JP7085191B2 - Mobile and mobile programs - Google Patents

Description

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

In recent years, the photocatalytic function of semiconductor substances such as titanium oxide (TiO ₂ ) has attracted attention, and it is known that this photocatalytic function can exert an antibacterial action and an antifouling action. In titanium oxide, the oxidizing power of holes generated in the valence band is very strong. Therefore, when an organic substance is adsorbed, the photocatalytic function of titanium oxide finally causes the organic substance to be water and carbon dioxide. It can be disassembled into.

However, titanium oxide itself has a poor ability to adsorb some substance on its surface. Patent Document 1 (Japanese Unexamined Patent Publication No. 2000-327315) discloses a photocatalytic apatite that improves this defect and enhances the ability to adsorb organic substances. The photocatalytic apatite is a combination of a metal oxide having a photocatalytic function and apatite at the 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, for example, calcium hydroxyapatite having a high adsorptive power are composited at the atomic level.

Further, in Patent Document 2 (Japanese Unexamined Patent Publication No. 2012-63435), as an advertising / notification medium installed outdoors, a coating liquid containing titanium oxide particles is sprayed onto a protective layer of a printed matter to form a photocatalyst layer. It has been proposed to form. According to the advertising / announcement 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.

Japanese Unexamined Patent Publication No. 2000-327315 Japanese Unexamined Patent Publication No. 2012-63435

If the advertisement / notification media of Patent Document 2 is used, the air purification function can be exerted only in the vicinity of the place where the advertisement or the printed matter for notification is installed. Therefore, it is not suitable for air purification of a space in a relatively large area of a predetermined area. If you dare to purify the atmosphere in an area of a predetermined area using the advertising / notification media of Patent Document 2, it is necessary to prepare a large number of advertising / notification media and install them in that area. be.

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

An object of the present invention is to provide a mobile body capable of improving the above problems.

In order to solve the above problems, the present invention
A housing made of a material that at least has a photocatalytic function on the outer surface side,
A housing moving means attached to the housing and for spatially moving the housing,
A light emitting unit provided so as to irradiate the outer surface of the housing with light,
A control unit provided in the housing that controls the supply of the drive voltage to the light emitting unit and controls the drive of the housing moving means.
An illuminance sensor provided in the housing, which detects the illuminance of external light in the outer peripheral environment of the housing and supplies the illuminance detection output of the external light to the control unit.
Equipped with
The control unit supplies the driving voltage to the light emitting unit, irradiates the outer surface of the housing with light to execute the photocatalytic function, and moves the housing by the housing moving means. When the illuminance of the external light exceeds a predetermined value, the light emitting unit is controlled not to emit light from the illuminance detection output, and the illuminance of the external light is equal to or less than the predetermined value. In that case, a drive voltage is supplied to the light emitting unit to control the light emitting unit to emit light.
It provides a mobile body characterized by that.

The moving body having the above-described configuration includes a housing whose outer surface side is made of a material having a photocatalytic function, and also includes a light emitting portion provided so as to irradiate the outer surface of the housing with light. Further, the moving body of the present invention includes a housing moving means for spatially moving the housing. The control unit of the moving body of the present invention supplies a driving voltage to the light emitting unit, irradiates the outer surface of the housing with light to purify the atmosphere by the photocatalytic function, and uses the housing moving means to purify the atmosphere. To move.

According to the moving body according to the present invention, it is possible to purify the atmosphere by the photocatalytic function while moving, and it is possible to purify the atmosphere in a wide range.

It is a figure for demonstrating the structural example of the example of the flying body as the 1st Embodiment of the moving body according to this invention. It is a block diagram which shows the structural example of the drive control device part of the example of the flying object as the 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 object as the 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 object as the 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 object as the 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 object as the 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 object as the 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 object as the 1st Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 1st Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 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 the 2nd Embodiment of the moving body according to this invention. It is a block diagram which shows the structural example of the drive control device part of the example of the flying object as the 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 object as the 2nd Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 2nd Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 2nd Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 2nd Embodiment of the moving body by this invention. It is a figure which shows a part of the flowchart for demonstrating the operation example of the example of the flying object as the 2nd Embodiment of the moving body by this invention. It is a figure for demonstrating the structural example of the example of the traveling moving body as the 3rd Embodiment of the moving body according to this invention. It is a block diagram which shows the structural example of the drive control device part of the example of the traveling moving body as the 3rd Embodiment of the moving body according to this invention.

[First Embodiment]
Hereinafter, the first embodiment of the 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 flying body is configured to be capable of flying in the air and hovering to stop 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 of the first embodiment is configured to autonomously fly in the air and move. FIG. 1A is a view of the flying object 1 of this embodiment as viewed from above, and FIG. 1B is a view of the flying object 1 of this embodiment as viewed from the front. ..

The flying object 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, in the aerial flight mechanism unit 2, rotary blade (rotor) mechanisms 5A, 5B, 5C, 5D are attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. It is composed of.

The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blade shafts (not shown) by the motor drive units 51A, 51B, 51C, and 51D, respectively, to drive the rotary blades 52A, 52B, 52C, and 52D. It is configured to be rotationally driven. The rotation speed and rotation direction of the motor drive units 51A, 51B, 51C, and 51D are controlled by the drive control signal from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotational drive and a power source for drive control. The light emitting unit, camera, microphone, various sensors, display, control unit, etc., 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, the motor drive units 51A, 51B, 51C, and 51D are independently controlled by the drive control signal from the drive control unit 3, so that the vehicle body 1 takes off, lands, and climbs (directly above). , Diagonally up), down (directly below, diagonally down), right turn, left turn, forward, reverse, right shift, left shift, etc. It is possible to control the posture of corners and the position of the hovering position.

Then, in the flying object 1 of this embodiment, the housing 6 is formed integrally with the drive control unit 3. Of course, the drive control unit 3 and the housing 6 are not integrated, 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 means.

A light emitting unit, a camera, a microphone, various sensors, and the like, which will be described later, are attached to the housing 6, and a drive control device unit 10 including a control unit is built in. In this example, the housing 6 is configured in a box shape as a whole.

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

Therefore, the organic substance including bacteria and the like in the atmosphere around the housing 6 is adsorbed by the thin film of the metal-modified apatite exposed on the surface of the housing 6 and decomposed into water and carbon dioxide by the photocatalytic function. The atmosphere is purified. Then, when the flying object 1 flies and moves, the region purified by the thin film of the metal-modified apatite of the housing 6 also moves, and the atmosphere in a wider region can be purified.

The base material constituting the housing 6 is not limited to resin, and may be a plate-like body such as wood, glass, metal, or ceramics. Further, the material of the housing 6 is not limited to a high-performance composite material in which a metal-modified apatite is formed of a thin film on a base material as in this example, but constitutes the above-mentioned base material. A sheet or film of metal-modified apatite may be adhered to the surface of the plate-like body. Further, the photocatalytic apatite is not limited to the metal-modified apatite disclosed in Patent Document 1, and may be any one that exhibits a photocatalytic function.

