JP7539183B2 - Mobile object and mobile object program - Google Patents

Description

This invention relates to a mobile object and a program for the mobile object that has the function of removing organic substances such as mold and bacteria suspended in air using a photocatalytic function.

In recent years, the photocatalytic function of semiconductor materials such as titanium oxide (TiO ₂ ) has attracted attention, and it is known that this photocatalytic function can exert antibacterial and antifouling effects. In titanium oxide, the oxidizing power of the holes generated in the valence band is very strong, and therefore, when organic substances are adsorbed on titanium oxide, the photocatalytic function can ultimately decompose the organic substances into water and carbon dioxide.

However, titanium oxide itself has little ability to adsorb any substance onto its surface. Patent Document 1 (JP Patent Publication 2000-327315) discloses a photocatalytic apatite that overcomes this drawback and has an increased ability to adsorb organic substances. Photocatalytic apatite is a combination of a metal oxide with photocatalytic function and apatite at the atomic level. Patent Document 1 discloses a metal-modified apatite in which titanium oxide, an example of a metal oxide with photocatalytic function, is combined with calcium hydroxyapatite, which has high adsorption power, at the atomic level.

In addition, Patent Document 2 (JP Patent Publication 2012-63435 A) proposes that as advertising and announcement media to be installed outdoors, a coating liquid containing titanium oxide particles is sprayed onto the protective layer of a printed material to form a photocatalyst layer. The advertising and announcement media in Patent Document 2 can decompose organic substances adsorbed to the surface of the printed material, thereby exerting an air purification function.

JP 2000-327315 A JP 2012-63435 A

By using the advertising/announcement media of Patent Document 2, the air purification function can be exerted only in the vicinity of the location where the printed advertising or announcement material is placed. For this reason, it is not suitable for purifying the air in a space of a relatively large, specified area. If one were to deliberately use the advertising/announcement media of Patent Document 2 to purify the air in an area of a specified size, it would be necessary to prepare a large number of advertising/announcement media and place them within that area.

In addition, even if the advertising/notice media is installed indoors or outdoors, in an environment where there is not enough outside light, in order to make the photocatalytic function work effectively, it is necessary to accompany each advertising/notice media with a light source that irradiates light. Therefore, the system of Patent Document 2 that has many advertising/notice media devices has the problem of consuming a lot of power.

The aim of this invention is to provide a moving body that can improve the above problems.

In order to solve the above problems, the present invention provides:
A housing having a material having a photocatalytic function on at least a part of an outer surface side;
A housing moving means for moving the housing;
A light emitting unit that irradiates light onto at least a part of the material exhibiting a photocatalytic function on the outer surface side of the housing;
an illuminance sensor for detecting the illuminance of external light;
a light emission control means for controlling whether or not to turn on the light emitting unit based on the illuminance of the external light detected by the illuminance sensor;
A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
A control unit that controls the housing moving means;
Equipped with
The control unit controls the movement of the housing by the housing moving means based on the detection result of the cleanliness sensor.

The moving body of the above-mentioned configuration includes a housing having at least a portion of its outer surface made of a material that exhibits photocatalytic function, a housing movement means for moving the housing, a light emitting unit that irradiates light onto at least a portion of the material that exhibits photocatalytic function on the outer surface of the housing, a control unit that controls the housing movement means, and a cleanliness sensor that detects the cleanliness of the atmosphere around the housing. The control unit of the moving body of the present invention controls the movement of the housing by the housing movement means based on the detection result of the cleanliness sensor.

The moving body of the present invention can purify the air by using a photocatalytic function, and can purify the air over a wide area by moving. The moving body of the present invention has the advantage that the movement of the housing is controlled based on the detection results of the cleanliness sensor, allowing the housing to move according to the cleanliness level.

1 is a diagram for explaining a configuration example of an example of an aircraft as a first embodiment of a moving object according to the present invention; 1 is a block diagram showing an example of the configuration of a drive control device of an example of an aircraft as a first embodiment of a moving object according to the present invention; 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. 1 is a diagram showing an example of a movement pattern of an example of an aircraft as a first embodiment of a moving object according to the present invention; FIG. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a first embodiment of a moving object according to the present invention. FIG. 2 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a first embodiment of a moving object according to the present invention. FIG. 11 is a diagram for explaining a configuration example of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a block diagram showing an example of the configuration of a drive control device of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a diagram for explaining an example of a flight plan of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 11 is a diagram showing a part of a flowchart for explaining an example of the operation of an example of an aircraft as a second embodiment of a moving object according to the present invention. FIG. 13 is a diagram for explaining a configuration example of an example of a traveling vehicle as a third embodiment of the vehicle according to the present invention. FIG. 11 is a block diagram showing an example of the configuration of a drive control device of an example of a traveling vehicle as a third embodiment of the vehicle according to the present invention.

[First embodiment]
A first embodiment of a moving body according to the present invention will be described below with reference to the drawings. The first embodiment of the moving body described below is an air vehicle capable of flying in the air and hovering in the air.

Figure 1 is a diagram showing an example of the configuration of an aircraft 1 as a first embodiment of a moving object according to the present invention. The aircraft 1 of this first embodiment is configured to be able to autonomously fly and move through the air. Figure 1(A) is a diagram showing the aircraft 1 of this embodiment as seen from above, and Figure 1(B) is a diagram showing the aircraft 1 of this embodiment as seen from the front.

The flying object 1 of this embodiment comprises an aerial flight mechanism 2 having a so-called quadcopter structure, and a drive control unit 3. The aerial flight mechanism 2 is connected to the drive control unit 3 and is driven and controlled by the drive control unit 3. As shown in FIG. 1, the aerial flight mechanism 2 is configured by attaching rotor mechanisms 5A, 5B, 5C, 5D to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3.

The rotor mechanisms 5A, 5B, 5C, and 5D are configured to rotate the rotors 52A, 52B, 52C, and 52D by rotating the rotor shafts (not shown) using the motor drives 51A, 51B, 51C, and 51D, respectively. The rotation speed and direction of the motor drives 51A, 51B, 51C, and 51D are controlled by drive control signals from the drive control unit 3. The motor drives 51A, 51B, 51C, and 51D and the drive control unit 3 use a battery (not shown) as a power source for rotation drive and a power source for drive control. The light emitter, camera, microphone, various sensors, display, and control unit, which will be described later, are also powered by the battery. The battery is, for example, a rechargeable secondary battery.

In this example, the motor drivers 51A, 51B, 51C, and 51D are each independently controlled by a drive control signal from the drive control unit 3, allowing the aircraft 1 to perform various movement operations such as takeoff, landing, ascent (straight up, diagonally upward), descent (straight down, diagonally downward), right turn, left turn, forward movement, backward movement, right shift, and left shift, as well as attitude control such as the tilt angle relative to the vertical direction and position control of the hovering position.

