purified. And if the flying object 1 flies and moves, the area | region where air | atmosphere purification is carried out by the thin film of the metal modification apatite of the housing | casing 6 will also move, and the air | atmosphere of a wider area | region can be purified.

  In addition, as a base material which comprises the housing | casing 6, it is not necessarily restricted to resin, For example, plate-shaped bodies, such as wood, glass, a metal, ceramics, may be sufficient. Moreover, the material of the housing | casing 6 is not necessarily restricted to what was comprised with the highly functional composite material which formed the metal modification apatite in the thin film on the base material like this example, and comprises the base material mentioned above. A sheet or film of metal-modified apatite may be attached to the surface of the plate-like body. In addition, the photocatalytic apatite is not limited to the metal-modified apatite disclosed in Patent Document 1, and any photocatalytic function may be used as long as it exhibits a photocatalytic function.

  Two legs 7A and 7B are attached to the housing 6 so as to face each other. In this example, the leg portions 7A and 7B are made of pipe members formed in a trapezoidal shape, and are formed so as to stably hold the flying object 1 on the landing surface 8, as shown in FIG. ing. The shape and members of the leg are not limited to this, and various types are conceivable. For example, it may be a wood or metal material in which four legs are formed in a cylindrical shape at the four corners of the housing 6. Further, in order to facilitate movement on the landing surface 8, movable wheels may be attached to the leg portions 7A and 7B.

  And in this embodiment, the light emission part which irradiates light to the outer surface of the housing | casing 6 is attached. In the example of FIG. 1, the mounting arms 91 </ b> A, 91 </ b> B, 91 </ b> C, 91 </ b> D of the light emitting units 9 </ b> A, 9 </ b> B, 9 </ b> C, 9 </ b> D, 9 </ b> E are provided on the four side surfaces and the bottom surface of the casing 6 having a rectangular parallelepiped box shape. 91E is attached. In this case, the mounting arms 91A, 91B, 91C, 91D, and 91E have the light emitting portions 9A, 9B, 9C, 9D, and 9E, and the entire surfaces of the four side surfaces and the bottom surface of the housing 6 are indicated by dotted lines in FIG. It is attached with respect to the housing | casing 6 so that it can irradiate.

  In this embodiment, light emitting units 9F, 9G, 9H, and 9I are provided on the four side surfaces of the drive control unit 3 in order to irradiate the upper surface of the housing 6 with light. The provision of the four light emitting units 9F, 9G, 9H, and 9I in this manner can irradiate light to a region exposed to the outside of the upper surface of the housing 6 regardless of the presence of the drive control unit 3. This is to make it possible.

  The light emitting units 9A to 9I may be any one that emits ultraviolet rays, such as an incandescent bulb, a fluorescent lamp, and an ultraviolet LED (Light Emitting Diode).

  In this example, as shown in FIGS. 1A and 1B, the cameras CM <b> 1 to CM <b> 5 are respectively provided on the four side surfaces of the drive control unit 3 and the bottom surface of the housing 6. Yes. The optical axes (corresponding to the shooting directions) of these cameras CM1 to CM5 are directions orthogonal to the respective mounting surfaces of the cameras CM1 to CM5, and a predetermined range of view angles can be taken around the optical axis direction.

  Further, a drive control device unit 10 including a battery as a power source is provided in the housing 6. FIG. 2 is a block diagram showing a configuration example of the drive control unit 10 in the flying object 1 of this embodiment. In FIG. 2, the battery is omitted.

  As shown in FIG. 2, the drive control unit 10 in this embodiment includes an aerial flight drive unit 102, a gyro sensor, and a control unit 101 including a microcomputer (omitted from a microcomputer in FIG. 2) through a system bus 100. 103, geomagnetic sensor 104, altitude sensor 105, obstacle sensor 106, moving space information memory 107, current position detection unit 108, illuminance sensor 109, flight plan generation unit 110, flight drive signal generation unit 111, position and orientation control signal generation unit 112, a camera group 113, an image recognition unit 114, a lighting control circuit 115, and an operation unit 116 are connected to each other.

  The aerial flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, and 51D of the rotary wing mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism unit 2 in accordance with the control of the control unit 101. To do.

  The gyro sensor 103 detects a change in acceleration during the flight of the flying object 1 and is used to detect the flight traveling direction, speed, and posture of the flying object 1. The geomagnetic sensor 104 is used to detect in which direction the flying object 1 is flying. The altitude sensor 105 is for detecting the altitude at which the flying object 1 is located at the time, and is composed of, for example, a barometric sensor.

  The obstacle sensor 106 emits light, infrared rays, or ultrasonic waves and detects reflected waves from the obstacles, thereby detecting the presence of the obstacles and emitting light, infrared rays, or ultrasonic waves. From this, it is possible to detect the time until the reflected wave is received and the amount of attenuation, and calculate the distance to the detected obstacle from the time and the amount of attenuation. In this embodiment, the obstacle sensor 106 is an obstacle in a space in which the flying object 1 is used (hereinafter referred to as a moving space), for example, an obstacle such as an indoor wall or chest, a bed, a desk, or a person or a pet. It is also used to detect power poles, buildings, trees, or obstacles such as people, animals, automobiles, and bicycles in an outdoor moving space and to fly while avoiding collisions with them.

  The moving space information memory 107 stores information related to a moving space that is subject to air purification indoors or outdoors where the flying object 1 is used. The information on the moving space (hereinafter referred to as moving space information) includes position information (latitude, longitude, height) for specifying the moving space and information on obstacles existing in the moving space.

  The position information for specifying the movement space is the position coordinates of a plurality of vertices that specify the shape of the movement space. For example, if the moving space is a rectangular parallelepiped shape, the position information (latitude, longitude, height) of each of the four vertices on the top surface and the position information (latitude, longitude, height) of each of the four vertices on the bottom surface ). Alternatively, the position information (latitude, longitude, height) of the two vertices at the diagonal positions of the top surface and the bottom surface, or the positions of the two vertices at the diagonal positions of the two side surfaces facing each other Information (latitude, longitude, height) may be used.

  The information on the obstacle in the moving space can be information on the position and height of the obstacle in the moving space.

  In addition, the indoor moving space that performs air purification may be a room space of a general household that is not sealed indoors, or may be a room space of a commercial facility such as a department store or a shopping center, or an office building. However, it may be a closed room space such as a clean room in a factory. In addition, as an outdoor movement space, for example, a limited range of spaces such as a theme park, an amusement park, a zoo, a concert venue, a soccer stadium, a baseball field, a museum, a museum, and the like are targeted. Of course, the space information is stored in the moving space information memory 107 as a moving space as long as it is within the flight range of the flying object 1 such as the vicinity of the house, the company, the station, the airport, etc. The

  An application program (for example, Photosynth) for panoramic photographs is stored in the memory of the control unit 101 of the flying object 1 according to this embodiment, and the flying object 1 flies in the moving space in advance and the camera CM1. Using all or part of CM5, images are taken in a range of 360 degrees at each location in the moving space. And the control part 101 produces | generates 3D image information in each point in movement space from the image | photographed captured image information using the application program for panoramic photography, and uses the produced | generated 3D image information for movement space information. Store in the memory 107.

  In this case, in this example, the air vehicle 1 determines a specific location in the moving space in which it is used as a home position, and takes off and land using that position as a base. The specific location may be defined in a charging station that is a normal standby location.

  The information stored in the moving space information memory 107 also stores the position information of the determined home position. In addition, when the moving space is a room, the moving space information memory 107 also stores in advance information on the length, width, and height of the room to be used. Furthermore, when the moving space is indoors, the structural information of the room to be used, such as beams, pipe spaces, and pillars, may be stored in advance, and when the moving space is outdoors, utility poles, buildings, The position of the tree may be stored in advance.

  The moving space information is not only generated by the flying object 1 flying as described above and stored in the moving space information memory 107, but also the moving space information of the target moving space is displayed by the user. Of course, it may be stored in the moving space information memory 107. In that case, when the movement space information of the movement space scheduled for air purification is generated in advance and the flying object 1 is stored in a separate storage device or stored in the cloud, The movement space information of the necessary movement space is acquired from the storage device or the cloud and stored in the movement space information memory 107.

  Note that the movement space information memory 107 stores movement space information of a plurality of target movement spaces in advance so as to be identifiable, and when the user wants to perform the air purification, the user can perform the air purification target. The target moving space information may be read from the moving space information memory 107 by selecting and specifying the moving space information of the moving space to be.