The two legs 7A and 7B are attached to the housing 6 so as to face each other. In this example, the legs 7A and 7B are made of a pipe member formed into a trapezoidal shape, and are formed so as to stably hold the flying object 1 on the landing 8 as shown in FIG. 1 (B). ing. The shape and members of the legs are not limited to this, and various possibilities can be considered. For example, it may be a wood or metal material in which four legs are formed on a columnar shape at the four corners of the housing 6. Further, in order to facilitate the movement on the landing 8, movable wheels may be attached to the legs 7A and 7B.

Then, in this embodiment, a light emitting portion that irradiates the outer surface of the housing 6 with light is attached. In the example of FIG. 1, the mounting arms 91A, 91B, 91C, 91D of the light emitting portions 9A, 9B, 9C, 9D, 9E are on the four side surfaces and the bottom surface of the rectangular parallelepiped box-shaped housing 6. 91E is attached. In this case, in the mounting arms 91A, 91B, 91C, 91D, 91E, the light emitting portions 9A, 9B, 9C, 9D, 9E show the entire surfaces of the four side surfaces and the bottom surface of the housing 6 with dotted lines in FIG. It is attached to the housing 6 so that it can be irradiated in such a manner.

Further, in order to irradiate the upper surface of the housing 6 with light, in this embodiment, light emitting units 9F, 9G, 9H, and 9I are provided on the four side surfaces of the drive control unit 3. The reason why the four light emitting units 9F, 9G, 9H, and 9I are provided in this way is that the area exposed to the outside of the upper surface of the housing 6 can be irradiated with light regardless of the presence of the drive control unit 3. This is to be able to do it.

The light emitting units 9A to 9I may be any kind as long as they emit ultraviolet rays, such as incandescent lamps, fluorescent lamps, and ultraviolet LEDs (Light Emitting Diodes).

In this example, as shown in FIGS. 1A and 1B, cameras CM1 to CM5 are provided on each of the four side surfaces of the drive control unit 3 and the bottom surface of the housing 6. There is. The optical axes of the cameras CM1 to CM5 (corresponding to the shooting direction) are in directions orthogonal to the mounting surfaces of the cameras CM1 to CM5, and a predetermined angle of view range can be shot 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 device 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 device unit 10 in this embodiment has an aerial flight drive unit 102 and a gyro sensor for a control unit 101 composed of a microcomputer (abbreviated as 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 / attitude control signal generation unit. The 112, the camera group 113, the image recognition unit 114, the lighting control circuit 115, and the operation unit 116 are connected to each other.

The aerial flight drive unit 102 supplies a drive control signal to each of the motor drive units 51A, 51B, 51C, 51D of the rotary wing mechanisms 5A, 5B, 5C, 5D of the aerial flight mechanism unit 2 according to the control of the control unit 101. do.

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

The obstacle sensor 106 emits light, infrared rays, ultrasonic waves, or the like to detect the reflected wave from the obstacle, thereby detecting the presence of the obstacle and emitting light, infrared rays, ultrasonic waves, or the like. Therefore, 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 the space where the flying object 1 is used (hereinafter referred to as a moving space), for example, an indoor wall, a tongue, a bed, a desk, or an obstacle such as a person or a pet. It is also used to detect electric poles, buildings, trees, or obstacles such as people, animals, cars, and bicycles in outdoor moving spaces, and to avoid collisions with them when flying.

The moving space information memory 107 stores information about the moving space for which the air purifying is performed indoors or outdoors where the flying object 1 is used. The information about 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 moving space is the position coordinates of a plurality of vertices that specify the shape of the moving space. For example, if the moving space has 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 each of the two vertices diagonally on the top and bottom, or the position of each of the two vertices diagonally on the two opposite sides. It may be information (latitude, longitude, height).

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

Further, the indoor moving space for purifying the air may be a room space of an unsealed general household, or 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. The outdoor moving space is, for example, a theme park, an amusement park, a zoo, a concert venue, a soccer stadium, a baseball field, a museum, an art museum, or the like in a limited range. 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 around the home, around the office, around the station, around the airport, etc., without being limited to the space of a specific place. To.

An application program for panoramic photography (for example, Photosynth) is stored in the memory of the control unit 101 of the flying object 1 of this embodiment, and the flying object 1 flies in the moving space in advance and the camera CM1. -Using all or part of CM5, an image is taken in a range of 360 degrees at each place in the moving space. Then, the control unit 101 uses an application program for panoramic photography to generate 3D image information at each point in the moving space from the captured image information, and the generated 3D image information is used as moving space information. Store in memory 107.

In this case, in this example, the flying object 1 defines a specific place in the moving space in which it is used as a home position, and takes off and landing at that position as a base. The specific location may be a charging station, which is a normal standby location.

In the information stored in the moving space information memory 107, the position information of the home position defined above is also stored. Further, when the moving space is indoors, the moving space information memory 107 also stores information on the length, width, and height of the room to be used in advance. Further, when the moving space is indoors, 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, etc. may be stored. The position of the tree may also be stored in advance.

As described above, the moving space information is generated by the flight of the flying object 1 and stored in the moving space information memory 107, as well as the moving space information of the target moving space being stored by the user. Of course, it may be stored in the moving space information memory 107. In that case, if the moving space information of the moving space where the air purification is scheduled is generated in advance and the flying object 1 is stored in a separate storage device or stored in the cloud, the information thereof is used. The necessary moving space information of the moving space is acquired from the storage device or the cloud, and stored in the moving space information memory 107.

It should be noted that the moving space information memory 107 stores in advance the moving space information of a plurality of target moving spaces in an identifiable manner, and when attempting to execute air purification, the user is the target of air purification. By selecting and specifying the moving space information of the moving space, the moving space information of the target may be read out from the moving space information memory 107.

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 flying object 1. In order to obtain more accurate position information, the current position may be detected using radio waves from a mobile phone base station or radio waves from an access point for Wi-Fi (Wireless Fidelity (registered trademark)) communication. ..

Further, the current position detection unit 108 compares the photographed image information captured around the flying object 1 with the 3D image information stored in the moving space information memory 107 by using all or a 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.

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

Although not shown in FIG. 1, the illuminance sensor 109 is attached to and arranged in the housing 6 or the drive control unit 3. The illuminance sensor 109 detects the illuminance of the outside light of the flying object 1. The control unit 101 determines whether or not 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 the threshold illuminance at which the photocatalyst function can be sufficiently exerted in the thin film of the photocatalyst apatite formed in the housing 6. The light emitting units 9A to 9I are left off, and when the illuminance is equal to or less than the threshold value, the light emitting units 9A to 9I are controlled to be turned on.

Although the illuminance detected by the illuminance sensor 109 is equal to or less than the threshold illuminance at which the housing 6 of the flying object 1 sufficiently exerts the photocatalytic function, the control unit 101 can exert the photocatalytic function. In the above cases, when the remaining amount of the battery is low and the amount is less than a predetermined amount, the light emitting units 9A to 9I may be left off.

Further, the control unit 101 is a battery when the illuminance detected by the illuminance sensor 109 is equal to or lower than the threshold illuminance at which the photocatalytic function is sufficiently exerted, but is equal to or higher than the illuminance capable of exerting the photocatalytic function. When the remaining amount of light is sufficient, the light emitting units 9A to 9I may be turned on.