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 may not be integral, and the drive control unit 3 may be attached to the housing 6. In this embodiment, the aerial flight mechanism 2 and the drive control unit 3 constitute the housing movement means.

The housing 6 is fitted with a light-emitting unit, a camera, a microphone, various sensors, etc., which will be described later, and also houses a drive control device unit 10 including a control unit. In this example, the housing 6 is configured to have an overall box-like shape.

At least the outer surface side of the housing 6 is made of a material that exhibits a photocatalytic function. In this embodiment, the housing 6 is made of a high-performance composite material in which a thin film of metal-modified apatite described in Patent Document 1 is formed on a base material such as a plate-shaped resin. In this embodiment, the housing 6 has a rectangular parallelepiped shape. In this embodiment, the entire surface of the housing 6, that is, the thin film of metal-modified apatite is formed in a state of being exposed on each of the surfaces of the top surface on which the drive control unit 3 is provided, the bottom surface facing the top surface, and the four side surfaces between the top surface and the bottom surface. Note that it is not essential to provide the thin film of metal-modified apatite on the entire surface of the housing 6, and for example, it may be formed only on the four side surfaces excluding the top surface and the bottom surface. In addition, the housing 6 is not limited to a rectangular parallelepiped shape, and may be spherical or cylindrical. In that case, the thin film of metal-modified apatite may be provided on the entire surface of the spherical or cylindrical surface, or on a part of the surface.

Therefore, organic matter, including bacteria, in the air around the housing 6 is adsorbed by the thin film of metal-modified apatite exposed on the surface of the housing 6 and is decomposed into water and carbon dioxide by the photocatalytic function, purifying the air. As the flying object 1 moves in flight, the area where the air is purified by the thin film of metal-modified apatite on the housing 6 also moves, making it possible to purify the air over a wider area.

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

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

In this embodiment, a light-emitting unit that irradiates light onto the outer surface of the housing 6 is attached. In the example of FIG. 1, mounting arms 91A, 91B, 91C, 91D, and 91E for the light-emitting units 9A, 9B, 9C, 9D, and 9E are attached to the four side surfaces and bottom surface of the housing 6, which has a rectangular box shape. In this case, the mounting arms 91A, 91B, 91C, 91D, and 91E are attached to the housing 6 so that the light-emitting units 9A, 9B, 9C, 9D, and 9E can irradiate the entire surfaces of the four side surfaces and bottom surface of the housing 6, as shown by the dotted lines in FIG. 1.

In addition, in order to irradiate light onto the top surface of the housing 6, in this embodiment, light-emitting units 9F, 9G, 9H, and 9I are provided on the four sides of the drive control unit 3. The reason for providing four light-emitting units 9F, 9G, 9H, and 9I in this manner is to enable light to be irradiated onto the area of the top surface of the housing 6 that is exposed to the outside, regardless of the presence of the drive control unit 3.

The light-emitting units 9A to 9I can be anything that emits ultraviolet light, such as an incandescent light bulb, a fluorescent lamp, or an ultraviolet LED (Light Emitting Diode).

In this example, as shown in Figures 1(A) and (B), cameras CM1 to CM5 are provided on each of the four sides of the drive control unit 3 and on the bottom surface of the housing 6. The optical axes (corresponding to the shooting direction) of these cameras CM1 to CM5 are perpendicular to the mounting surfaces of each of the cameras CM1 to CM5, and each camera can shoot a predetermined angle of view with the optical axis direction as the center.

Furthermore, a drive control device unit 10 including a battery as a power source is provided within the housing 6. Figure 2 is a block diagram showing an example of the configuration of the drive control device unit 10 in the flying object 1 of this embodiment. Note that the battery is omitted in Figure 2.

As shown in FIG. 2, the drive control device unit 10 in this embodiment is configured by connecting an aerial flight drive unit 102, a gyro sensor 103, a geomagnetic sensor 104, an altitude sensor 105, an obstacle sensor 106, a movement space information memory 107, a current position detection unit 108, an illuminance sensor 109, a flight plan generation unit 110, a flight drive signal generation unit 111, a position and attitude control signal generation unit 112, a group of cameras 113, an image recognition unit 114, a lighting control circuit 115, and an operation unit 116 to a control unit 101 consisting of a microcomputer (abbreviated as microcomputer in FIG. 2) via a system bus 100.

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

The gyro sensor 103 detects changes in acceleration while the flying object 1 is flying, and is used to detect the direction of flight, speed, and attitude of the flying object 1. The geomagnetic sensor 104 is used to detect the direction in which the flying object 1 is flying. The altitude sensor 105 detects the altitude at which the flying object 1 is located at a given time, and is composed of, for example, a barometric sensor.

The obstacle sensor 106 detects the presence of an obstacle by emitting light, infrared rays, or ultrasonic waves and detecting the waves reflected from the obstacle, and also detects the time and attenuation between emitting light, infrared rays, or ultrasonic waves and receiving the reflected waves, and is able to calculate the distance to the detected obstacle from the time and attenuation. In this embodiment, the obstacle sensor 106 is used to detect obstacles in the space in which the flying object 1 is used (hereinafter referred to as the moving space), such as indoor walls, chests of drawers, beds, desks, people, pets, and the like, and in the outdoor moving space, utility poles, buildings, trees, people, animals, cars, bicycles, and other obstacles, and is used to fly while avoiding collisions with them.

The moving space information memory 107 stores information about the moving space in which the flying object 1 is used, such as indoors or outdoors, and which is the target of air purification. This information about the moving space (hereinafter referred to as moving space information) includes position information (latitude, longitude, height) for identifying the moving space, and information about obstacles that exist in the moving space.

The position information for identifying the movement space is the position coordinates of multiple vertices that identify the shape of the movement space. For example, if the movement space is a rectangular parallelepiped, 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 can be used. Alternatively, the position information (latitude, longitude, height) of each of the two diagonal vertices on the top and bottom surfaces may be used, or the position information (latitude, longitude, height) of each of the two diagonal vertices on two opposing side surfaces may be used.

Information about an obstacle in the moving space can be information about the location and height of the obstacle in the moving space.

The indoor moving space for air purification may be an open room in an ordinary home, a room in a commercial facility such as a department store or shopping center, or an office building, or a closed room such as a clean room in a factory. The outdoor moving space may be a limited space such as a theme park, an amusement park, a zoo, a concert venue, a soccer stadium, a baseball field, a museum, or an art gallery. Of course, the space is not limited to a specific location, and any space within the flight range of the aircraft 1, such as around the home, around the office, around a station, or around an airport, is stored as a moving space in the moving space information memory 107.