  The current position detection unit 108 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the aircraft 1. In order to obtain more accurate position information, the current position may be detected using a radio wave from a mobile phone base station or a radio wave from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. .

  In addition, the current position detection unit 108 compares the captured image information obtained by capturing the periphery of the flying object 1 with the 3D image information stored in the moving space information memory 107 using all or part of the cameras CM1 to CM5. By recognizing the image, 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 108 also uses the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105.

  Information on the current position of the flying object 1 detected by the current position detecting unit 108 is generated when the flying object 1 flies in advance in the moving space and generates moving space information stored in the moving space information memory 107. And used as information for specifying the position of the moving space.

  Although not shown in FIG. 1, the illuminance sensor 109 is attached to the housing 6 or the drive control unit 3. The illuminance sensor 109 detects the illuminance of outside light from the flying object 1. The control unit 101 determines whether to use the light emitting units 9A to 9I according to the illuminance detected by the illuminance sensor 109. In this embodiment, when the illuminance detected by the illuminance sensor 109 is higher than a threshold illuminance at which the photocatalytic apatite thin film formed on the housing 6 can sufficiently exhibit the photocatalytic function, The light emitting units 9A to 9I are kept off, and the light emitting units 9A to 9I are controlled to be turned on when the light intensity is below the threshold illuminance.

  Note that the illuminance detected by the illuminance sensor 109 is equal to or less than the threshold illuminance at which the photocatalyst function by the casing 6 of the flying object 1 is sufficiently exhibited by the control unit 101, but the illuminance at which the photocatalyst function can be exhibited. At this time, when the remaining amount of the battery is small and less than or equal to the predetermined amount, the light emitting units 9A to 9I may remain off.

  In addition, the control unit 101 detects that the illuminance detected by the illuminance sensor 109 is equal to or less than a threshold illuminance at which the photocatalytic function is sufficiently exerted but is greater than or equal to an illuminance at which the photocatalytic function can be exerted. When there is a sufficient remaining amount, the light emitting units 9A to 9I may be turned on.

  In addition, an illuminance sensor that detects the illuminance on each of the four side surfaces, the upper surface, and the lower surface of the housing 6 is provided, and the control unit 101 emits light to irradiate each surface according to the detected illuminance on each surface. Control of turning on / off each part may be performed.

  The flight plan generation unit 110 receives a control instruction from the control unit 101 based on the activation information through the operation unit 116, reads out the movement space information stored in the movement space information memory 107, and moves to be subjected to air purification. It detects the position, size, shape, position of obstacles, etc. of the space. And the flight plan production | generation part 110 produces | generates the flight plan of the aircraft 1 for performing the air purification using a photocatalyst function efficiently in the movement space of the object which performs the said air purification.

  In this case, in this embodiment, the flying object 1 moves in the moving space as uniformly as possible so that the flying movement is not performed or the time for air purification is less than the others. Thus, a flight plan is created so that there is no difference in the degree of air purification in each part in the moving space. Therefore, in this embodiment, the flight plan generation unit 110 determines the remaining battery level of the aircraft 1 and the size of the target moving space (the shape and size of the ground plane or floor plane occupied by the moving space, In consideration of the above, the movement pattern and movement speed of the flying object 1 are determined.

  Then, the flight plan generation unit 110 receives from the control unit 101 information on whether or not to turn on the light emitting units 9A to 9I determined based on the illuminance of external light detected by the illuminance sensor 109, and the light emitting unit 9A. A flight plan that takes into account the difference in battery consumption between when 9I is turned on and when it is turned off is generated.

  Examples of movement patterns for air purification in the movement space of the flying object 1 are shown in FIGS. The examples in FIGS. 3 to 5 are easy to explain, and the moving space is a rectangular parallelepiped room. In the example of FIGS. 3 to 5, the flying object 1 flies in a predetermined movement pattern in parallel with the floor surface FL along the floor surface FL of the room in the moving space, and the predetermined object parallel to the floor surface FL. This is an example of a movement pattern in which the altitude (height position) at which the movement pattern is executed is sequentially changed to move all regions including the height direction of the rectangular parallelepiped movement space.

  The example of FIGS. 3A and 3B is a case where the predetermined movement pattern parallel to the floor surface FL is a bowl shape. 4A and 4B is a case where the predetermined movement pattern parallel to the floor surface FL is a zigzag type. 5A and 5B is a case where the predetermined movement pattern parallel to the floor surface FL is a spiral type.

  Although not shown in FIGS. 3 to 5, in this embodiment, the flying object 1 does not always move at a constant speed, but hovering at the position for a predetermined time after moving a predetermined distance. When a predetermined time has elapsed, the operation of moving a predetermined distance again at a predetermined speed and performing hovering at the position after the movement is repeated. The flight plan generation unit 110 determines the size of the target moving space, the remaining battery power, the predetermined time for hovering, the predetermined distance from the hovering position to the next hovering position, and the moving speed therebetween. It changes according to quantity, controls the degree of politeness of the execution of the air purification in the target moving space, and generates an appropriate flight plan.

  In the case of the example in FIG. 3, the air purification in the target moving space can be performed by changing the number of times the saddle-shaped movement pattern is folded back into a saddle shape and changing the number of height positions where the movement pattern is performed. The degree of politeness of execution can be controlled. In the case of the example of FIG. 4, the air purification is performed in the target moving space by changing the number of zigzag folds of the zigzag moving pattern and changing the number of height positions where the moving pattern is performed. The degree of politeness can be controlled. In the case of the example of FIG. 5, the air purification is performed in the target moving space by changing the number of spirals of the spiral movement pattern and changing the number of height positions where the movement pattern is performed. The degree of politeness can be controlled. The flight plan generation unit 110 changes the degree of politeness according to the remaining battery level. In the case of a spiral movement pattern, the movement pattern is not limited to a circular shape or an elliptical shape, and may be a rectangular shape such as a square shape or a hexagonal shape. Of course, the rotation direction can be right or left.

  Of course, the example of the movement pattern in the movement space of the flying object 1 is not restricted to the example of FIGS. For example, as shown in FIGS. 6 to 8, the flying object 1 moves in a predetermined direction along a height direction that is parallel to one side wall of a rectangular parallelepiped room and perpendicular to the floor surface FL of the room in the moving space. While flying in a pattern, the position on the floor FL of the flight movement of the predetermined movement pattern in the height direction is sequentially changed so that all areas of the rectangular parallelepiped movement space can be moved. Good.

  In the example of FIGS. 6A and 6B, the predetermined movement pattern is a saddle type, and in the example of FIGS. 7A and 7B, the predetermined movement pattern is a zigzag type. The example of FIGS. 8A and 8B is a case where the predetermined movement pattern is a spiral type.

  Also in the example of FIGS. 6 to 8, the flying object 1 hoveres at the position for a predetermined time after moving a predetermined distance, and again at a predetermined speed at a predetermined speed after the predetermined time elapses. The operation of moving the distance and hovering at the position after the movement is repeated. The flight plan generation unit 110 determines the size of the target moving space, the remaining battery power, the predetermined time for hovering, the predetermined distance from the hovering position to the next hovering position, and the moving speed therebetween. It changes according to quantity, controls the degree of politeness of the execution of the air purification in the target moving space, and generates an appropriate flight plan.

  Also, in the examples of FIGS. 6 to 8, the air purification is carefully performed in the target moving space by changing the number of times the moving pattern is folded and swirled, and the number of positions on the floor surface FL where the moving pattern is executed. Since the degree of accuracy can be controlled, the flight plan generation unit 110 can change the degree of politeness according to the remaining battery level.

  Of course, the flight plan generation unit 110 may generate a flight plan of a movement pattern that moves at a predetermined speed without hovering as described above.

  It is also possible to determine whether there is a person in the moving space and generate a flight plan according to the determination result. For example, when it is determined that there is a person, it may fly at a height of 2 m or more so that the flying object 1 does not collide. Of course, the flight plan may be generated by determining whether there is an animal such as a pet as well as a person.

  As a means for determining whether or not there is a person or an animal, for example, the housing 1 may be determined by providing a human sensor (animal sensor) such as an infrared sensor and flying in advance in a moving space. A human sensor (animal sensor) such as an infrared sensor may be installed in the moving space. When human sensors (animal sensors) such as infrared sensors are installed in the moving space, the detection outputs of the human sensors (animal sensors) installed at various locations in the moving space are uploaded to the cloud and flight The body 1 accesses the cloud to determine the presence or absence of a person or an animal at various places in the moving space.