Further, an illuminance sensor for detecting the illuminance of 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 with illuminance according to the detected illuminance on each surface. The lighting and extinguishing of each unit may be controlled.

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 the target of air purification. Detects the position, size, shape, position of obstacles, etc. in space. Then, the flight plan generation unit 110 generates a flight plan of the flight body 1 for efficiently executing the air purification using the photocatalytic function in the moving space of the target for which the air purification is performed.

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

Then, the flight plan generation unit 110 receives information from the control unit 101 as to whether or not to light the light emitting units 9A to 9I determined based on the illuminance of the 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 left off is generated.

Examples of movement patterns for air purification in the moving space of the flying object 1 are shown in FIGS. 3 to 5. Since the example of FIGS. 3 to 5 is easy to explain, it is assumed that the moving space is a room having a rectangular parallelepiped shape. In the example of FIGS. 3 to 5, the flying object 1 flies along the floor FL of the room in the moving space in a predetermined movement pattern parallel to the floor FL, and at the same time, the flying object 1 is determined to be parallel to the floor 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 so that the entire area including the height direction of the movement space of the rectangular body is moved.

The example of FIGS. 3A and 3B is a case where the predetermined movement pattern parallel to the floor surface FL is a hook shape. Further, the example of FIGS. 4A and 4B is a case where the predetermined movement pattern parallel to the floor surface FL is a zigzag type. Further, the example of FIGS. 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 after moving a predetermined distance, hovering at that position for a predetermined time. Then, after a predetermined time has elapsed, the operation of moving a predetermined distance at a predetermined speed and hovering at the position after the movement is repeated. The flight plan generation unit 110 determines the size of the target moving space and the balance of the battery by determining the predetermined time for hovering, the predetermined distance from the hovering position to the next hovering position, and the moving speed between them. Change according to the amount to control the degree of politeness of performing air purification in the target moving space and generate an appropriate flight plan.

Further, in the case of the example of FIG. 3, by changing the number of times the hook-shaped movement pattern is folded back into the hook shape and changing the number of height positions where the movement pattern is performed, air purification in the target moving space is performed. You can control the degree of politeness of the execution of. Further, in the case of the example of FIG. 4, the execution of air purification in the target moving space is performed by changing the number of zigzag folds of the zigzag movement pattern and changing the number of height positions where the movement pattern is performed. The degree of politeness can be controlled. Further, in the case of the example of FIG. 5, by changing the number of spirals of the spiral type movement pattern and changing the number of height positions where the movement pattern is performed, the execution of air purification in the target moving space 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 the spiral type movement pattern, the movement is not limited to the case of moving in a circular shape or an elliptical shape, and may be moved in a rectangular shape such as a square shape or a hexagonal shape. Of course, the rotation direction can be either clockwise or counterclockwise.

Of course, the example of the movement pattern in the moving space of the flying object 1 is not limited to the examples of FIGS. 3 to 5. For example, as shown in FIGS. 6 to 8, the flying object 1 moves in a predetermined direction parallel to one side wall of a rectangular room and along a height direction orthogonal to the floor FL of the room in the moving space. Even if the flight moves in a pattern and the position on the floor FL of the flight movement in a predetermined movement pattern in the height direction is sequentially changed so that the entire area of the rectangular movement space is moved. good.

The example of FIGS. 6A and 6B shows the case where the predetermined movement pattern is a hook type, and the example of FIGS. 7A and 7B shows the case where 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 case of the examples of FIGS. 6 to 8, when the flying object 1 has moved a predetermined distance, it hovered at that position for a predetermined time, and after the predetermined time has elapsed, it has been determined again at a predetermined speed. 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 and the balance of the battery by determining the predetermined time for hovering, the predetermined distance from the hovering position to the next hovering position, and the moving speed between them. Change according to the amount to control the degree of politeness of performing air purification in the target moving space and generate an appropriate flight plan.

Further, also in the examples of FIGS. 6 to 8, politeness of air purification in the target moving space is performed by changing the number of turns and swirls of the movement pattern and the number of positions on the floor FL on which the movement pattern is executed. Since the degree of politeness can be controlled, the flight plan generation unit 110 can change the degree of politeness according to the remaining amount of the battery.

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 or not 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, the flight may be made to fly at a height of 2 m or more so that the flying object 1 does not collide. Of course, not only humans but also animals such as pets may be determined to generate a flight plan.

As a means for determining whether or not there is a person or an animal, for example, a human sensor (animal sensor) such as an infrared sensor may be provided in the housing 1 and the sensor may be determined by flying in a moving space in advance. A human sensor (animal sensor) such as an infrared sensor may be installed in the moving space. When a motion sensor (animal sensor) such as an infrared sensor is installed in the moving space, the detection output of the motion sensor (animal sensor) installed in various places in the moving space is uploaded to the cloud and flies. Body 1 accesses the cloud to determine the presence or absence of humans and animals in various parts of the moving space.

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

Then, the flight drive signal generation unit 111 uses 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 images taken from the cameras CM1 to CM5 of the camera group 113. The flight drive signal for moving according to the movement pattern generated by the flight plan generation unit 110 is generated and supplied to the air flight mechanism unit 2 through the air flight drive unit 102. In this case, the flight drive signal consists of signals for driving each of the motor drive units 51A to 51D of the four rotary blade mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the air flight mechanism unit 2 through the flight drive unit 102.

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

The position / attitude control signal generation unit 112 sets the orientation and position of the housing 6 to an appropriate orientation and position (height) based on the captured images of the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the cameras CM1 to CM5. Generates a position-attitude control signal that controls the position and attitude so as to be (including the position).

The camera group 113 includes the above-mentioned cameras CM1 to CM5. Each of the cameras CM1 to CM5 outputs the captured image information of the moving image to the system bus 100. Identification information for identifying which camera the photographed image information is from is added to the photographed image information transmitted from each of the cameras CM1 to CM5 to the system bus 100. 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, a 0.5 second interval, instead of the captured image information of a moving image.

The image recognition unit 114 compares the image information taken by the cameras CM1 to CM5 with the image of an obstacle or the like stored in the image memory (not shown) to avoid the obstacle during flight. Has the function of recognizing. 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 extinguishing (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 is controlled by the control unit 101 based on the detection output of the illuminance around the illuminance sensor 109, and controls all of the light emitting units 9A to 9I to be turned on and off at the same time. ing.

However, not limited to this example, the lighting control circuit 115 is configured so that each of the light emitting units 9A to 9I can be controlled to turn on and off separately, and on each of the six surfaces of the housing 6. , An illuminance sensor for detecting each illuminance is provided, and the control unit 101 individually determines whether to make each of the light emitting units 9A to 9I emit light or leave the light off based on the detection output of each illuminance sensor. It may be configured to be controlled.

The operation unit 116 is also used for the user to input the flight start activation of the flying object 1, the creation of the moving space information, the storage instruction to the moving space information memory 107, and other operation instructions. In this example, as the flight start start of the flying object 1, in addition to the immediate start by the start instruction, the time set by the user through the operation unit 116 by the timer function (which the control unit 101 has) (predetermined time or It is configured so that the timer can be started after a predetermined time from 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 / attitude control signal generation unit 112, and the image recognition unit 114 as software processing functions. can.