In this embodiment, the memory of the control unit 101 of the flying object 1 stores an application program for panoramic photography (e.g., Photosynth), and the flying object 1 flies within the moving space in advance and takes pictures in a 360-degree range at each location within the moving space using all or some of the cameras CM1 to CM5. The control unit 101 then uses the application program for panoramic photography to generate 3D image information for each point within the moving space from the captured image information, and stores the generated 3D image information in the moving space information memory 107.

In this case, in this example, the flying object 1 defines a specific location in the moving space in which it is used as a home position, and uses that location as a base for takeoff and landing. The specific location may also be defined as a charging station, which is a normal waiting location.

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

In addition, the moving space information is not only generated by the flying vehicle 1 and stored in the moving space information memory 107 as described above, but the user may also store the moving space information of the target moving space in the moving space information memory 107. In that case, if the moving space information of the moving space where air purification is planned is generated in advance and stored in a separate storage device by the flying vehicle 1 or saved in the cloud, the moving space information of the required moving space is obtained from the storage device or cloud and stored in the moving space information memory 107.

The moving space information memory 107 may store moving space information of multiple target moving spaces in an identifiable manner in advance, and when air purification is to be performed, the user may select and specify the moving space information of the moving space that is to be the target of air purification, so that the moving space information of the target moving space is read out from the moving space information memory 107.

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

The current position detection unit 108 may also use all or some of the cameras CM1 to CM5 to compare captured image information of the surroundings of the flying object 1 with 3D image information stored in the movement space information memory 107 for image recognition, thereby grasping the relative position in the 3D image space and detecting the current position. 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 detection unit 108 is used as information for identifying the position of the moving space when the flying object 1 flies through the moving space in advance and generates information on the moving space to be stored in the moving space information memory 107.

The illuminance sensor 109 is not shown in FIG. 1, but is attached to the housing 6 or the drive control unit 3. This illuminance sensor 109 detects the illuminance of external light from the flying object 1. The control unit 101 determines whether to use the light-emitting units 9A-9I depending on the illuminance detected by this illuminance sensor 109. In this embodiment, the control unit 101 controls the light-emitting units 9A-9I to remain off when the illuminance detected by the illuminance sensor 109 is higher than a threshold illuminance at which the thin film of photocatalytic apatite formed on the housing 6 can fully exert its photocatalytic function, and controls the light-emitting units 9A-9I to turn on when the illuminance is equal to or lower than the threshold illuminance.

The control unit 101 may keep the light-emitting units 9A to 9I off when the illuminance detected by the illuminance sensor 109 is below the threshold illuminance at which the photocatalytic function of the housing 6 of the flying object 1 is fully exerted, but is above the illuminance at which the photocatalytic function can be exerted, and when the remaining battery charge is low and below a predetermined amount.

The control unit 101 may also turn on the light-emitting units 9A to 9I when the illuminance detected by the illuminance sensor 109 is equal to or lower than the threshold illuminance at which the photocatalytic function is fully exerted, but is equal to or higher than the illuminance at which the photocatalytic function can be exerted, and when there is sufficient remaining battery power.

In addition, an illuminance sensor may be provided to detect the illuminance on each of the four side surfaces, top surface, and bottom surface of the housing 6, and the control unit 101 may control the turning on and off of each of the light-emitting units that irradiate light onto each surface according to the detected illuminance on each surface.

The flight plan generation unit 110 receives control instructions from the control unit 101 based on the startup information via the operation unit 116, reads out the moving space information stored in the moving space information memory 107, and detects the position, size, shape, and position of obstacles of the moving space that is the target of air purification. Then, the flight plan generation unit 110 generates a flight plan for the flying object 1 to efficiently perform air purification using a photocatalytic function in the moving space that is the target of air purification.

In this case, in this embodiment, the flying object 1 flies and moves as uniformly as possible within the movement space to prevent the creation of areas where no movement was performed or where the time spent on air purification was less than in other areas, and a flight plan is created so that there is no difference in the degree of air purification in each part of the movement space. To this end, in this embodiment, the flight plan generation unit 110 determines the movement pattern and movement speed of the flying object 1 taking into consideration the remaining battery charge of the flying object 1 and the size of the target movement space (the shape and size and height of the ground plane or floor plane that the movement space occupies).

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

Examples of movement patterns for purifying the air in the movement space of the flying object 1 are shown in Figures 3 to 5. For ease of explanation, the examples in Figures 3 to 5 are for a case in which the movement space is a rectangular parallelepiped room. The examples in Figures 3 to 5 are examples of movement patterns in which the flying object 1 flies and moves in a predetermined movement pattern parallel to the floor FL of the room in the movement space, and sequentially changes the altitude (height position) at which the predetermined movement pattern parallel to the floor FL is performed, so that the flying object 1 moves thoroughly throughout the entire area of the rectangular parallelepiped movement space, including the height direction.

The examples in Figures 3(A) and (B) are when the predetermined movement pattern parallel to the floor surface FL is hook-shaped. The examples in Figures 4(A) and (B) are when the predetermined movement pattern parallel to the floor surface FL is zigzag-shaped. The examples in Figures 5(A) and (B) are when the predetermined movement pattern parallel to the floor surface FL is spiral-shaped.

Although not shown in Figures 3 to 5, in this embodiment, the flying object 1 does not always move at a constant speed, but rather moves a predetermined distance, hovers at that position for a predetermined time, and after the predetermined time has elapsed, moves again a predetermined distance at a predetermined speed, and hovers at the position after the movement, repeating this operation. The flight plan generation unit 110 changes the predetermined time for this hovering, the predetermined distance from the hovering position to the next hovering position, and the movement speed during that time according to the size of the target movement space and the remaining battery power, thereby controlling the degree of carefulness with which air purification is performed in the target movement space and generating an appropriate flight plan.

In the example of FIG. 3, the degree of carefulness of the execution of air purification in the target moving space can be controlled by changing the number of times the hook-shaped movement pattern turns around and the number of height positions at which the movement pattern is performed. In the example of FIG. 4, the degree of carefulness of the execution of air purification in the target moving space can be controlled by changing the number of times the zigzag movement pattern turns around and the number of height positions at which the movement pattern is performed. In the example of FIG. 5, the degree of carefulness of the execution of air purification in the target moving space can be controlled by changing the number of times the spiral movement pattern turns and the number of height positions at which the movement pattern is performed. The flight plan generation unit 110 changes the degree of carefulness according to the remaining battery power. In the case of a spiral movement pattern, the movement is not limited to a circular or elliptical shape, but may be a rectangular shape such as a square or hexagon. Of course, the rotation direction can be either right or left.

Of course, examples of the movement pattern of the flying object 1 in the movement space are not limited to the examples in Figures 3 to 5. For example, as shown in Figures 6 to 8, the flying object 1 may fly and move in a predetermined movement pattern parallel to one side wall of a rectangular parallelepiped room and along a height direction perpendicular to the floor surface FL of the room of the movement space, and the position on the floor surface FL of the flight movement of the predetermined movement pattern in the height direction may be changed sequentially to move thoroughly throughout the entire area of the rectangular parallelepiped movement space.