  When the flight drive signal generation unit 111 starts flying and moves in the air based on an activation instruction from the control unit 101, the flight plan generation unit 110 generates information on the movement space stored in the movement space information memory 107 and the flight plan generation unit 110. The movement direction and the movement distance are calculated in order to generate a flight drive signal for movement from the information on the movement pattern according to the flight plan and the position information on the current position detected by the current position detector 108.

  The flight drive signal generation unit 111 uses the information such as the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105 based on the calculated direction and distance, and further, the captured images from the cameras CM1 to CM5 of the camera group 113. , A flight drive signal for moving in accordance with the movement pattern generated by the flight plan generation unit 110 is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In this case, the flight drive signal includes signals for driving 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 51 </ b> A to 51 </ b> D of the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  In response to this flight drive signal, the aerial flight mechanism unit 2 rotationally drives each of the rotor blades 52A to 52D, and moves by aerial flight according to the movement pattern generated by the flight plan generation unit 110.

  The position / orientation control signal generation unit 112 changes the orientation and position of the housing 6 to an appropriate orientation and position (height) based on the images taken by the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the cameras CM1 to CM5. Position and orientation control signals for controlling the position and orientation so as to be included.

  The camera group 113 includes the cameras CM1 to CM5 described above. Each of the cameras CM <b> 1 to CM <b> 5 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 from each of the cameras CM1 to CM5 to the system bus 100. Note that the captured image information from each of the cameras CM1 to CM5 may be captured image information of a still image at a predetermined time interval, for example, an interval of 0.5 seconds, instead of moving image captured image information.

  The image recognition unit 114 compares the image information captured by the cameras CM1 to CM5 with an image of an obstacle or the like stored in an image memory (not shown) to avoid the obstacles to avoid during the above-described flight. It has a function to recognize. The flight drive signal generation unit 111 generates a flight drive signal that avoids the recognized obstacle and moves in the air.

  The lighting control circuit 115 controls the lighting and non-lighting (non-lighting) of the light emitting units 9A to 9I based on the control instruction to the control unit 101. In the case of this example, the lighting control circuit 115 controls the lighting units 9A to 9I to be turned on and off at the same time under the control of the control unit 101 based on the detection output of the illuminance around the illuminance sensor 109. ing.

  However, the present invention is not limited to this example, and the lighting control circuit 115 is configured so that each of the light emitting units 9A to 9I can be controlled to be turned on and off separately, and each of the six surfaces of the housing 6 is controlled. The illuminance sensor for detecting each illuminance is provided, and the control unit 101 individually determines whether each of the light emitting units 9A to 9I emits light or remains off based on the detection output of each illuminance sensor. You may comprise so that it may control.

  The operation unit 116 is also used by the user to input the start of flight of the flying object 1, creation of moving space information, storage instructions to the moving space information memory 107, and other operation instructions. In this example, as the start of flight of the flying object 1, in addition to an immediate start in response to a start instruction, a time set by the user through the operation unit 116 (predetermined time or The timer can be started at a predetermined time after the current time.

  In FIG. 2, the control unit 101 may realize the processing functions of the flight plan generation unit 110, the flight drive signal generation unit 111, the position / orientation control signal generation unit 112, and the image recognition unit 114 as software processing functions. it can.

[Flow of Operation of Drive Control Unit 10 of Aircraft 1]
The aircraft 1 according to the first embodiment configured as described above is in a state in which a metal-modified apatite thin film having a photocatalytic function is exposed on the entire surface of the housing 6. Therefore, organic substances such as bacteria in the atmosphere around the housing 6 are adsorbed on the metal-modified apatite thin film exposed on the surface of the housing 6 and are decomposed into moisture and carbon dioxide by the photocatalytic function. Air purification is realized. And since the flying body 1 moves in space, it becomes possible to purify the atmosphere in the space moved.

  In this embodiment, the flying object 1 generates a flight plan corresponding to the target moving space, and moves according to the generated flight plan, thereby achieving a more efficient air purification effect. .

  FIGS. 9 and 10 are flowcharts for explaining an example of the operation flow of the drive control unit 10 of the flying object 1 of the first embodiment. In each step of the flowcharts shown in FIGS. 9 and 10, the control unit 101 performs functions of the flight plan generation unit 110, the flight drive signal generation unit 111, the position and orientation control signal generation unit 112, and the image recognition unit 114. A case where the hardware processing function is realized will be described.

  When the control unit 101 detects an activation instruction through the operation unit 116, the control unit 101 starts the flowchart of FIG. First, the control unit 101 reads information on the moving space stored in the moving space information memory 107, and the position, size, and shape of the target moving space, and the position and size of the obstacle in the moving space. Then, the shape, etc. are recognized (step S101). Next, the control unit 101 detects the remaining battery level (step S102).

  Next, the control unit 101 inspects the detection output of the illuminance sensor 109 to determine whether or not the illuminance due to external light in the moving space is sufficient to exhibit the photocatalytic function (step S103). When it is determined in this step S103 that the illuminance due to the external light in the moving space is sufficient to exhibit the photocatalytic function, the control unit 101 creates a flight plan in a non-illuminated state in which the light emitting units 9A to 9I are not lit. (Step S104).

  In this case, the flight plan created by the control unit 101 includes a movement pattern (see FIGS. 3 to 8) selected in consideration of the position, size, shape and remaining battery capacity of the movement space, and the flight. The speed of movement, the number of repetitions of the flight covering the entire movement space according to the selected movement pattern, and the like are included. In step S104, the flying object 1 executes the flight plan without turning on the light emitting units 9A to 9I. Therefore, the control unit 101 considers that the battery consumption is relatively small. Can be created.

  In the first embodiment, at least once in consideration of the remaining amount of the battery, the moving space area can be cleaned as evenly as possible in the moving space area to be cleaned. The movement pattern, the speed of flight movement, and the like are determined so that the flying object 1 is moved in flight so as to cover the entire area of the vehicle.

  After creating the flight plan in step S104, the control unit 101 starts the flight movement of the flying object 1 according to the flight plan, and uses the photocatalytic function by the outer surface of the casing 6 of the flying object 1 that moves in the moving space. The execution of air purification is started (step S105). In this example, a base made up of a charging station is installed in or near the moving space that is the target of air purification, and the flying object 1 starts flying from this base.

  Next, the control unit 101 determines whether or not the remaining amount of the battery is low and the battery is ready to be charged (step S106). When it is determined in step S106 that charging is in a state to be charged, the control unit 101 stops the flight movement according to the flight plan, returns to the charging station, and starts charging (step S107).

  Then, the control unit 101 waits for the battery to be fully charged (step S108), and when it is determined that the battery is fully charged, it determines whether or not the execution of air purification may be terminated ( Step S109). In this embodiment, in step S109, it is determined whether or not the execution of the number of repetitions of the flight covering the whole of the movement space by the selected movement pattern included in the flight plan created in step S104 is completed. To do.

  When it is determined in this step S109 that the execution of the air purification may be finished, this processing routine is finished. If it is determined in step S109 that the execution of air purification has not yet ended, the control unit 101 returns the process to step S105 and continues the flight movement according to the flight plan. Repeat the process.

  Further, when it is determined in step S106 that charging is not in a state to be charged, the control unit 101 determines whether or not the illuminance due to external light in the moving space has changed to an insufficient state to exert the photocatalytic function. (Step S110). In step S110, when it is determined that the illuminance due to the external light in the moving space is not insufficient to exhibit the photocatalytic function, the control unit 101 shifts the processing to step S109, and this step The processes after S109 are repeated.

  Further, when it is determined in step S110 that the illuminance due to external light in the moving space has become insufficient to exhibit the photocatalytic function, the control unit 101 detects the remaining battery level (step S111).

  When it is determined in step S103 that the illuminance due to external light in the moving space is not sufficient to exert the photocatalytic function, and after step S111, the control unit 101 controls the lighting control circuit 115, A flight plan in a state where the light emitting units 9A to 9I are turned on is created (step S121 in FIG. 10). In this step S121, the flying object 1 executes the flight plan with the light emitting units 9A to 9I turned on, so the control unit 101 needs to create a flight plan in consideration of battery consumption. .

  After creating the flight plan in step S121, the control unit 101 controls the lighting control circuit 115 to turn on the light emitting units 9A to 9I and starts the flight movement of the flying object 1 according to the flight plan. Execution of air purification by the photocatalytic function by the outer surface of the housing 6 of the flying object 1 moving in space is started (step S122).

  Next, the control unit 101 determines whether or not the battery is low and is in a state to be charged (step S123). When it is determined in step S123 that charging is in a state to be charged, the control unit 101 stops the flight movement according to the flight plan, returns to the charging station, and starts charging (step S124).