[Flow of operation of the drive control device unit 10 of the flying object 1]
In the flying object 1 of the first embodiment configured as described above, the thin film of the metal-modified apatite 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 thin film of the metal-modified apatite exposed on the surface of the housing 6, and are decomposed into moisture and carbon dioxide by the photocatalytic function. , Air purification is realized. Then, when the flying object 1 moves in space, it becomes possible to purify the atmosphere in the space where the space has moved.

In this embodiment, the flight object 1 generates a flight plan according to the target moving space and moves according to the generated flight plan so as to achieve a more efficient air purification effect. ..

9 and 10 are flowcharts for explaining an example of the operation flow of the drive control device unit 10 of the flight body 1 of the first embodiment. In each step of the flowchart shown in FIGS. 9 and 10, the control unit 101 softens the functions of the flight plan generation unit 110, the flight drive signal generation unit 111, the position / attitude control signal generation unit 112, and the image recognition unit 114. The case where it is realized as a software processing function will be described.

When the control unit 101 detects a start instruction through the operation unit 116, the control unit 101 starts the flowchart of FIG. Then, the control unit 101 first reads out the information of the moving space stored in the moving space information memory 107, and the position, size, shape of the target moving space, the position of the obstacle in the moving space, and the size. 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 the external light in the moving space is sufficient to exert the photocatalytic function (step S103). When it is determined in step S103 that the illuminance due to the external light in the moving space is sufficient to exert the photocatalytic function, the control unit 101 creates a flight plan without lighting 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 level of the moving space, and flight. It includes the speed of movement and the number of repeats of flight that covers the entire movement space according to the selected movement pattern. In step S104, the flight object 1 executes the flight plan without lighting the light emitting units 9A to 9I. Therefore, the control unit 101 prepares the flight plan in consideration of the relatively low battery consumption. Can be created.

In this first embodiment, the moving space area is at least once in consideration of the remaining amount of the battery so that the moving space area targeted for air purification can be purified as evenly as possible. 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.

After creating the flight plan in step S104, the control unit 101 starts the flight movement of the flight object 1 according to the flight plan, and the photocatalyst function by the outer surface of the housing 6 of the flight object 1 flying and moving in the moving space is used. Execution of air purification is started (step S105). In this example, a base consisting 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 flight movement from this base.

Next, the control unit 101 determines whether or not the remaining battery level is low and the battery is in a state to be charged (step S106). When it is determined in step S106 that the state is ready for charging, 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 in a fully charged state (step S108), and when it is determined that the battery is in a fully charged state, determines whether or not the execution of air purification may be terminated (step S108). 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 entire movement space in the moving space according to the selected movement pattern included in the flight plan created in step S104 is completed. do.

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

Further, when it is determined in step S106 that the battery is not in a state to be charged, the control unit 101 determines whether or not the illuminance due to the external light in the moving space has changed to a state insufficient for exhibiting the photocatalytic function. (Step S110). When it is determined in step S110 that the illuminance due to the external light in the moving space is not in a state sufficient for exhibiting the photocatalytic function, the control unit 101 shifts the process to step S109, and this step. The processing after S109 is repeated.

Further, when it is determined in step S110 that the illuminance due to the external light in the moving space is insufficient for exhibiting the photocatalytic function, the control unit 101 detects the remaining amount of the battery (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 to control the lighting control circuit 115. A flight plan is created with the light emitting units 9A to 9I turned on (step S121 in FIG. 10). In this step S121, the flight object 1 executes the flight plan with the light emitting units 9A to 9I lit, so that the control unit 101 needs to create the flight plan in consideration of the battery consumption. ..

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

Next, the control unit 101 determines whether or not the remaining battery level is low and the battery is in a state to be charged (step S123). When it is determined in step S123 that the state is ready for charging, 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 in a fully charged state (step S125), and when it is determined that the battery is in a fully charged state, determines whether or not the execution of air purification may be terminated (step S125). Step S126). In this step S126, it is determined whether or not the execution of the number of repetitions of the flight covering the entire movement space in the selected movement pattern included in the flight plan created in step S104 has been completed.

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

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

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

[Effect of the first embodiment]
As described above, in the flying object 1 as the moving body of the first embodiment described above, the thin film of the metal-modified apatite as an example of the photocatalytic apatite having a photocatalytic function is exposed on the entire surface of the housing 6. It is said to be in a state. Therefore, organic substances such as bacteria in the atmosphere around the housing 6 are adsorbed on the thin film of the metal-modified apatite 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, as the flying object 1 flies and moves, the spatial position where the atmosphere is purified by the thin film of the metal-modified apatite on the outer surface of the housing 6 is changed. Compared to the case where it is installed in a fixed position such as, it is possible to realize a wide range of air purification. In particular, if the moving space of the flying object 1 is a closed space, the flying object 1 can fly and move all over the closed space to purify the entire atmosphere of the closed space.

Since the flying object 1 of the above-described embodiment includes the light emitting units 9A to 9I, even if the external light is insufficient, the light emitting units 9A to 9I can be turned on to turn on the light emitting units 9A to 9I of the housing 6. Photocatalyst by the outer surface It is possible to sufficiently execute the air purification action by the photocatalytic function of the thin film of apatite.

Then, the flying object 1 of the above-described embodiment stores in advance moving space information capable of specifying the position, size, shape, etc. of the moving space to be the target of air purification, and this storage is stored. Since an accurate flight plan according to the target moving space is created based on the moving space information, efficient air purification in the moving space can be performed.

Further, the flying object 1 of this embodiment creates a flight plan while considering the remaining battery level, and is appropriately charged before the remaining battery level becomes insufficient in the target moving space. Since the air is purified, the air can be purified reliably and sufficiently.

[Second Embodiment]
The moving body of the second embodiment is also an example of a flying body similar to the above, but in this example, it is intended to enable efficient air purification in a wider moving space. There is.

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

In the flying object 1S in the second embodiment, the solar panel 21 is installed on the upper surface of the housing 6S where 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.

Then, in the flying object 1S of the second embodiment, as shown in FIG. 11B, the cleanliness sensor 22 for detecting the cleanliness of the atmosphere by air purification is, in this example, the housing 6S. It is installed in front of the side surface of. The cleanliness sensor 22 includes a microbial sensor capable of detecting bacteria and fungi floating in the air, a floating bacteria sensor capable of detecting airborne bacteria, and pollen in the atmosphere. It is composed of one or more sensors such as a pollen sensor capable of detecting PM2 and a particle sensor capable of detecting particles such as PM2.5 and PM10 in the atmosphere, and detected by those sensors. It also has a counter function that calculates the number of floating bacteria and particles. The control unit 101S of the flying object 1S of the second embodiment can determine the cleanliness when the atmosphere is purified by the photocatalytic function from the detection output of the cleanliness sensor 22. The control unit 101S may execute the function of the counter that coefficients the number of airborne bacteria, particles, and the like detected by the sensor.