In the example of Figures 6(A) and (B), the predetermined movement pattern is a hook shape, in the example of Figures 7(A) and (B), the predetermined movement pattern is a zigzag shape, and in the example of Figures 8(A) and (B), the predetermined movement pattern is a spiral shape.

In the examples of Figures 6 to 8, the flying object 1 also travels a predetermined distance, hovers at that position for a predetermined time, and after the predetermined time has elapsed, travels again a predetermined distance at a predetermined speed, and hovers at the position after the travel, repeating this operation. The flight plan generation unit 110 changes the predetermined time for this hovering, the predetermined distance from the hovering position to the next hovering position, and the travel speed during that time according to the size of the target travel space and the remaining battery charge, thereby controlling the degree of carefulness with which air purification is performed in the target travel space and generating an appropriate flight plan.

Also, in the examples of Figures 6 to 8, the degree of carefulness with which air purification is performed in the target movement space can be controlled by changing the number of turns or spirals in the movement pattern, and the number of positions on the floor surface FL where the movement pattern is performed, so the flight plan generation unit 110 can change the degree of carefulness depending on the remaining battery charge.

Of course, the flight plan generation unit 110 may also generate a flight plan for a movement pattern in which the aircraft 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 movement space, and generate a flight plan based on the result of the determination. For example, if it is determined that there is a person, the flying object 1 may fly at a height of 2m or more to avoid colliding with anything. Of course, it is also possible to determine whether or not there is an animal, such as a pet, other than a person, and generate a flight plan.

As a means for determining whether or not people or animals are present, for example, a human presence sensor (animal sensor) such as an infrared sensor may be provided in the housing 1 and the vehicle may fly through the moving space in advance to determine whether or not people or animals are present, or a human presence sensor (animal sensor) such as an infrared sensor may be installed in the moving space. If a human presence sensor (animal sensor) such as an infrared sensor is installed in the moving space, the detection output of the human presence sensor (animal sensor) installed in various locations in the moving space is uploaded to the cloud, and the flying object 1 accesses the cloud to determine whether or not people or animals are present in various locations in the moving space.

When the flight drive signal generation unit 111 starts flying and moves through the air based on a start command from the control unit 101, the flight drive signal generation unit 111 calculates the direction and distance of movement to generate a flight drive signal for movement based on the information on the movement space stored in the movement space information memory 107, the information on the movement pattern according to the flight plan generated by the flight plan generation unit 110, and the position information of the current position detected by the current position detection unit 108.

Then, the flight drive signal generation unit 111 generates a flight drive signal for moving according to the movement pattern generated by the flight plan generation unit 110 based on the calculated direction and distance, and using information from the gyro sensor 103, geomagnetic sensor 104, altitude sensor 105, etc., and further referring to images captured by cameras CM1 to CM5 of the camera group 113, and supplies the flight drive signal to the aerial flight mechanism unit 2 via the aerial flight drive unit 102. In this case, the flight drive signal consists of signals that drive each of the motor drive units 51A to 51D of the four rotary wing mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the aerial flight mechanism unit 2 via the aerial flight drive unit 102.

The aerial flight mechanism unit 2 receives this flight drive signal and drives the rotors 52A-52D to rotate, thereby performing aerial flight movement according to the movement pattern generated by the flight plan generation unit 110.

The position and orientation control signal generator 112 generates a position and orientation control signal that controls the position and orientation of the housing 6 to an appropriate orientation and position (including height position) based on the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the images captured by the cameras CM1 to CM5.

The camera group 113 consists of the cameras CM1 to CM5 described above. Each of the cameras CM1 to CM5 outputs captured image information of a moving image to the system bus 100. Identification information is added to the captured image information sent from each of the cameras CM1 to CM5 to the system bus 100 to identify which camera the captured image information came from. Note that the captured image information from each of the cameras CM1 to CM5 may not be captured image information of a moving image, but may be captured image information of still images taken at a predetermined time interval, for example, 0.5 second intervals.

The image recognition unit 114 has the function of recognizing obstacles to be avoided during flight by comparing image information captured by the cameras CM1 to CM5 with images of obstacles, etc. stored in an image memory (not shown). The flight drive signal generation unit 111 generates a flight drive signal that causes the robot to move through the air while avoiding the recognized obstacle.

The lighting control circuit 115 controls the turning on and off (non-lighting) of the light-emitting units 9A to 9I based on control instructions from the control unit 101. In this example, the lighting control circuit 115 receives control from the control unit 101 based on the detection output of the ambient illuminance from the illuminance sensor 109, and controls the turning on and off of all of the light-emitting units 9A to 9I simultaneously.

However, this is not limiting, and the lighting control circuit 115 may be configured to be able to control the turning on and off of each of the light-emitting units 9A to 9I separately, and an illuminance sensor that detects the illuminance of each may be provided on each of the six sides of the housing 6, and the control unit 101 may be configured to individually control whether each of the light-emitting units 9A to 9I is to emit light or remain off based on the detection output of each illuminance sensor.

The operation unit 116 is also used by the user to input instructions for starting flight of the flying object 1, creating movement space information and storing it in the movement space information memory 107, and other operation instructions. In this example, the flying object 1 can be started immediately by a start instruction, or can be started by a timer function (possessed by the control unit 101) at a time (such as a specified time or a specified time after the current time) set by the user through the operation unit 116.

In addition, in FIG. 2, the processing functions of the flight plan generation unit 110, the flight drive signal generation unit 111, the position and attitude control signal generation unit 112, and the image recognition unit 114 can also be realized by the control unit 101 as software processing functions.

[Operation flow 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 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 air around the housing 6 are adsorbed by the thin film of metal-modified apatite exposed on the surface of the housing 6, and are decomposed into water and carbon dioxide by the photocatalytic function, thereby realizing air purification. Then, by moving the flying object 1 through space, it becomes possible to purify the air in the space through which the flying object 1 has moved.

In this embodiment, the aircraft 1 generates a flight plan according to the target travel space and travels according to the generated flight plan, thereby achieving more efficient air purification.

Figures 9 and 10 are flowcharts for explaining an example of the flow of operations of the drive control device unit 10 of the flying object 1 of this first embodiment. Each step of the flowchart shown in Figures 9 and 10 will be explained assuming that the control unit 101 realizes the functions of the flight plan generation unit 110, flight drive signal generation unit 111, position and attitude control signal generation unit 112, and image recognition unit 114 as software processing functions.

When the control unit 101 detects a start instruction through the operation unit 116, it starts the flowchart in FIG. 9. Then, the control unit 101 first reads out the information on the moving space stored in the moving space information memory 107, and recognizes the position, size, shape, etc. of the target moving space, and the position, size, shape, etc. of an obstacle in the moving space (step S101). Next, the control unit 101 detects the remaining battery power (step S102).