  Then, the control unit 101 waits for the battery to be fully charged (step S125), and if it is determined that the battery is fully charged, it determines whether or not the execution of air purification may be terminated ( Step S126). In this step S126, it is determined whether or not the execution of the number of repetitions of the flight covering the whole of the movement space by the selected movement pattern included in the flight plan created in step S104 is completed.

  If it is determined in step S126 that execution of air purification may be terminated, this processing routine is terminated. If it is determined in step S126 that the air purification has not yet been completed, the control unit 101 returns the process to step S122 and continues the flight movement according to the flight plan. Repeat the process.

  Further, when it is determined in step S123 that charging is not in a state to be charged, the control unit 101 determines whether or not the illuminance due to external light in the moving space has changed to a state insufficient to perform the photocatalytic function. (Step S127). When it is determined in this step S127 that the illuminance due to the external light in the moving space is not in an insufficient state to exhibit the photocatalytic function, the control unit 101 shifts the processing to step S126, and this step The processes after S126 are repeated.

  Further, when it is determined in step S127 that the illuminance due to the external light in the moving space has become insufficient to exhibit the photocatalytic function, the control unit 101 detects the remaining amount of the battery (step S128). After step S128, the control unit 101 shifts to step S104 in FIG. 9 and repeats the processing after step S104.

[Effect of the first embodiment]
As described above, in the flying object 1 as the moving object of the first embodiment described above, the metal-modified apatite thin film as an example of the photocatalytic apatite having the photocatalytic function is exposed on the entire surface of the housing 6. It is in a state. Therefore, organic substances such as bacteria in the atmosphere around the housing 6 are adsorbed on the metal-modified apatite thin film exposed on the surface of the housing 6 and are decomposed into moisture and carbon dioxide by the photocatalytic function. Air purification is realized.

  In this embodiment, since the flying object 1 flies and moves, the spatial position of the air purified by the metal-modified apatite thin film on the outer surface of the housing 6 is changed. Compared with the case where it is installed at a fixed position, a wide range of air purification can be realized. In particular, if the moving space of the flying object 1 is a sealed space, it is possible to purify all of the atmosphere in the sealed space by the flying object 1 flying and moving in the sealed space.

  And since the flying object 1 of the above-mentioned embodiment is equipped with the light emission parts 9A-9I, even if external light is insufficient, by lighting those light emission parts 9A-9I, The air purification action by the photocatalytic function of the photocatalytic apatite thin film by the outer surface can be sufficiently performed.

  And the flying object 1 of the above-mentioned embodiment has memorized beforehand the movement space information which can specify the position, size, shape, etc. of the movement space used as the object of air purification. Since an accurate flight plan corresponding to the target moving space is created based on the moving space information, efficient air purification in the moving space can be performed.

  In addition, the aircraft 1 of this embodiment creates a flight plan while taking into account the remaining amount of battery, and appropriately charges the battery before the remaining amount of battery becomes insufficient. Since air purification is performed, air purification can be performed reliably and sufficiently.

[Second Embodiment]
The moving body of the second embodiment is also an example of a flying body similar to that described above, but in this example, it is intended to efficiently purify the air over a wider range of moving space. Yes.

  FIG. 11 is a diagram showing a configuration example of a flying object 1S as a second embodiment of the moving object according to the present invention. FIG. 11A is a view of the flying object 1S of the second embodiment as viewed from above, and FIG. 11B is a front view of the flying object 1 of the second embodiment. It is the figure seen from. In FIG. 11, the same reference numerals are given to the same parts in the aircraft 1 </ b> S of this example and the aircraft 1 of the first embodiment described above, and detailed description thereof is omitted.

  In the flying object 1S in the second embodiment, a solar panel 21 is installed on the upper surface of the housing 6S on which the drive control unit 3S is provided. Therefore, a thin film of metal-modified apatite is not formed on the upper surface of the housing 6S of the flying object 1S of the second embodiment. Therefore, the drive control unit 3S of the flying object 1S of this embodiment is not provided with the light emitting units 9F to 9I provided in the flying object 1 of the first embodiment.

  In the flying object 1S of the second embodiment, the cleanliness sensor 22 for detecting the cleanliness of the atmosphere by purifying the atmosphere is a housing 6S in this example as shown in FIG. It is provided in front of the side surface. The cleanliness sensor 22 is a microorganism sensor capable of detecting bacteria, molds, etc. floating in the atmosphere, a floating bacteria sensor capable of detecting suspended bacteria in the atmosphere, and pollen in the atmosphere. It is composed of one or a plurality of sensors such as a pollen sensor capable of detecting the particles and a particle sensor capable of detecting particles such as PM2.5 and PM10 in the atmosphere, and detected by these sensors. It also has a counter function that counts the number of airborne bacteria and particles. The control unit 101S of the flying object 1S of the second embodiment can determine the cleanliness when the air is purified by the photocatalytic function from the detection output of the cleanliness sensor 22. Note that the control unit 101S may perform the function of a counter that counts the number of airborne bacteria or particles detected by the sensor.

  The other components of the flying object 1S of the second embodiment are the same as the components of the flying object 1 of the first embodiment described above.

  FIG. 12 is a block diagram showing a configuration example of the drive control unit 10S in the flying object 1S of the second embodiment. Also in FIG. 12, the same reference numerals are given to the same parts as those of the drive control unit 10 of the flying object 1 of the first embodiment shown in FIG. 2, and detailed description thereof will be omitted.

  As shown in FIG. 12, the flying object 1S of the second embodiment includes a rechargeable battery 23 similar to that of the flying object 1 of the first embodiment, and the solar panel 21 is provided as described above. It has been. The voltage generated by the solar panel 21 is supplied to the power supply circuit 24, and the voltage from the rechargeable battery 23 is also supplied to the power supply circuit 24.

  In this example, the power supply circuit 24 includes a storage element such as an electric double layer capacitor, and when the voltage generated by the solar panel 21 is sufficient, the voltage generated by the solar panel 21 is converted to the power supply voltage. The voltage is stored in the storage element while being output as Vcc. Further, when the solar panel 21 cannot generate a sufficient voltage, the voltage from the rechargeable battery 23 is output as the power supply voltage Vcc by the voltage from the rechargeable battery 23, and the voltage is stored in the power storage element. To do.

  In the power supply circuit 24 of this example, even if it becomes an environment where power generation by the solar panel 21 is not possible, or the remaining amount of the rechargeable battery 23 is low, the flying object 1S is immediately in a state in which the moving movement operation is impossible. Instead, the flying object 1S can continue the flight movement for a while by the voltage stored in the power storage element.

  Whether or not the control unit 101S can generate power with the solar panel 21 may be determined based on monitoring only the output voltage of the solar panel 21 or detected by the illuminance sensor 109. You may make it use the illumination level of external light. In addition, the control unit 101 </ b> S may determine whether or not the environment is such that the solar panel 21 can generate power using both the output voltage of the solar panel 21 and the detection output of the illuminance sensor 109.

  12, the detection output of the cleanliness sensor 22 is transmitted to the control unit 101S through the system bus 100. In this example, five light emitting units 9A to 9E are connected to the lighting control circuit 115S.

  Further, the flight plan generation unit 110S of the drive control unit 10S of the second embodiment takes into account that the power source of the flying object 1S is strengthened and the target moving space can be made wider. The flight plan can be generated. That is, the flight plan generation unit 110S divides the target moving space into a plurality of spaces when the target moving space is larger than a predetermined area threshold. A function of generating a flight plan is provided so as to execute the movement patterns illustrated in FIGS. 3 to 8 for each space. In this case, the flight plan generation unit 110S monitors the output voltage from the power storage element of the power supply circuit 24, and is similar to the case where the flight plan generation unit 110 of the first embodiment considers the remaining battery level. In addition, it is considered whether the voltage supply from the solar panel 21 and the voltage supply from the rechargeable battery 23 are sufficient or expected to be insufficient.

  For example, as shown in FIG. 13, when the target moving space is a rectangular parallelepiped-shaped moving space AR that is larger than a predetermined area threshold, the flight plan generation unit 110S of this example Is divided into a plurality of divided spaces DV. The plurality of divided spaces DV at this time may be divided as equally as possible, but may not be divided into equal sizes.