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

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

As shown in FIG. 12, the flying object 1S of the second embodiment is provided with a rechargeable battery 23 similar to that of the flying object 1 of the first embodiment, and is provided with a solar panel 21 as described above. Has been done. 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 power 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 used as the power supply voltage. While outputting as Vcc, the voltage is stored in the power storage element. When the solar panel 21 cannot generate a sufficient voltage, the voltage from the rechargeable battery 23 is used to output the voltage from the rechargeable battery 23 as the power supply voltage Vcc, and the voltage is stored in the power storage element. do.

In the power supply circuit 24 of this example, even if the solar panel 21 cannot generate electricity or the rechargeable battery 23 is low in battery level, the flight object 1S is immediately incapable of moving and moving. However, the voltage stored in the power storage element allows the flying object 1S to continue flying and moving for a while.

The control unit 101S may determine whether or not the environment is such that power can be generated by the solar panel 21 based on monitoring only the output voltage of the solar panel 21, or is detected by the illuminance sensor 109. The illuminance level of external light may be used. Further, the control unit 101S may use both the output voltage of the solar panel 21 and the detection output of the illuminance sensor 109 to determine whether or not the environment is such that the solar panel 21 can generate electricity.

Then, in the drive control device unit 10S of the example of FIG. 12, the detection output of the cleanliness sensor 22 is transmitted to the control unit 101S through the system bus 100. Further, in the case of this example, five light emitting units 9A to 9E are connected to the lighting control circuit 115S.

Further, it is considered that the flight plan generation unit 110S of the drive control device unit 10S of the second embodiment can strengthen the power supply of the flying object 1S and make the target moving space wider. It is possible to generate a flight plan that has been completed. That is, when the target moving space is a space larger than a predetermined size threshold, the flight plan generation unit 110S divides the target moving space into a plurality of spaces, and divides the target moving space into a plurality of spaces. It has a function to generate a flight plan so as to execute the movement pattern 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 considers the remaining battery level in the flight plan generation unit 110 of the first embodiment described above. In addition, it is considered whether the voltage supply from the solar panel 21 or the rechargeable battery 23 is sufficient or is expected to be insufficient.

For example, as shown in FIG. 13, when the target moving space is a rectangular parallelepiped moving space AR and is a space larger than a predetermined size threshold value, the flight plan generation unit 110S of this example is a target. The moving space AR to be used is divided into a plurality of divided spaces DV. At this time, the plurality of divided spaces DV may be divided into equal sizes as much as possible, but it is not necessary to divide them into equal sizes.

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

For example, when the value of the cleanliness of the atmosphere detected based on the detection output of the cleanliness sensor 22 in each divided space DV is smaller than the predetermined threshold value, the flight plan generation unit 110S has a predetermined movement pattern A (movement speed). A flight plan is generated so as to perform (including the information of), and when it is equal to or higher than a predetermined threshold, it is possible to decompose airborne bacteria, particles, etc. in the atmosphere more effectively than the predetermined movement pattern A. Generate a flight plan to perform movement pattern B (including differences in movement speed). Even if a flight plan is generated so that two or more predetermined threshold values for the detection output value of the cleanliness sensor 22 are set and the movement pattern set according to the detection output of the cleanliness sensor 22 is three or more. 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, the divided space (where the dirt is severe) with low cleanliness is proactively cleaned. You may generate a flying bran.

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 moving space AR is divided into a plurality of divided space DVs, the cleanliness The flight movement (including the movement speed and the frequency of hovering) 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 atmosphere is equal to or less than the value at which the degree of air purification is considered to be sufficient. Occasionally, it is controlled to end the air purification by the flight movement by the flying object 1S.

The other configurations of the drive control device unit 10S of the flight body 1S of the second embodiment in FIG. 12 are the same as those of the drive control device 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 / attitude control signal generation unit 112, and the image recognition unit 114 as software processing functions. can.

[Flow of operation of drive control device unit 10S of flying object 1S]
In the flight object 1S of the second embodiment configured as described above, a flight plan corresponding to the target moving space is generated, and while monitoring the detection output of the cleanliness sensor, the target is according to the generated flight plan. By moving in 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 movement pattern is executed for each divided space to perform more efficient air purification.

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

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

Next, the control unit 101S checks the remaining amount of the battery 23 connected to the power supply circuit 24 and the status of the power supply such as the voltage from the solar panel 21 in order to use it as information when generating a 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 the external light in the moving space is sufficient to exert the photocatalytic function (step S204). When it is determined in step S204 that the illuminance due to 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, in the flight plan created in step S205, the movement pattern selected in consideration of the position, size, shape and remaining amount of the battery of the moving space, the speed of the flight movement, and the selected movement The number of repetitions of the flight covering the entire moving space according to the pattern, etc. are included. Further, when the target moving space is divided, as described above, the control unit 101S has the order of movement, the moving speed, and the movement speed in each divided section within the target moving section. Create a flight plan. In this step S205, since the flight object 1S executes the flight plan in a state where the light emitting units 9A to 9E are not lit, the control unit 101S considers that the power consumption of the power supply is relatively small. You can create a flight plan.

In this second embodiment, the entire area of the moving space (when the moving space is divided) at least once so that the moving space to be the target of air purification can be purified as evenly as possible. The flight movement pattern, the flight movement speed, and the like are determined so that the flight object 1S is flown and moved 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 flight object 1S according to the movement pattern according to the flight plan, and depends on the outer surface of the housing 6S of the flight object 1S that flies and moves in the moving space. Air purification by the photocatalyst function is executed (step S206). In this example, a base consisting of charging stations is installed in or near the moving space targeted for air purification, and the flying object 1S starts flight movement 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 has a high cleanliness equal to or higher than the predetermined threshold CLth. It is determined whether or not the result is (step S208). When it is determined in step S208 that the cleanliness CL is not higher than the predetermined threshold CLth, the control unit 101S determines that the movement pattern according to the flight plan is completed. While continuing the flight movement of 1S, the subroutine of charge necessity is executed (step S209).

FIG. 15 is a flowchart showing an example of this charging necessity subroutine. That is, the control unit 101S needs to monitor the output voltage of the power supply circuit 24, monitor the generated voltage from the solar panel 21, and the output voltage of the rechargeable battery 23, and start charging. It is determined whether or not it is (step S221).

When it is determined in step S221 that the state requires the start of charging, the control unit 101S stops the flight movement of the moving space targeted by the flying object 1S and returns to the charging station. , The 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), and when the charging is completed, resumes the flight movement of the target moving space (step S224), and then the main process is performed. Return to the 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 the state in which it is not necessary to start charging is determined, the control unit 101S is unable to exert the photocatalytic function due to the illuminance due to the external light around the flying object 1S. 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 the external light around the flying object 1S has changed to a state sufficient for exhibiting the photocatalytic function, the control unit 101S determines that the information when generating the flight plan is generated. The remaining amount of the battery 23 connected to the power supply circuit 24 and the state of the power supply such as the voltage from the solar panel 21 are checked (step S226). Then, after this step S226, the control unit 101S shifts the processing to step S251 in FIG. 17, and performs the processing after this step S251 described later.