Next, the control unit 101 checks the detection output of the illuminance sensor 109 to determine whether the illuminance of external light in the moving space is sufficient to exert the photocatalytic function (step S103). If it is determined in step S103 that the illuminance of external light in the moving space is sufficient to exert the photocatalytic function, the control unit 101 creates a flight plan in an unilluminated state in which the light-emitting units 9A to 9I are not lit (step S104).

In this case, the flight plan created by the control unit 101 includes a movement pattern (see Figures 3 to 8) selected taking into consideration the position, size, and shape of the movement space and the remaining battery charge, the flight movement speed, and the number of flight repetitions to cover the entire movement space using the selected movement pattern. In this step S104, the flying object 1 executes the flight plan without turning on the light-emitting units 9A to 9I, so the control unit 101 can create a flight plan taking into consideration that battery consumption will be relatively low.

In addition, in this first embodiment, in order to purify the air as evenly as possible within the moving space area that is the target of air purification, the movement pattern, flying speed, etc. are determined so that the flying object 1 flies and moves so as to cover the entire moving space area at least once, taking into consideration the remaining battery charge.

After creating the flight plan in step S104, the control unit 101 starts the flight movement of the aircraft 1 according to the flight plan, and starts air purification using the photocatalytic function of the outer surface of the housing 6 of the aircraft 1 that is flying and moving through the moving space (step S105). In this example, a base consisting of a charging station is installed within or near the moving space that is the target of air purification, and the aircraft 1 starts its flight movement from this base.

Next, the control unit 101 determines whether the remaining battery power is low and charging is required (step S106). If it is determined in step S106 that charging is required, the control unit 101 stops flying according to the flight plan, returns to the charging station, and starts charging (step S107).

Then, the control unit 101 waits for the battery to be fully charged (step S108), and when it is determined that the battery is fully charged, it determines whether or not it is OK to end the air purification (step S109). In this embodiment, in step S109, it is determined whether or not the number of repetitions of flight covering the entire movement space according to the selected movement pattern included in the flight plan created in step S104 has been completed.

If it is determined in step S109 that the air purification process may be terminated, the processing routine is terminated. If it is determined in step S109 that the air purification process has not yet been terminated, the control unit 101 returns the process to step S105, continues flight movement according to the flight plan, and repeats the processes from step S105 onwards.

If it is determined in step S106 that the battery is not in a state where charging is required, the control unit 101 determines whether the illuminance of external light in the moving space has changed to a state insufficient for the photocatalytic function to be exerted (step S110). If it is determined in step S110 that the illuminance of external light in the moving space has not become insufficient for the photocatalytic function to be exerted, the control unit 101 transitions the process to step S109 and repeats the process from step S109 onwards.

In addition, when it is determined in step S110 that the illuminance of external light in the moving space is insufficient to exert the photocatalytic function, the control unit 101 detects the remaining battery charge (step S111).

When it is determined in step S103 that the illuminance of external light in the travel space is not sufficient to exert the photocatalytic function, and after step S111, the control unit 101 controls the lighting control circuit 115 to create a flight plan with the light-emitting units 9A to 9I turned on (step S121 in FIG. 10). In this step S121, the flying object 1 will execute the flight plan with the light-emitting units 9A to 9I turned on, so the control unit 101 needs to create the flight plan taking battery consumption into account.

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

Next, the control unit 101 determines whether the remaining battery power is low and charging is required (step S123). If it is determined in step S123 that charging is required, the control unit 101 stops flying according to the flight plan, returns to the charging station, and starts charging (step S124).

Then, the control unit 101 waits until the battery is fully charged (step S125), and when it is determined that the battery is fully charged, it determines whether or not it is OK to end the air purification operation (step S126). In this step S126, it is determined whether or not the number of repetitions of flight that covers the entire movement space according to the selected movement pattern included in the flight plan created in step S104 has been completed.

If it is determined in step S126 that the air purification process may be terminated, the processing routine is terminated. If it is determined in step S126 that the air purification process has not yet been terminated, the control unit 101 returns the process to step S122, continues flight movement according to the flight plan, and repeats the processes from step S122 onward.

If it is determined in step S123 that the battery is not in a state where charging is required, the control unit 101 determines whether the illuminance of external light in the moving space has changed to a state insufficient for the photocatalytic function to be exerted (step S127). If it is determined in step S127 that the illuminance of external light in the moving space has not become insufficient for the photocatalytic function to be exerted, the control unit 101 transitions the process to step S126 and repeats the process from step S126 onwards.

Also, when it is determined in step S127 that the illuminance of external light in the moving space is insufficient to exert the photocatalytic function, the control unit 101 detects the remaining battery charge (step S128). After step S128, the control unit 101 transitions to step S104 in FIG. 9 and repeats the processing from step S104 onward.

[Effects of the First Embodiment]
In this manner, in the flying object 1 as a moving object of the above-mentioned first embodiment, a thin film of metal-modified apatite, which is an example of photocatalytic apatite having a photocatalytic function, is exposed on the entire surface of the housing 6. Therefore, organic substances such as bacteria in the air around the housing 6 are adsorbed by the thin film of metal-modified apatite exposed on the surface of the housing 6, and are decomposed into water and carbon dioxide by the photocatalytic function, thereby realizing air purification.

In this embodiment, as the flying object 1 moves, the spatial position where the air is purified by the thin film of metal-modified apatite on the outer surface of the housing 6 changes, so air purification can be achieved over a wider area than when the air vehicle 1 is installed in a fixed position, such as the advertising/notice media of Patent Document 2. In particular, if the space in which the flying object 1 moves is an enclosed space, the flying object 1 can fly and move throughout the enclosed space, thereby purifying all of the air in the enclosed space.

The flying object 1 of the above embodiment is equipped with light-emitting elements 9A to 9I, so even if the amount of external light is insufficient, the air purification effect can be sufficiently achieved by turning on these light-emitting elements 9A to 9I through the photocatalytic function of the thin film of photocatalytic apatite on the outer surface of the housing 6.

The flying object 1 of the above embodiment stores in advance moving space information that can identify the position, size, shape, etc. of the moving space to be targeted for air purification, and creates an appropriate flight plan for the moving space to be targeted based on this stored moving space information, thereby enabling efficient air purification in that moving space.

In addition, the flying object 1 of this embodiment creates a flight plan taking into account the remaining battery charge, and charges the battery appropriately before the remaining battery charge becomes insufficient, thereby purifying the air in the target travel space, thereby ensuring reliable and sufficient air purification.

Second Embodiment
The moving body of the second embodiment is also an example of an air vehicle similar to that described above, but in this example, it is intended to be able to efficiently purify the air over a wider range of moving spaces.