  The flight plan generation unit 110S selects a movement pattern (see FIGS. 3 to 8) to be executed in each divided space DV when the target movement space is divided into a plurality of pieces. In this case, the movement patterns in each divided space DV may all be the same movement pattern, but considering that the concentrations of airborne bacteria, particles, etc. in the atmosphere in each divided space DV may be different. In this embodiment, the flight plan is generated so that the movement pattern in each divided space DV is changed according to the concentration (cleanliness) of airborne bacteria and particles in the atmosphere.

  For example, the flight plan generation unit 110S determines a predetermined movement pattern A (movement speed) when the value of the atmospheric cleanliness detected based on the detection output of the cleanliness sensor 22 in each divided space DV is smaller than a predetermined threshold. The flight plan is generated so that the airborne bacteria, particles, etc. in the atmosphere can be decomposed more effectively than the predetermined movement pattern A when the flight plan is generated to be equal to or greater than the predetermined threshold. A flight plan is generated so as to perform movement pattern B (including a difference in movement speed). Even if the flight plan is generated so that two or more predetermined thresholds for the detection output value of the cleanliness sensor 22 are provided, and three or more movement patterns are set according to the detection output of the cleanliness sensor 22. Good.

  In addition, the cleanliness of the divided moving space AR is checked in advance for each divided space DV, and as a result of the check, a divided space having a low cleanliness (a place where the dirt is severe) is to be proactively cleaned. A flying bran may be generated.

  Then, the control unit 101S of the second embodiment flies and moves according to the flight plan generated by the flight plan generation unit 110S, and when the movement space AR is divided into a plurality of divided spaces DV, the cleanliness level The flying movement (including the moving speed and the hovering frequency) of the flying object 1S is controlled according to the detection output of the cleanliness from the sensor 22. Further, in the second embodiment, the control unit 101S determines from the detection output of the cleanliness sensor 22 that the cleanliness of the air has become equal to or less than a value that is considered to be sufficient for air purification. At times, control is performed so as to end the air purification by the flight movement by the flying object 1S.

  Other configurations of the drive control unit 10S of the flying object 1S of the second embodiment in FIG. 12 are the same as the configuration of the drive control unit 10 shown in FIG.

  In FIG. 12, the control unit 101S may realize the processing functions of the flight plan generation unit 110S, the flight drive signal generation unit 111, the position / orientation control signal generation unit 112, and the image recognition unit 114 as software processing functions. it can.

[Operation Flow of Driving Control Unit 10S of Aircraft 1S]
In the flying object 1S of the second embodiment configured as described above, a flight plan corresponding to the target moving space is generated, and the detection output of the cleanliness sensor is monitored, and the target according to the generated flight plan. By moving the moving space, it is possible to achieve a more efficient air purification effect. Further, when the target moving space is relatively wide, the moving space is divided and a predetermined moving pattern is executed for each divided space, so that more efficient air purification is performed.

  14 to 17 are flowcharts for explaining an example of the operation flow of the drive control unit 10S of the flying object 1S of the second embodiment. In each step of the flowcharts shown in FIGS. 14 to 17, the control unit 101S performs the functions of the flight plan generation unit 110S, the flight drive signal generation unit 111, the position / orientation control signal generation unit 112, and the image recognition unit 114. A case where the hardware processing function is realized will be described.

  When the control unit 101S detects an activation instruction through the operation unit 116, the control unit 101S starts the flowchart of FIG. First, the control unit 101S reads information on the moving space stored in the moving space information memory 107, and the position, size, and shape of the target moving space, and the position and size of the obstacle in the moving space. , Shape, etc. are recognized (step S201). Next, when the size of the recognized moving space of the target is larger than a predetermined size, the control unit 101S divides the moving space and generates a plurality of divided spaces (step). S203).

  Next, the control unit 101S checks the status of the power source such as the remaining amount of the battery 23 connected to the power supply circuit 24 and the voltage from the solar panel 21 for use as information when generating the flight plan. (Step S203).

  Next, the control unit 101S inspects the detection output of the illuminance sensor 109 to determine whether or not the illuminance due to external light in the moving space is sufficient to exhibit the photocatalytic function (step S204). When it is determined in step S204 that the illuminance due to the external light in the moving space is sufficient to exert the photocatalytic function, the control unit 101S creates a flight plan with the light emitting units 9A to 9E turned off. (Step S205).

  In this case, the flight plan created in step S205 includes the movement pattern selected in consideration of the position, size, shape and remaining battery capacity of the movement space, the speed of the flight movement, and the selected movement. The number of repetitions of the flight covering the whole of the movement space by the pattern is included. In addition, when the target moving space is divided, the control unit 101S, as described above, the order of movement, the moving speed, and the speed in each divided section within the target moving section. Create a flight plan. In step S205, the flying object 1S executes a flight plan in a state where the light emitting units 9A to 9E are not lit, so that the control unit 101S takes into consideration that the power consumption is relatively small. To create a flight plan.

  In the second embodiment, the entire moving space (when the moving space is divided) is at least once so that the moving space that is the target of air purification can be purified as evenly as possible. In this case, the flight movement pattern, the speed of the flight movement, and the like are determined so that the flying object 1S moves in flight so as to cover all the divided sections.

  After creating the flight plan in step S205, the control unit 101S starts the flight movement of the flying object 1S according to the movement pattern according to the flight plan, and the outer surface of the casing 6S of the flying object 1S that moves in the moving space. Air purification by the photocatalytic function is executed (step S206). In this example, a base made up of a charging station is installed in or near the moving space that is the target of air purification, and the flying object 1S starts flying from this base.

  Then, the control unit 101S detects and monitors the cleanliness CL around the flying object 1S from the detection output of the cleanliness sensor 22 (step S207), and the cleanliness CL is higher than a predetermined threshold CLth. It is determined whether or not (step S208). In this step S208, when it is determined that the cleanliness CL is not a high cleanliness equal to or higher than a predetermined threshold CLth, the control unit 101S causes the flying object to complete the movement pattern according to the flight plan. The flight movement of 1S is continued, and a charging necessity subroutine is executed (step S209).

  FIG. 15 is a flowchart showing an example of a subroutine indicating whether charging is necessary. That is, the control unit 101S needs to start charging by monitoring the output voltage of the power supply circuit 24 and monitoring the power generation voltage from the solar panel 21 and the output voltage of the rechargeable battery 23. It is discriminate | determined whether it is (step S221).

  When it is determined in this step S221 that it is necessary to start charging, the control unit 101S stops the flight movement in the moving space targeted by the flying object 1S, and returns to the charging station. Then, charging of the rechargeable battery 23 is started (step S222). Then, the control unit 101S waits for the charging of the rechargeable battery 23 to be completed (step S223). When the charging is completed, the control unit 101S resumes the flight movement of the target moving space (step S224), and then performs the main processing. Return to routine. In this case, when the subroutine of FIG. 15 is performed in step S209, the process returns to step S207.

  Further, when it is determined in step S221 that charging is not in a necessary state, the control unit 101S determines that the illuminance due to external light around the flying object 1S is not sufficient to exert the photocatalytic function. It is determined whether or not the state has changed to a sufficient state (step S225). When it is determined in step S225 that the illuminance due to external light around the flying object 1S has changed to a state that is insufficient to exhibit the photocatalytic function, the control unit 101S generates information for generating a flight plan. Therefore, the remaining power of the battery 23 connected to the power supply circuit 24 and the power supply status such as the voltage from the solar panel 21 are checked (step S226). Then, after step S226, the control unit 101S shifts the processing to step S251 in FIG. 17, and performs the processing after step S251 described later.

  In step S225, when it is determined that the illuminance due to ambient light around the flying object 1S has not changed to a state that is insufficient to exhibit the photocatalytic function, the control unit 101S determines that the flying object 1S It is determined whether or not the illuminance due to ambient ambient light has changed to a state sufficient to exhibit the photocatalytic function (step S227). When it is determined in step S227 that the illuminance due to the external light around the flying object 1S has not changed to a state sufficient to exhibit the photocatalytic function, the control unit 101S returns the processing to the main routine. . In this case, when the subroutine of FIG. 15 is performed in step S209, the process returns to step S207.

  Further, when it is determined in step S227 that the illuminance due to ambient light around the flying object 1S has changed to a state sufficient to exhibit the photocatalytic function, the control unit 101S provides information for generating a flight plan. In order to use it, the remaining power of the battery 23 connected to the power supply circuit 24 and the power supply status such as the voltage from the solar panel 21 are checked (step S228). Then, after step S228, the control unit 101S shifts the processing to step S205 in FIG. 14, and performs the processing after step S205.

  Note that when the subroutine of FIG. 15 is executed in step S209, the ambient light is sufficient, so that the process does not return to step S205 via steps S227 and S228.