Further, when it is determined in step S225 that the illuminance due to the external light around the flying object 1S has not changed to a state sufficient for exhibiting the photocatalytic function, the control unit 101S determines that the illuminance is not sufficient for the flying object 1S. It is determined whether or not the illuminance due to the ambient light has changed to a state sufficient for exerting the photocatalytic function (step S227). Then, 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 for exhibiting the photocatalytic function, the control unit 101S returns the process 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 the external light around the flying object 1S has changed to a state sufficient for exhibiting the photocatalytic function, the control unit 101S uses the information when generating the flight plan as information. In order to use it, the remaining amount of the battery 23 connected to the power supply circuit 24 and the state of the power supply such as the voltage from the solar panel 21 are checked (step S228). Then, after this step S228, the control unit 101S shifts the processing to step S205 of FIG. 14, and performs the processing after this step S205.

When the subroutine of FIG. 15 is executed in step S209, since the outside light is in a sufficient state, the process does not return to step S205 via step S227 and step S228.

Next, returning to the flowchart of FIG. 14, when it is determined in step S208 that the cleanliness CL has reached a high cleanliness equal to or higher than the predetermined threshold CLth, the control unit 101S determines that the target moving space is the flight plan. It is determined whether or not it was 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 considers that the moving space has been sufficiently cleaned and ends this process.

Further, 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 cleanliness of the air in the initial state of the divided space before the movement. (Step S232). When it is determined in step S232 that the cleanliness of the atmosphere in the initial state of the divided space before the movement is the same, the control unit 101S performs air cleaning using the same movement pattern as the divided section before the movement. Execute (step S233).

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

Following step S233 or step S234, the control unit 101S starts the flight movement of the flight body 1S according to the movement pattern according to the flight plan in the divided section, and the housing of the flight body 1S flying and moving in the moving space. Air purification is performed by the photocatalytic function of the outer surface of 6S (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 has a high cleanliness equal to or higher than the predetermined threshold CLth. It is determined whether or not the result is (step S237). When it is determined in step S237 that the cleanliness CL is not higher than the predetermined threshold CLth, the control unit 101S determines that the movement pattern according to the flight plan is completed. While continuing the flight movement of 1S, the subroutine of charge necessity shown in FIG. 15 is executed (step S238).

When the subroutine of FIG. 15 is executed in this step S238, the control unit 101S returns the process to step S236 of FIG. 16 after step S224 of FIG. Further, when it is determined in step S225 of 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 determines that the power supply in step S226 is sufficient. After checking the status of the circuit 24, the process proceeds to step S251 in FIG. 17, and the processing after this step S251, which will be described later, is performed.

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

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

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

After creating the flight plan in step S251, the control unit 101S starts the flight movement of the flight object 1S according to the movement pattern according to the flight plan, and depends on the outer surface of the housing 6S of the flight object 1S that flies and moves in the moving space. Air purification by the photocatalyst 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 equal to or higher than the predetermined threshold CLth. It is determined whether or not the result is (step S254). When it is determined in step S254 that the cleanliness CL is not higher than the predetermined threshold CLth, the control unit 101S determines that the movement pattern according to the flight plan is completed. While continuing the flight movement of 1S, the subroutine of charge necessity shown in FIG. 15 is executed (step S255).

When the subroutine of FIG. 15 is executed in this 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 of 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 determines that the power supply circuit 24 in step S228 has changed. After checking the situation of, the process proceeds to step S205 of FIG. 14, and the processing after this step S205 is performed.

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

Further, 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 this step S257, the control unit 101S shifts the processing to step S231 in FIG. 16 and performs the processing after this 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 set to a high cleanliness equal to or higher than the predetermined threshold CLth in step S254. Since it is determined that the space has become clean, it is assumed that the moving space has been sufficiently cleaned, and this processing routine is terminated. However, when the flight plan is set to repeat a predetermined number of times in advance, the flight may be performed in the moving space by the number of repetitions of the predetermined number of times to further purify the atmosphere.

Further, in FIG. 16, which is an example of the process 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 equal to or higher than the predetermined threshold CLth. When it is determined that it is, it moves in the divided space. However, when the number of repetitions of multiple times is generated as a flight plan for the entire moving space, the cleanliness CL is equal to or higher than the predetermined threshold CLth in each divided space only at the last time of the repetition. It may be determined whether or not the cleanliness is high, and when the 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 round of repetition, the control unit 101S moves to the next split space after performing the set movement pattern a set number of times (one or more times) in each split space. , Control the flying object 1S.

[Effect of the second embodiment]
According to the flying object 1S of the second embodiment described above, it is possible to fly and move the air purification while confirming the cleanliness of the atmosphere in the target moving space, so that the air purification can be effectively executed. Can be done.

Further, 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 flight is moved in a predetermined movement pattern for each divided space. Since the air is purified, it is possible to effectively purify the air even in a wide moving space.

Further, since the flying object 1S of the second embodiment described above is equipped with the solar panel 21, when the moving space targeted for air purification is outdoors and the flying object 1S flies in the daytime, the flying object 1S flies. , There is an effect that the flight time can be long. Further, the flying object 1S of the second embodiment described above also has a 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 configured, it has the effect of securing a power source that can withstand long flights. Therefore, the moving space targeted for air purification can be a wide area.

In the second embodiment, since the flying object 1S includes the cleanliness sensor 22, the cleanliness detected by the cleanliness sensor 22 is provided in the target moving space or in each divided space DV. The degree may be notified through the display unit.

In that case, the display unit may use a display unit having a display screen such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) panel, and display the cleanliness on the display screen. However, a plurality of light emitting elements such as LEDs may be arranged in a row to control the number of light emitting elements such as LEDs to be turned on according to the degree of cleanliness.

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

In the second embodiment, the flying object 1S is provided with a cleanliness sensor, but the cleanliness sensor may be installed in the moving space. In that case, the cleanliness detected by 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 a communication means and a cleanliness acquisition means so that the flying object 1S can access the cloud and obtain the cleanliness in various parts of the moving space. Then, the control unit 101S controls the spatial movement by the flying object 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 body that can fly and move, but when the height of the moving space is low, the moving body does not fly and the moving body is moved. It may be a traveling moving body that autonomously travels and moves on the bottom surface. The third embodiment is a case where the moving body is a traveling moving body.

FIG. 18 is a diagram showing a configuration example of the traveling moving body 200 of the third embodiment, and FIG. 18A is a view of the traveling moving body 200 of the third embodiment as viewed from above. Also, FIG. 18B is a view of the traveling moving body 200 of the third embodiment as viewed from a direction orthogonal to the traveling moving direction.

The traveling mobile body 200 of this example includes a rectangular parallelepiped housing 201. The housing 201 is made of a material whose outer surface side exhibits a photocatalytic function. In this third embodiment, the housing 201 is made of a plate-shaped, for example, a resin as a base material, as in the case of the housings 6 and 6S of the first embodiment and the second embodiment described above. Above, it is composed of a high-performance composite material in which the metal-modified apatite described in Patent Document 1 is formed of a thin film.