Figure 11 is a diagram showing an example of the configuration of an aircraft 1S as a second embodiment of a moving object according to the present invention. Figure 11(A) is a diagram showing the aircraft 1S of this second embodiment as seen from above, and Figure 11(B) is a diagram showing the aircraft 1 of this second embodiment as seen from the front. In Figure 11, parts that are the same between the aircraft 1S of this example and the aircraft 1 of the first embodiment described above are given the same reference numerals, and detailed explanations of these parts will be omitted.

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

In the flying object 1S of the second embodiment, a cleanliness sensor 22 for detecting the cleanliness of the air due to the air purification is provided on the front side of the side of the housing 6S in this example, as shown in FIG. 11 (B). This cleanliness sensor 22 is composed of one or more sensors, such as a microorganism sensor capable of detecting bacteria, mold, etc. floating in the air, a floating bacteria sensor capable of detecting floating bacteria in the air, a pollen sensor capable of detecting pollen in the air, and a particle sensor capable of detecting particles such as PM2.5 and PM10 in the air, and also has a counter function for counting the number of floating bacteria, particles, etc. detected by these sensors. The control unit 101S of the flying object 1S of the second embodiment can determine the cleanliness when the air is purified by the photocatalyst function from the detection output of the cleanliness sensor 22. The counter function for counting the number of floating bacteria, particles, etc. detected by the sensor may be executed by the control unit 101S.

The other components of the aircraft 1S of this second embodiment are similar to the components of the aircraft 1 of the first embodiment described above.

Figure 12 is a block diagram showing an example of the configuration of the drive control device unit 10S in the aircraft 1S of this second embodiment. In this figure 12, the same parts as those in the drive control device unit 10 of the aircraft 1 of the first embodiment shown in Figure 2 are given the same reference numerals, and detailed descriptions thereof are omitted.

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

In this example, the power supply circuit 24 includes a storage element such as an electric double layer capacitor, and when the voltage generated by the solar panel 21 is sufficient, the voltage generated by the solar panel 21 is output as the power supply voltage Vcc while storing the voltage in the storage element. When the solar panel 21 is unable to generate sufficient voltage, the power supply circuit 24 uses the voltage from the rechargeable battery 23 to store the voltage in the storage element while outputting the voltage from the rechargeable battery 23 as the power supply voltage Vcc.

In this example of the power supply circuit 24, even if the environment becomes such that the solar panel 21 cannot generate electricity, or even if the remaining charge in the rechargeable battery 23 becomes low, the flying object 1S does not immediately become unable to move, but rather the flying object 1S can continue to move for a while due to the voltage stored in the storage element.

The control unit 101S may determine whether the environment is suitable for generating power using the solar panel 21 by monitoring only the output voltage of the solar panel 21, or may use the illuminance level of external light detected by the illuminance sensor 109. The control unit 101S may also determine whether the environment is suitable for generating power using the solar panel 21 by using both the output voltage of the solar panel 21 and the detection output of the illuminance sensor 109.

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

Furthermore, the flight plan generating unit 110S of the drive control unit 10S of this second embodiment is capable of generating a flight plan that takes into consideration the fact that the power supply of the flying object 1S is strengthened and the target movement space can be made wider. That is, when the target movement space is a space larger than a predetermined threshold size, the flight plan generating unit 110S has a function of dividing the target movement space into multiple spaces and generating a flight plan to execute the movement pattern exemplified in Figures 3 to 8 for each divided space. In this case, the flight plan generating unit 110S monitors the output voltage from the storage element of the power supply circuit 24 and considers whether the voltage supply from the solar panel 21 and the voltage supply from the rechargeable battery 23 are sufficient or are expected to be insufficient, in the same way as the flight plan generating unit 110 of the first embodiment described above takes into consideration the remaining battery capacity.

For example, as shown in FIG. 13, when the target movement space AR is a rectangular parallelepiped movement space that is larger than a predetermined threshold width, the flight plan generation unit 110S in this example divides the target movement space AR into multiple divided spaces DV. It is preferable to divide the multiple divided spaces DV into equal sizes as much as possible, but they do not have to be divided into equal sizes.

Then, when the target movement space is divided into multiple parts, the flight plan generation unit 110S selects a movement pattern (see Figures 3 to 8) to be executed in each divided space DV. In this case, the movement pattern in each divided space DV may all be the same movement pattern, but considering that the concentration of airborne bacteria, particles, etc. in each divided space DV may differ, in this embodiment, a flight plan is generated so that the movement pattern in each divided space DV is changed according to the concentration (cleanliness) of airborne bacteria, particles, etc.

For example, the flight plan generation unit 110S generates a flight plan to perform a predetermined movement pattern A (including information on the movement speed) 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 a predetermined threshold, and generates a flight plan to perform a movement pattern B (including a difference in the movement speed) that can more effectively decompose airborne bacteria, particles, etc., than the predetermined movement pattern A when the value is equal to or greater than the predetermined threshold. Note that the flight plan may be generated so that two or more predetermined thresholds for the detection output value of the cleanliness sensor 22 are set, and three or more movement patterns are set according to the detection output of the cleanliness sensor 22.

In addition, the cleanliness of each divided space DV of the divided movement space AR may be checked in advance, and a flight plan may be generated that takes the initiative in cleaning divided spaces that have a low cleanliness level (areas that are heavily soiled) as a result of the check.

The control unit 101S of this second embodiment flies and moves according to the flight plan generated by the flight plan generation unit 110S, and when the movement space AR is divided into multiple divided spaces DV, controls the flight movement of the flying object 1S (including the movement speed and frequency of hovering, etc.) according to the cleanliness detection output from the cleanliness sensor 22. Also, in this second embodiment, when the control unit 101S determines from the detection output of the cleanliness sensor 22 that the cleanliness of the atmosphere has fallen below a value at which the degree of air purification is deemed to be sufficient, it controls the flying movement of the flying object 1S to end the air purification.

The rest of the configuration of the drive control device unit 10S of the second embodiment of the aircraft 1S in FIG. 12 is the same as the drive control device unit 10 shown in FIG. 2.

In addition, in FIG. 12, the processing functions of the flight plan generation unit 110S, the flight drive signal generation unit 111, the position and attitude control signal generation unit 112, and the image recognition unit 114 can also be realized as software processing functions by the control unit 101S.

[Operation flow of the drive control device unit 10S of the flying object 1S]
In the flying object 1S of the second embodiment configured as described above, a flight plan is generated according to the target moving space, and the target moving space is moved according to the generated flight plan while monitoring the detection output of the cleanliness sensor, thereby achieving a more efficient air purification effect. Also, when the target moving space is relatively large, the moving space is divided, and a predetermined moving pattern is executed for each divided space, thereby achieving a more efficient air purification effect.