  Next, returning to the flowchart of FIG. 14, when it is determined in step S208 that the cleanliness level CL has become a high cleanliness level equal to or higher than a predetermined threshold value CLth, the control unit 101S determines that the target moving space is a flight plan. It is determined whether or not it has been divided at the time of generation (step S210). When it is determined in step S210 that the moving space is not divided, the control unit 101S determines that the moving space has been sufficiently cleaned and ends this process.

  When it is determined in step S210 that the moving space is divided, the control unit 101S moves the flying object 1S to the next divided space according to the flight plan (step S211).

  Next, the control unit 101S checks the cleanliness of the atmosphere in the divided space after the movement (step S231 in FIG. 16), and the control unit 101S has the same degree of cleanness of the atmosphere in the initial state of the divided space before the movement. It is discriminate | determined whether it is (step S232). When it is determined in step S232 that the degree of cleanness of the atmosphere in the initial state of the divided space before the movement is approximately the same, the control unit 101S performs the air purification using the same movement pattern as the divided section before the movement. Execute (Step S233).

  Further, when it is determined in step S232 that it is not the same level as the cleanliness of the atmosphere in the initial state of the divided space before the movement, the control unit 101S determines the divided section before the movement according to the cleanliness detected in step S231. Air cleaning is performed using a movement pattern different from (step S234).

  Following step S233 or step S234, the control unit 101S starts the flying movement of the flying object 1S according to the movement pattern according to the flight plan in the divided section, and the casing of the flying object 1S that moves in flight in the moving space. Air purification by the photocatalytic function by the outer surface of 6S is executed (step S235).

  Then, the control unit 101S detects and monitors the cleanliness CL around the flying object 1S from the detection output of the cleanliness sensor 22 (step S236), and the cleanliness CL is higher than a predetermined threshold CLth. It is determined whether or not (step S237). When it is determined in step S237 that the cleanliness level CL is not higher than a predetermined threshold value CLth, the control unit 101S causes the flying object to complete the movement pattern according to the flight plan. While continuing the flight movement of 1S, the charging necessity subroutine shown in FIG. 15 is executed (step S238).

  When the subroutine of FIG. 15 is executed in step S238, the control unit 101S returns the processing to step S236 of FIG. 16 after step S224 of FIG. Further, when it is determined in step S225 in FIG. 15 that the illuminance due to the external light around the flying object 1S has changed to a state that is insufficient to perform the photocatalytic function, the control unit 101S determines that the power source in step S226 After checking the status of the circuit 24, the process proceeds to step S251 in FIG. 17, and the processing after step S251 described later is performed.

  Next, returning to the flowchart of FIG. 16, when it is determined in step S237 that the cleanliness level CL has become a high cleanliness level equal to or higher than a predetermined threshold value CLth, the control unit 101S performs all the divisions of the target moving space. It is determined whether or not the flight movement has been executed for the space (step S239). When it is determined in step S239 that all the divided spaces have performed the flight movement for the division, the control unit 101S ends this process.

  In step S239, when it is determined that the execution of the flight movement for all the divided spaces has not yet been completed, the control unit 101S moves the flying object 1S to the next divided space that has not been completed. (Step S240). And control part 101S returns a process to step S231, and repeats the process after this step S231.

  Next, when it is determined in step S204 in FIG. 14 that the illuminance due to external light in the moving space is not sufficient to exhibit the photocatalytic function, the control unit 101S controls the lighting control circuit 115S to control the light emitting unit 9A. A flight plan in a state where -9E is lit is created (step S251 in FIG. 17).

  After creating the flight plan in step S251, the control unit 101S starts the flight movement of the flying object 1S according to the movement pattern according to the flight plan, and the outer surface of the casing 6S of the flying object 1S that moves in the moving space. Air purification by the photocatalytic function is executed (step S252).

  Then, the control unit 101S detects and monitors the cleanliness CL around the flying object 1S from the detection output of the cleanliness sensor 22 (step S253), and the cleanliness CL has a high cleanliness level equal to or higher than a predetermined threshold CLth. It is determined whether or not (step S254). When it is determined in step S254 that the cleanliness level CL is not higher than a predetermined threshold value CLth, the control unit 101S causes the flying object to complete the movement pattern according to the flight plan. The flight movement of 1S is continued, and the charging necessity subroutine shown in FIG. 15 is executed (step S255).

  When the subroutine of FIG. 15 is executed in step S255, the control unit 101S returns the process to step S253 of FIG. 17 after step S224 of FIG. Further, when it is determined in step S227 in FIG. 15 that the illuminance due to the external light around the flying object 1S has changed to a state sufficient for exhibiting the photocatalytic function, the control unit 101S causes the power supply circuit 24 in step S228. 14 is checked, the process proceeds to step S205 in FIG. 14, and the processes after step S205 are performed.

  Next, returning to the flowchart of FIG. 17, when it is determined in step S254 that the cleanliness CL has become a high cleanliness level equal to or higher than a predetermined threshold CLth, the control unit 101S determines that the target moving space is a flight plan. It is determined whether or not it has been divided at the time of generation (step S256). If it is determined in step S256 that the moving space is not divided, the control unit 101S ends this processing routine, assuming that the moving space has been sufficiently cleaned.

  When it is determined in step S256 that the moving space is divided, the control unit 101S moves the flying object 1S to the next divided space according to the flight plan (step S257). Then, after step S257, the control unit 101S shifts the processing to step S231 in FIG. 16, and performs the processing after step S231.

  In the above example, when it is determined in step S210 of FIG. 14 or step S256 of FIG. 17 that the moving space is not divided, the cleanliness CL is increased to a high cleanliness level equal to or higher than a predetermined threshold CLth in step S254. Since it is determined that the moving space has been sufficiently cleaned, this processing routine is terminated. However, when a predetermined number of repetitions are set in advance as the flight plan, the air movement may be performed in the movement space by the predetermined number of repetitions to perform further air purification.

  In FIG. 16, which is an example of processing when the moving space is divided into a plurality of divided spaces, in step S237, the cleanliness CL in each divided space becomes a high cleanliness level equal to or higher than a predetermined threshold CLth. Moved the divided space when it was determined. However, when the number of repetitions of a plurality of times is generated as a flight plan for the entire moving space, the cleanliness CL is not less than a predetermined threshold value CLth in each divided space only in the last iteration. It may be determined whether or not the degree of cleanliness has become high, and when the degree of cleanliness is higher than the threshold CLth, the flying object 1S may be moved to the next divided space. In that case, except for the last iteration, the control unit 101S moves to the next divided space after performing the set movement pattern in each divided space for the set number of times (one or more times). The aircraft 1S is controlled.

[Effects of Second Embodiment]
According to the flying object 1S of the second embodiment described above, the air purification can be moved while flying while confirming the cleanliness of the air in the target moving space, so that the air purification is effectively performed. Can do.

  In addition, according to the flying object 1S of the second embodiment described above, when the moving space is wide, the moving space is divided, and the flying movement is performed in a predetermined moving pattern for each divided space. Since the air purification is performed, the air purification can be effectively executed even in a wide moving space.

  In addition, since the flying object 1S of the second embodiment described above is equipped with the solar panel 21, when the moving space to be subjected to air purification is outdoors and the flying object 1S flies in the daytime. There is an effect that the flight time can be extended. Furthermore, the aircraft 1S of the second embodiment described above also includes the rechargeable battery 23, and the power supply circuit 24 effectively uses the voltage generated by the solar panel 21 and the voltage of the rechargeable battery 23. Since it is a structure, there exists an effect that the power supply which can endure a long flight can be ensured. For this reason, the moving space to be subjected to air purification can be a wide area.

  In the second embodiment, the flying object 1S includes the cleanliness sensor 22. Therefore, the cleanliness sensor 22 detects the cleanliness detected by the cleanliness sensor 22 in the target moving space or in each divided space DV. You may make it alert | report a degree through a display part.

  In that case, the display unit may be one that displays a cleanliness on the display screen using a display screen such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) panel. Then, a plurality of light emitting elements such as LEDs may be arranged in a row, and the number of light emitting elements such as LEDs that are turned on according to the cleanliness may be controlled.

  In this case, the display unit may be provided in the housing 6 or the drive control unit 3, or may be provided in the leg portions 7A and 7B or the arm portions 91A to 91E of the light emitting portions 9A to 9E.