The housing 201 is configured to be movable in a predetermined direction by a traveling movement mechanism. The traveling 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. Although detailed illustration is omitted, the traveling movement mechanism of this example has a directional control function, and is capable of turning right, turning left, turning right, and turning left. Further, the traveling movement mechanism is configured to be capable of not only forward movement but also backward movement.

Then, to the housing 201 of the traveling moving body 200 of the third embodiment, a support column 207 that protrudes upward from the upper surface of the housing 200 and moves up and down with respect to the housing 201 is attached. There is. Although not shown in FIG. 18, a vertical movement mechanism portion for moving the support column 207 up and down is provided in the housing 201.

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

Therefore, the organic substance including bacteria in the atmosphere around the housing 201 and the moving board portion 208 is adsorbed by the thin film of the metal-modified apatite exposed on the surfaces of the housing 201 and the moving board portion 208 and has a photocatalytic function. It is decomposed into water and carbon dioxide to purify the atmosphere. Then, if the moving board portion 208 moves up and down, the region purified by the thin film of the metal-modified apatite also moves, and the atmosphere in a wider region can be purified.

The base material constituting the housing 201 and the moving board portion 208 is not limited to resin, and may be, for example, a plate-like body such as wood, glass, metal, or ceramics. Further, the materials of the housing 201 and the moving board portion 208 are not limited to those made of a high-performance composite material in which a metal-modified apatite is formed of a thin film on a base material as in this example, and are not limited to those described above. A sheet or film of metal-modified apatite may be adhered to the surface of the plate-like body constituting the base material. Further, the photocatalytic apatite is not limited to the metal-modified apatite disclosed in Patent Document 1, and may be any one that exhibits a photocatalytic function.

Then, in this third embodiment, a light emitting portion that irradiates the outer surface of the housing 201 and the moving board portion 208 with light is attached. In the example of FIG. 18, the mounting arms 211A, 211B, 211C, 211D of the light emitting portions 210A, 210B, 210C, 210D, 210E are on the four side surfaces and the bottom surface of the rectangular parallelepiped box-shaped housing 201. 211E is attached. In this case, in the mounting arms 211A, 211B, 211C, 211D, 211E, the light emitting portions 210A, 210B, 210C, 210D, 210E show the entire surfaces of the four side surfaces and the bottom surface of the housing 201 with dotted lines in FIG. It is attached to the housing 201 so that it can be irradiated in such a manner.

Further, in order to irradiate the upper surface of the housing 201 and the lower surface of the moving board portion 208 with light, in this embodiment, the mounting arms 213L and 213R are upward from the two side surfaces of the housing 201 facing each other. Is provided, and the light emitting portions 212L and 212R are attached to these mounting arms 213L and 213R. The reason why the two light emitting portions 212L and 212R are provided in this way is that the areas exposed on the upper surface of the housing 201 and the lower surface of the moving board portion 208 can be sufficiently irradiated with light. Is.

Further, in the third embodiment, the moving board portion 208 is attached to the mounting arm 215 on the upper surface thereof, and the light emitting portion 214 is attached to the mounting arm 215. The light emitting portion 214 is attached so as to be able to irradiate almost the entire region of the upper surface of the moving board portion 208 with light.

The light emitting units 210A to 210E, 212L, 212R and 214 may be any as long as they emit ultraviolet rays, such as incandescent lamps, fluorescent lamps, and ultraviolet LEDs (Light Emitting Diodes).

In this example, as shown in FIGS. 18A and 18B, cameras CM11 to CM14 are provided on each of the four side surfaces of the moving board portion 208. The optical axes of the cameras CM11 to CM14 (corresponding to the shooting direction) are in directions orthogonal to the mounting surfaces of the cameras CM11 to CM14, and a predetermined angle of view range 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 device unit 220 in the traveling mobile body 200 of this embodiment, and the battery is omitted in FIG. In addition, the example of FIG. 19 assumes the case where the flying object 1 of the first embodiment is changed to the traveling moving body 200, and the same block name is used for the same constituent parts. In the following description, the difference between the configuration of FIG. 2 and the configuration of FIG. 19 will be mainly described.

As shown in FIG. 19, the drive control device unit 220 in this embodiment has a traveling / moving drive unit 222 and a gyro sensor for a control unit 221 composed of a microcomputer (abbreviated as a microcomputer in FIG. 2) through a system bus 240. 223, geomagnetic sensor 224, obstacle sensor 226, moving space information memory 227, current position detection unit 228, illuminance sensor 229, traveling 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 traveling movement driving unit 222 is provided in place of the aerial flight driving unit 102 of FIG. Then, a traveling / moving mechanism unit 241 that controls the rotational drive of the drive wheels 202, 203, 205, and 206 and controls the directional control mechanism (not shown) is connected to the traveling / moving drive unit 222. The traveling / moving mechanism unit 241 enables the traveling / 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 traveling movement plan generation unit 230 is provided. The traveling movement plan generation unit 230 recognizes the height of the target moving space stored in the moving space memory 227, and sets the upper limit height when moving the moving board unit 208 up and down. ..

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 has a vertical movement height range and a vertical movement movement speed in response to a vertical movement instruction to the moving board unit 208 included in the traveling movement plan generated by the traveling movement plan generation unit 230. Then, 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 support column 207 is driven by the vertical movement drive signal, and moves the moving board portion 208 up and down within the height range of the vertical movement and the moving speed of the vertical movement according to the vertical movement drive signal.

Further, a movement control signal generation unit 232 is provided in place of the position / attitude control signal generation unit 112. The movement control signal generation unit 232 sets the movement position and the movement direction of the housing 201 according to the travel movement plan based on the captured images of the gyro sensor 223, the geomagnetic sensor 224, and the cameras CM11 to CM14. Generates a movement control signal to control.

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 have the same configuration and operation as the parts in the example of FIG.

The traveling movement plan generation unit 230 of the traveling moving body 200 of the third embodiment travels on the floor surface or the ground while the traveling body 1 of the first embodiment flies in space. Generate a similar transfer plan, only the points are different. For example, it is set which of the movement patterns shown in FIGS. 3 (A), 4 (A), and 5 (A) is used for traveling. However, in the traveling movement plan of the third embodiment, how the moving board unit 208 is moved up and down according to the set movement pattern at the moving speed and in what moving mode. It involves setting it up. Here, the moving speed is the average speed of vertical movement, and the movement mode is always vertical movement at a constant speed, gradually increasing with upward movement, gradually decreasing with upward movement, and intermediate. Is slow, others move fast, and so on.

In FIG. 18, the control unit 221 can also realize the processing functions of the traveling movement plan generation unit 230, the vertical movement drive signal generation unit 231 and the image recognition unit 224 as software processing functions.

In the drive control device unit 220 of the traveling body 200 of the third embodiment, the method of movement differs between flight and traveling movement, but the drive control device unit 10 of the flying object 1 of the first embodiment The same operation flow as that shown in FIGS. 9 and 10 can be performed.

Therefore, according to the traveling moving 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 board portion 208 of the traveling moving body 200. The atmosphere is purified by the thin film of the metal-modified apatite on the outer surface of the housing 201 and the moving board portion 208 just by traveling.