Figures 14 to 17 are flowcharts for explaining an example of the flow of operations of the drive control device unit 10S of the flying object 1S of this second embodiment. Each step of the flowcharts shown in Figures 14 to 17 will be explained assuming that the control unit 101S realizes the functions of the flight plan generation unit 110S, flight drive signal generation unit 111, position and attitude control signal generation unit 112, and image recognition unit 114 as software processing functions.

When the control unit 101S detects a start instruction through the operation unit 116, it starts the flowchart of FIG. 14. Then, the control unit 101S first reads out the information of the movement space stored in the movement space information memory 107, and recognizes the position, size, and shape of the target movement space, as well as the position, size, and shape of obstacles in the movement space (step S201). Next, if the recognized size of the target movement space is larger than a predetermined size, the control unit 101S divides the movement space to generate multiple divided spaces (step S203).

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

Next, the control unit 101S checks the detection output of the illuminance sensor 109 to determine whether the illuminance of external light in the moving space is sufficient to exert the photocatalytic function (step S204). If it is determined in step S204 that the illuminance of 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 kept off (step S205).

In this case, the flight plan created in step S205 includes a movement pattern selected taking into consideration the position, size, and shape of the movement space and the remaining battery power, the speed of flight movement, and the number of repetitions of flight to cover the entire movement space using the selected movement pattern. Furthermore, if the target movement space is divided, the control unit 101S creates the order of movement for each divided section within the target movement section, the movement speed, and a flight plan for each divided section, as described above. Note that in this step S205, the flying object 1S will execute the flight plan with the light-emitting units 9A-9E turned off, so the control unit 101S can create a flight plan taking into consideration that the consumption of power supply power is relatively small.

In addition, in this second embodiment, in order to purify the air as evenly as possible within the moving space that is the target of air purification, the flying movement pattern, flying movement speed, etc. are determined so that the flying object 1S flies and moves at least once to cover the entire moving space (if the moving space is divided, all divided sections).

After creating the flight plan in step S205, the control unit 101S starts the flight movement of the flying object 1S according to the movement pattern in accordance with the flight plan, and performs air purification by the photocatalytic function of the outer surface of the housing 6S of the flying object 1S flying and moving through the moving space (step S206). Note that in this example, a base consisting of a charging station is installed within or near the moving space that is the target of air purification, and the flying object 1S starts its flight movement from this base.

The control unit 101S then detects and monitors the cleanliness CL of the surroundings of the flying object 1S from the detection output of the cleanliness sensor 22 (step S207), and determines whether the cleanliness CL has reached a high cleanliness level equal to or greater than a predetermined threshold CLth (step S208). If it is determined in step S208 that the cleanliness CL has not reached a high cleanliness level equal to or greater than the predetermined threshold CLth, the control unit 101S continues the flight movement of the flying object 1S so that the movement pattern according to the flight plan is completed, and executes a subroutine to determine whether charging is required (step S209).

Figure 15 is a flowchart showing an example of this subroutine for determining whether charging is necessary. That is, the control unit 101S monitors the output voltage of the power supply circuit 24, as well as the generated voltage from the solar panel 21 and the output voltage of the rechargeable battery 23, to determine whether it is necessary to start charging (step S221).

When it is determined in step S221 that a state is reached in which it is necessary to start charging, the control unit 101S stops the flying movement of the flying object 1S in the target moving space, returns to the charging station, and starts charging the rechargeable battery 23 (step S222). The control unit 101S then waits for charging of the rechargeable battery 23 to be completed (step S223), and when charging is completed, resumes flying movement in the target moving space (step S224), and then returns processing to the main routine. In this case, when the subroutine of FIG. 15 was performed in step S209, processing returns to step S207.

Also, when it is determined in step S221 that the state does not require the start of charging, the control unit 101S determines whether the illuminance of the external light around the flying object 1S has changed to a state insufficient for the photocatalytic function to be exerted (step S225). When it is determined in this step S225 that the illuminance of the external light around the flying object 1S has changed to a state insufficient for the photocatalytic function to be exerted, the control unit 101S checks the remaining charge of the battery 23 connected to the power supply circuit 24 and the power supply status such as the voltage from the solar panel 21 to be used as information when generating a flight plan (step S226). Then, after this step S226, the control unit 101S proceeds to step S251 in FIG. 17 and performs the processing from this step S251 onward, which will be described later.

Also, when it is determined in step S225 that the illuminance of the external light around the flying object 1S has not changed to a state insufficient for the photocatalytic function to be exerted, the control unit 101S determines whether the illuminance of the external light around the flying object 1S has changed to a state sufficient for the photocatalytic function to be exerted (step S227). Then, when it is determined in step S227 that the illuminance of the external light around the flying object 1S has not changed to a state sufficient for the photocatalytic function to be exerted, 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.

Also, when it is determined in step S227 that the illuminance of external light around the flying object 1S has changed to a state sufficient for the photocatalytic function to be exerted, the control unit 101S checks the power supply status, such as the remaining charge of the battery 23 connected to the power supply circuit 24 and the voltage from the solar panel 21, to be used as information when generating a flight plan (step S228). Then, after this step S228, the control unit 101S transitions the process to step S205 in FIG. 14 and performs the processes from this step S205 onwards.

When executing the subroutine in FIG. 15 in step S209, since there is sufficient external light, the process does not return to step S205 via steps S227 and S228.

Returning to the flowchart of FIG. 14, when it is determined in step S208 that the cleanliness level CL has reached a high cleanliness level equal to or greater than a predetermined threshold CLth, the control unit 101S determines whether the target movement space was divided when the flight plan was generated (step S210). When it is determined in step S210 that the movement space has not been divided, the control unit 101S concludes that the movement space has been sufficiently cleaned and ends this process.

Also, when it is determined in step S210 that the movement space is divided, the control unit 101S moves the flying object 1S to the next divided space in accordance with the flight plan (step S211).

Next, the control unit 101S checks the cleanliness of the air in the divided space after the movement (step S231 in FIG. 16), and the control unit 101S determines whether or not the cleanliness of the air is similar to that of the initial state of the divided space before the movement (step S232). If it is determined in step S232 that the cleanliness of the air is similar to that of the initial state of the divided space before the movement, the control unit 101S performs air purification using the same movement pattern as the divided section before the movement (step S233).

In addition, if it is determined in step S232 that the cleanliness of the air in the divided space before the movement is not the same as that in the initial state before the movement, the control unit 101S performs air purification using a movement pattern different from that of the divided space before the movement according to the cleanliness detected in step S231 (step S234).

After step S233 or step S234, the control unit 101S starts the flight movement of the flying object 1S in the divided section according to a movement pattern in accordance with the flight plan, and performs air purification using the photocatalytic function of the outer surface of the housing 6S of the flying object 1S flying and moving through the movement space (step S235).