  In the second embodiment, the flying object 1S includes the cleanliness sensor, but the cleanliness sensor may be installed in the moving space. In that case, the cleanliness detected from the cleanliness sensors installed in various places in the moving space is uploaded to the cloud. On the other hand, the flying object 1S is provided with communication means and cleanliness acquisition means so that the flying object 1S can access the cloud and obtain the cleanliness in various places in the moving space. And the control part 101S controls the space movement by the flying body 1S according to the cleanliness acquired by the cleanliness acquisition means.

[Third Embodiment]
In the first embodiment and the second embodiment described above, the moving body is a flying object that can be moved by flight. However, when the moving space has a low height, the moving object does not fly. A traveling mobile body that travels autonomously on the bottom surface may be used. The third embodiment is a case where the moving body is a traveling moving body.

  FIG. 18 is a diagram illustrating a configuration example of the traveling vehicle 200 according to the third embodiment, and FIG. 18A is a diagram of the traveling vehicle 200 according to the third embodiment as viewed from above. In addition, FIG. 18B is a view of the traveling mobile body 200 of the third embodiment as viewed from a direction orthogonal to the traveling direction.

  The traveling mobile body 200 of this example includes a rectangular parallelepiped casing 201. The casing 201 is made of a material that has a photocatalytic function on the outer surface side. In the third embodiment, the housing 201 is a plate-shaped resin, for example, as a base material, as in the case 6 and 6S of the first and second embodiments described above. Furthermore, it is comprised by the highly functional composite material which formed the metal modification apatite demonstrated by patent document 1 with the thin film.

  The casing 201 is configured to be movable in a predetermined direction by a traveling mechanism. The travel movement mechanism includes drive wheels 202 and 203 provided at both ends of the axle 204 and drive wheels 205 and 206 provided at both ends of the axle 207. And although detailed illustration is abbreviate | omitted, the traveling mechanism of this example is provided with the direction steering function, and can turn right, turn left, turn right, and turn left. Furthermore, the traveling movement mechanism is configured not only to move forward but also to move backward.

  A support column 207 that protrudes upward from the upper surface of the casing 200 and moves up and down with respect to the casing 201 is attached to the casing 201 of the traveling mobile body 200 of the third embodiment. Yes. In FIG. 18, although not shown, a vertical movement mechanism unit for moving the column 207 up and down is provided in the housing 201.

  A moving board 208 is attached to the upper end of the support column 207 that moves up and down. In this example, the moving board unit 208 has a rectangular parallelepiped shape with the same cross section as the casing 201. As with the case 201, the moving plate unit 208 is made of a material having a photocatalytic function on the outer surface side, for example, a high-functional composite material in which metal-modified apatite is formed as a thin film.

  Therefore, an organic substance containing bacteria or the like in the atmosphere around the casing 201 and the moving plate portion 208 is adsorbed by the metal-modified apatite thin film exposed on the surfaces of the casing 201 and the moving plate portion 208, and has a photocatalytic function. As a result, the atmosphere is purified by being decomposed into moisture and carbon dioxide. And if the moving board part 208 moves up and down, the area | region where air purification is carried out with the thin film of metal modification apatite will also move, and the air | atmosphere of a wider area | region can be purified.

  In addition, the base material constituting the casing 201 and the moving platen 208 is not limited to resin, and may be a plate-like body such as wood, glass, metal, or ceramic. Further, the material of the casing 201 and the moving platen 208 is not limited to a material composed of a high-functional composite material in which a metal-modified apatite is formed as a thin film on a base material as in this example. A sheet or film of metal-modified apatite may be attached to the surface of the plate-like body constituting the substrate. In addition, the photocatalytic apatite is not limited to the metal-modified apatite disclosed in Patent Document 1, and any photocatalytic function may be used as long as it exhibits a photocatalytic function.

  And in this 3rd Embodiment, the light emission part which irradiates light to the outer surface of the housing | casing 201 and the moving board part 208 is attached. In the example of FIG. 18, the mounting arms 211A, 211B, 211C, 211D of the light emitting units 210A, 210B, 210C, 210D, and 210E are provided on the four side surfaces and the bottom surface of the casing 201 having a rectangular parallelepiped box shape. 211E is attached. In this case, the mounting arms 211A, 211B, 211C, 211D, and 211E are such that the light emitting portions 210A, 210B, 210C, 210D, and 210E are shown by dotted lines in FIG. It attaches with respect to the housing | casing 201 so that it can irradiate.

  In order to irradiate light on the upper surface of the housing 201 and the lower surface of the moving board 208, in this embodiment, the mounting arms 213L and 213R are moved upward from the two side surfaces of the housing 201 facing each other. The light emitting portions 212L and 212R are attached to these attachment arms 213L and 213R. The two light emitting portions 212L and 212R are provided in this manner so that light can be sufficiently applied to the areas exposed on the upper surface of the housing 201 and the lower surface of the moving plate portion 208. It is.

  Furthermore, in the third embodiment, the mounting arm 215 is attached to the upper surface of the moving board unit 208, and the light emitting unit 214 is attached to the mounting arm 215. The light emitting unit 214 is attached so that light can be applied to almost the entire region of the upper surface of the moving plate unit 208.

  The light emitting units 210A to 210E, 212L, 212R, and 214 may be any one that emits ultraviolet rays, such as an incandescent bulb, a fluorescent lamp, and an ultraviolet LED (Light Emitting Diode).

  In this example, as shown in FIGS. 18A and 18B, the cameras CM11 to CM14 are provided on each of the four side surfaces of the moving board unit 208, respectively. The optical axes (corresponding to the shooting directions) of these cameras CM11 to CM14 are orthogonal to the respective mounting surfaces of the cameras CM11 to CM14, and a predetermined range of view angles can be shot around the optical axis direction.

  Further, a drive control device unit 220 including a battery as a power source is provided in the housing 201. FIG. 19 is a block diagram showing a configuration example of the drive control unit 220 in the traveling mobile body 200 of this embodiment, and the battery is omitted in FIG. The example of FIG. 19 is assumed when the flying vehicle 1 of the first embodiment is changed to the traveling mobile body 200, and the same block names are used for the same components. In the following description, the difference between the configuration in FIG. 2 and the configuration in FIG. 19 will be mainly described.

  As shown in FIG. 19, the drive control device unit 220 in this embodiment has a traveling movement drive unit 222, a gyro sensor, and a control unit 221 including a microcomputer (omitted from a microcomputer in FIG. 2) through a system bus 240. 223, geomagnetic sensor 224, obstacle sensor 226, movement space information memory 227, current position detection unit 228, illuminance sensor 229, travel movement plan generation unit 230, vertical movement drive signal generation unit 231, camera group 233, image recognition unit 234 The lighting control circuit 235 and the operation unit 236 are connected to each other.

  That is, a travel movement drive unit 222 is provided instead of the aerial flight drive unit 102 of FIG. The travel movement drive unit 222 is connected to a travel movement mechanism unit 241 that controls the rotational drive of the drive wheels 202, 203, 205, and 206 and controls the direction steering mechanism (not shown). The travel moving mechanism unit 241 enables the travel moving body 200 to move in a predetermined direction at a predetermined speed.

  Then, instead of the flight plan generation unit 110 of FIG. 2, a travel movement plan generation unit 230 is provided. In this travel movement plan generation unit 230, the height of the target movement space stored in the movement space memory 227 is recognized, and the upper limit height when the moving board unit 208 is moved up and down is set. .

  Further, instead of the flight drive signal generation unit 111 of FIG. 2, a vertical movement drive signal generation unit 231 is provided. The vertical movement drive signal generation unit 231 includes a vertical movement height range and a vertical movement movement speed according to the vertical movement instruction to the moving board unit 208 included in the traveling plan generated by the traveling plan generation unit 230. Thus, a drive signal for moving the moving board unit 208 up and down is generated. The vertical movement drive signal generated by the vertical movement drive signal generation unit 231 is supplied to the vertical movement mechanism unit 242 provided in the housing 201. The column 207 is driven by the vertical movement drive signal, and moves the movable board 208 up and down within the vertical movement height range and the vertical movement movement speed according to the vertical movement drive signal.

  Further, a movement control signal generation unit 232 is provided instead of the position / orientation control signal generation unit 112. The movement control signal generation unit 232 makes the movement position and movement direction of the housing 201 in accordance with the traveling movement plan based on the images taken by the gyro sensor 223, the geomagnetic sensor 224, and the cameras CM11 to CM14. A movement control signal to be controlled is generated.

  In the example of FIG. 19, the height sensor 105 in FIG. 2 is not provided. The other parts having the same name in FIG. 19 perform the same configuration and operation as the respective parts in the example of FIG.