Since the traveling moving body 200 of the third embodiment includes light emitting units 210A to 210E, 212L, 212R, and 214, even if the external light is insufficient, those light emitting units 210A to 210E, 212L are provided. , 212R, 214, the air purification action by the photocatalytic function of the thin film of the photocatalytic apatite by the outer surface of the housing 201 and the moving board portion 208 can be sufficiently executed. Therefore, it is suitable for purifying the atmosphere under the floor of a building.

Although it is an example in which the traveling mobile body 200 of FIG. 18 is applied in the same case as the above-mentioned first embodiment, it can also be applied in the case of the above-mentioned second embodiment. That is, the same can be applied to the case where the cleanliness sensor is provided in the housing 201 or the moving board portion 208 of the traveling moving body and the solar panel is provided, and the moving state is changed to the traveling movement instead of the flight movement. It is possible to perform the same processing operation as in the second embodiment described above.

[Other embodiments or modifications]
In the first and second embodiments described above, a thin film exhibiting a photocatalytic function is formed or adhered only to the outer surface of the housings 6 and 6S, but the outer surface of the drive control unit 3 and the outer surface of the drive control unit 3 are formed. A layer exhibiting a photocatalytic function is also formed or covered on the surfaces of the four arms 4A, 4B, 4C, 4D constituting the aerial flight mechanism unit 2 and the rotary blade (rotor) mechanisms 5A, 5B, 5C, 5D. You may try to wear it. Further, a layer exhibiting a photocatalytic function may be formed or adhered to the surfaces of the legs 7A and 7B, the light emitting portions 9A to 9E, and the mounting arms 91A to 9E.

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

Further, in the above-described embodiment, as the material having a photocatalytic function constituting the housings 6, 6S, 201 and the moving board portion 208, the surface of the housings 6, 6S, 201 and the moving board portion 208 is made of metal-modified apatite. A high-performance composite material with a thin film formed was used, but it goes without saying that it is not limited to this, and any material that can decompose organic substances in the atmosphere by its photocatalytic function can be used. There may be.

Further, in the above-described embodiment, a light emitting unit that emits ultraviolet rays is used to cause the photocatalyst function, but if the light emitting part causes the photocatalyst function, infrared rays such as an infrared LED (Light Emitting Diode) or an infrared laser are used. It may be one that emits visible light, or one 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 fly and move and moves. It may be a moving body that autonomously moves on the bottom surface of the space. Furthermore, it may be a moving body that can move on the water.

1,1S ... flying object, 2 ... aerial flight mechanism unit, 3 ... drive control unit, 6,6S ... housing, 9A-9I ... light emitting unit, 10,10S ... drive control device unit, 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 made of a material that at least has a photocatalytic function on the outer surface side,
A housing moving means attached to the housing and for spatially moving the housing,
A light emitting unit provided so as to irradiate the outer surface of the housing with light,
A control unit provided in the housing that controls the supply of the drive voltage to the light emitting unit and controls the drive of the housing moving means.
An illuminance sensor provided in the housing, which detects the illuminance of external light in the outer peripheral environment of the housing and supplies the illuminance detection output of the external light to the control unit.
Equipped with
The control unit supplies the driving voltage to the light emitting unit, irradiates the outer surface of the housing with light to execute the photocatalytic function, and moves the housing by the housing moving means. When the illuminance of the external light exceeds a predetermined value, the light emitting unit is controlled not to emit light from the illuminance detection output, and the illuminance of the external light is equal to or less than the predetermined value. In that case, a drive voltage is supplied to the light emitting unit to control the light emitting unit to emit light.
A mobile body characterized by that. The moving body according to claim 1, wherein the material exhibiting the photocatalytic function is a material using photocatalytic apatite. The moving body according to claim 1 or 2 , wherein the housing moving means can levitate and move the housing in the air. Current position detection means to detect the current position and
A storage unit that stores moving space information for specifying the moving space,
Equipped with
The control unit refers to the current position detected by the current position detecting means and refers to the entire space in the moving space specified by the moving space information stored in the storage unit according to a predetermined movement plan. The moving body according to any one of claims 1 to 3 , wherein the housing is moved by the housing moving means. A battery is provided, and a remaining amount detecting means for detecting the remaining amount of the battery is provided.
The moving body according to claim 4 , wherein the control unit creates the moving plan based on the remaining amount of the battery detected by the remaining amount detecting means. The mobile body according to claim 4 or 5 , wherein the movement plan includes information on movement speed and movement stop control. The housing moving means can levitate and move the housing in the air.
The moving object according to any one of claims 4 to 6 , wherein the moving plan also includes movement in the height direction. The moving object according to any one of claims 4 to 7 , wherein the moving space is divided into a plurality of parts, and the moving plan is executed for each divided space. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing is provided.
The movement plan is set to include a plurality of movement patterns that differ depending on the cleanliness detected by the cleanliness sensor.
When the control unit moves the housing to execute air purification, the movement pattern according to the cleanliness detected by the cleanliness sensor among the plurality of set movement patterns. The moving body according to any one of claims 4 to 8 , wherein the moving body is controlled to execute the above. A means for determining the presence or absence of a human and / or an animal is provided in the moving space.
The moving object according to any one of claims 4 to 9 , wherein the movement plan is within a spatial movement range that avoids the movement range of the person and / or the animal. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing is provided.
When the cleanliness of the atmosphere around the housing becomes a predetermined value or more by the detection output of the cleanliness sensor, the control unit moves the housing and the photocatalyst function by the housing moving means. The moving body according to any one of claims 1 to 10, wherein the execution of the above is terminated. A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing is provided.
The moving body according to any one of claims 1 to 11, wherein the control unit controls the movement of the housing by the housing moving means according to the detection output of the cleanliness sensor. .. The housing moving means is a means for moving the housing on a surface.
Any of claims 1 to 12, wherein the outer surface side of the housing is made of a material having a photocatalytic function, and a moving portion that moves up and down orthogonal to the surface is provided. The moving body described in the crab. Equipped with communication means and cleanliness acquisition means for acquiring cleanliness information detected from cleanliness sensors installed in various parts of the moving space from the cloud.
The control unit according to any one of claims 1 to 13 , wherein the control unit controls the movement of the housing by the housing moving means according to the cleanliness acquired by the cleanliness acquisition means. The described moving body. With respect to a housing made of a material whose outer surface side at least exhibits a photocatalytic function, a housing moving means attached to the housing and for spatially moving the housing, and the outer surface of the housing. A computer provided in a moving body including a light emitting unit provided so as to irradiate light and an illuminance sensor provided in the housing and detecting the illuminance of external light in the outer peripheral environment of the housing.
While supplying a driving voltage to the light emitting unit and irradiating the outer surface of the housing with light to execute the photocatalyst function, the housing moving means controls the housing to move, and the housing is controlled to move. From the illuminance detection output of the external light from the illuminance sensor, when the illuminance of the external light exceeds a predetermined value, the light emitting unit is controlled so as not to emit light, and the illuminance of the external light is equal to or less than the predetermined value. In this case, the control means for controlling the light emitting unit by supplying a driving voltage to emit light.
A program for mobiles to function as.

Images