  The travel movement plan generation unit 230 of the travel mobile body 200 of the third embodiment travels on the floor surface or the ground, while the flying body 1 of the first embodiment travels in space. A similar transmission / transition plan is generated only in different points. For example, it is set which of the movement patterns shown in FIG. 3A, FIG. 4A, and FIG. However, in the traveling plan of the third embodiment, it is determined how the moving board unit 208 is moved up and down at a moving speed and in a moving mode according to the set moving pattern. It is included to be set. Here, the moving speed is an average speed of vertical movement, and as a movement mode, the vertical movement is always constant speed, the speed is gradually increased according to the upward movement, and the speed is gradually decreased according to the upward movement. It is possible to use a mode in which the user moves late and the other moves quickly.

  In FIG. 18, the processing functions of the travel movement plan generation unit 230, the vertical movement drive signal generation unit 231, and the image recognition unit 224 can be realized by the control unit 221 as a software processing function.

  In the drive control unit 220 of the traveling mobile unit 200 of the third embodiment, there is a difference in movement between flying and traveling, but the drive control unit 10 of the flying unit 1 of the first embodiment. The operation flow similar to that shown in FIGS. 9 and 10 can be performed.

  Therefore, according to the traveling mobile body 200 of the third embodiment, if the height of the target moving space is equal to or less than the height corresponding to the maximum height position of the moving platen 208 of the traveling mobile body 200. By simply running and moving, the air purification is performed by the metal-modified apatite thin film on the outer surface of the casing 201 and the moving board 208.

  And since the traveling mobile body 200 of 3rd Embodiment is equipped with light emission part 210A-210E, 212L, 212R, 214, even if external light is insufficient, those light emission part 210A-210E, 212L. , 212R, and 214 are turned on, the air purification action by the photocatalytic function of the photocatalytic apatite thin film by the outer surfaces of the casing 201 and the moving board 208 can be sufficiently performed. For this reason, it is suitable for air purification etc. under the floor of a building.

  In addition, although the traveling mobile body 200 of FIG. 18 is an example applied to the case similar to 1st Embodiment mentioned above, it is applicable also to the case of 2nd Embodiment mentioned above. That is, the present invention can be similarly applied to a case where a cleanliness sensor is provided in the casing 201 or the moving board unit 208 of the traveling mobile body and a solar panel is provided, and the traveling state is traveling instead of flying. Thus, the same processing operation as that of the second embodiment described above can be performed.

[Other Embodiments or Modifications]
In the first and second embodiments described above, a thin film exhibiting a photocatalytic function is formed or deposited only on the outer surfaces of the casings 6 and 6S. In addition, a layer that exhibits a photocatalytic function is formed or covered on the surfaces of the four arms 4A, 4B, 4C, and 4D constituting the aerial flight mechanism unit 2 and the rotor wing (rotor) mechanisms 5A, 5B, 5C, and 5D. You may make it wear. Furthermore, you may make it form or adhere | attach the layer which exhibits a photocatalytic function also on the surface of leg part 7A, 7B, light emission part 9A-9E, and attachment arm 91A-9E.

  Similarly, also in the second embodiment, a layer exhibiting a photocatalytic function may be formed on or attached to the surfaces of the drive wheels 202, 203.205, 206 and the column 207.

  Moreover, in the above-mentioned embodiment, as the material having a photocatalytic function that constitutes the casings 6, 6 </ b> S, 201 and the moving board unit 208, metal-modified apatite is formed on the surfaces of the casings 6, 6 </ b> S, 201 and the moving board unit 208. Although a high-performance composite material with a thin film formed is not limited to this, it is needless to say that any organic material in the atmosphere can be decomposed by the photocatalytic function. There may be.

  Furthermore, in the above-described embodiment, a light emitting unit that emits ultraviolet light is used to cause the photocatalytic function. However, infrared light such as an infrared LED (Light Emitting Diode) or an infrared laser may be used as long as it causes the photocatalytic function. Or a device that emits visible light such as a visible light LED (Light Emitting Diode) or a visible light laser.

  Further, in the third embodiment, the moving body is a traveling moving body that autonomously moves on the bottom surface of the moving space without flying, but the moving body according to the present invention can move while flying. It may be a moving body that autonomously moves on the bottom of the space. Furthermore, the mobile body which can move on the water may be sufficient.

DESCRIPTION OF SYMBOLS 1,1S ... Flying object, 2 ... Aerial flight mechanism part, 3 ... Drive control unit, 6, 6S ... Case, 9A-9I ... Light emission part, 10, 10S ... Drive control apparatus part, 21 ... Solar panel, 22 ... Cleanliness sensor, 23 ... rechargeable battery, 24 ... power supply circuit, 101, 101S ... control unit, 107 ... moving space memory, 108 ... current position detection unit, 109 ... illuminance sensor, 110, 110S ... flight plan generation unit, 115 115S ... lighting control circuit,

Claims (15)

A housing formed of a material having at least an outer surface side having a photocatalytic function;
A housing moving means attached to the housing for moving the housing in space;
A light emitting unit provided to irradiate light to the outer surface of the housing;
A control unit that is provided in the housing and controls the supply of a driving voltage to the light emitting unit, and controls the driving of the housing moving unit;
With
The control unit supplies the driving voltage to the light emitting unit, and irradiates light on the outer surface of the casing to perform a photocatalytic function, and moves the casing by the casing moving unit. A moving object characterized by having a function to make it. The mobile body according to claim 1, wherein the material having a photocatalytic function is a material using photocatalytic apatite. The casing is provided with an illuminance sensor that detects the illuminance of external light in the outer environment of the casing,
An illuminance detection output of the ambient light from the illuminance sensor is supplied to the control unit, and the control unit emits the light emitting unit when the illuminance of the external light exceeds a predetermined value from the illuminance detection output. 3. The moving body according to claim 1, wherein the moving body is controlled so as to emit light by supplying a driving voltage to the light emitting unit when the illuminance of the external light is not more than a predetermined value. The movable body according to any one of claims 1 to 3, wherein the casing moving means is capable of floating the casing and moving the casing. Current position detecting means for detecting the current position;
A storage unit for storing moving space information for specifying the moving space;
With
The control unit refers to the current position detected by the current position detection unit, and refers to the entire movement space specified by the movement space information stored in the storage unit according to a determined movement plan. The moving body according to claim 1, wherein the casing is moved by the casing moving means. A battery and a remaining amount detecting means for detecting the remaining amount of the battery,
The said control part produces the said movement plan based on the residual amount of the said battery detected by the said residual amount detection means. The moving body of Claim 5 characterized by the above-mentioned. The moving body according to claim 5 or 6, wherein the movement plan includes information on movement speed and movement stop control. The housing moving means is capable of moving the housing by levitating in the air,
The moving body according to any one of claims 5 to 7, wherein the movement plan includes a movement in a height direction. The moving body according to any one of claims 5 to 8, wherein the moving space is divided into a plurality of pieces, and the moving plan is executed for each divided space. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
The movement plan is set including a plurality of movement patterns that differ depending on the cleanliness detected by the cleanliness sensor,
The control unit is configured to move the housing according to the cleanliness detected by the cleanliness sensor among the plurality of set travel patterns when performing the air purification by moving the housing. The moving body according to any one of claims 5 to 9, wherein control is performed so as to execute. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
When the cleanliness of the atmosphere around the casing is equal to or greater than a predetermined value by the detection output of the cleanliness sensor, the controller moves the casing and the photocatalytic function by the casing moving means. The moving body according to any one of claims 1 to 10, wherein the execution of is terminated. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
The movable body according to any one of claims 1 to 11, wherein the control unit controls movement of the casing by the casing moving unit in accordance with a detection output of the cleanliness sensor. . The casing moving means is means for moving the casing on the surface,
13. The housing according to any one of claims 1 to 12, wherein an outer surface side is made of a material having a photocatalytic function, and a moving portion that moves up and down perpendicular to the surface is provided. The moving body according to Crab. Comprising means for determining the presence or absence of a person and / or animal in the moving space;
The moving body according to any one of claims 1 to 13, wherein the movement plan is within a space movement range that avoids a movement range of the person and / or animal. The communication means and the cleanliness acquisition means for acquiring the cleanliness information detected from the cleanliness sensors installed in various places in the moving space from the cloud,
The said control part controls the movement of the said housing | casing by the said housing | casing movement means according to the said cleanliness acquired by the said cleanliness acquisition means. The any one of Claims 1-14 characterized by the above-mentioned. The moving body described.

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