The control unit 101S then detects and monitors the cleanliness CL of the surroundings of the flying object 1S from the detection output of the cleanliness sensor 22 (step S236) and determines whether the cleanliness CL has reached a high cleanliness level equal to or greater than a predetermined threshold CLth (step S237). If it is determined in step S237 that the cleanliness CL has not reached a high cleanliness level equal to or greater than the predetermined threshold CLth, the control unit 101S continues the flight movement of the flying object 1S so that the movement pattern according to the flight plan is completed, and executes the subroutine for determining whether charging is required shown in FIG. 15 (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. 15. Also, when it is determined in step S225 of FIG. 15 that the illuminance of the external light around the flying object 1S has changed to a state insufficient for the photocatalytic function to be exerted, the control unit 101S checks the status of the power supply circuit 24 in step S226, and then proceeds to step S251 of FIG. 17 and performs the process from this step S251 onward, which will be described later.

Returning to the flowchart of FIG. 16, when it is determined in step S237 that the cleanliness level CL has reached a high cleanliness level equal to or greater than a predetermined threshold value CLth, the control unit 101S determines whether or not flying movement has been performed for all divided spaces of the target movement space (step S239). When it is determined in step S239 that flying movement has been performed for all divided spaces, the control unit 101S ends this process.

If it is determined in step S239 that flight movement has not yet been completed for all divided spaces, the control unit 101S moves the flying object 1S to the next incomplete divided space (step S240). The control unit 101S then returns the process to step S231, and repeats the process from step S231 onwards.

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

After creating the flight plan in step S251, the control unit 101S starts the flight movement of the flying object 1S according to a movement pattern in accordance with the flight plan, and performs air purification using the photocatalytic function of the outer surface of the housing 6S of the flying object 1S flying and moving through the movement space (step S252).

The control unit 101S then detects and monitors the cleanliness CL of the surroundings of the flying object 1S from the detection output of the cleanliness sensor 22 (step S253), and determines whether the cleanliness CL has reached a high cleanliness level equal to or greater than a predetermined threshold CLth (step S254). If it is determined in step S254 that the cleanliness CL has not reached a high cleanliness level equal to or greater than the predetermined threshold CLth, the control unit 101S continues the flight movement of the flying object 1S so that the movement pattern according to the flight plan is completed, and executes the subroutine for determining whether charging is required shown in FIG. 15 (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. 15. Also, when it is determined in step S227 of FIG. 15 that the illuminance of the external light around the flying object 1S has changed to a state sufficient for the photocatalytic function to be exerted, the control unit 101S checks the status of the power supply circuit 24 in step S228, and then proceeds to step S205 of FIG. 14 and performs the process from step S205 onwards.

Returning to the flowchart of FIG. 17, when it is determined in step S254 that the cleanliness level CL has reached a high cleanliness level equal to or greater than a predetermined threshold CLth, the control unit 101S determines whether the target movement space was divided when the flight plan was generated (step S256). When it is determined in step S256 that the movement space has not been divided, the control unit 101S concludes that the movement space has been sufficiently cleaned and ends this processing routine.

Also, when it is determined in step S256 that the movement space is divided, the control unit 101S moves the flying object 1S to the next divided space in accordance with the flight plan (step S257). Then, after this step S257, the control unit 101S transitions the process to step S231 in FIG. 16 and performs the processes from this step S231 onward.

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

In addition, in FIG. 16, which is an example of processing when the movement space is divided into multiple divided spaces, when it is determined in step S237 that the cleanliness level CL in each divided space has reached a high cleanliness level equal to or higher than a predetermined threshold CLth, the divided space is moved. However, when multiple repetitions are generated as a flight plan for the entire movement space, it may be determined whether the cleanliness level CL in each divided space has reached a high cleanliness level equal to or higher than a predetermined threshold CLth only in the final repetition, and when the cleanliness level reaches a high cleanliness level equal to or higher than the threshold CLth, the flying object 1S may be moved to the next divided space. In that case, except for the final repetition, the control unit 101S controls the flying object 1S to move to the next divided space after performing the set movement pattern in each divided space a set number of times (one or more times).

[Effects of the second embodiment]
According to the second embodiment of the flying object 1S described above, it is possible to fly and move the flying object for air purification while checking the cleanliness of the air in the target travel space, thereby enabling air purification to be carried out effectively.

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

The flying object 1S of the second embodiment described above is also equipped with a solar panel 21, so that if the travel space to be purified is outdoors and the flying object 1S flies during the day, the flight time can be extended. Furthermore, the flying object 1S of the second embodiment described above is also equipped with a rechargeable battery 23, and the power supply circuit 24 is configured to effectively use the voltage generated by the solar panel 21 and the voltage of the rechargeable battery 23, so that a power source that can withstand long flights can be secured. Therefore, the travel space to be purified can be a wide area.

In the second embodiment, the flying object 1S is equipped with a cleanliness sensor 22, and a display unit may be provided to notify the cleanliness detected by the cleanliness sensor 22 in the target moving space or in each divided space DV through the display unit.

In this case, the display unit may be equipped with a display screen such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) panel, and may display the cleanliness level on the display screen, or may be configured to arrange multiple light-emitting elements such as LEDs in a row and control the number of light-emitting elements such as LEDs that are turned on depending on the cleanliness level.

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

In the second embodiment, the flying object 1S is equipped 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 at various locations in the moving space is uploaded to the cloud. Meanwhile, 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 at various locations in the moving space. Then, the control unit 101S controls the spatial movement of the flying object 1S according to the cleanliness acquired by the cleanliness acquisition means.

[Third embodiment]
In the above-mentioned first and second embodiments, the moving body is a flying body capable of flying, but when the height of the moving space is low, the moving body may be a running moving body that moves by autonomously running on the bottom surface of the moving space without flying. The third embodiment is a case where the moving body is a running moving body.

Figure 18 shows an example of the configuration of the running vehicle 200 of the third embodiment, where Figure 18(A) is a view of the running vehicle 200 of the third embodiment from above, and Figure 18(B) is a view of the running vehicle 200 of the third embodiment from a direction perpendicular to the running direction.

The mobile vehicle 200 in this example has a rectangular parallelepiped housing 201. The outer surface of this housing 201 is made of a material that exhibits a photocatalytic function. In this third embodiment, like the housings 6 and 6S in the first and second embodiments described above, the housing 201 is made of a high-performance composite material in which a thin film of metal-modified apatite described in Patent Document 1 is formed on a base material such as a plate-shaped resin.

This housing 201 is configured to be able to run in a predetermined direction by a running movement mechanism. The running movement mechanism includes drive wheels 202 and 203 provided at both ends of axle 204, and drive wheels 205 and 206 provided at both ends of axle 207. Although detailed illustration is omitted, the running movement mechanism in this example has a directional control function and is capable of turning right, turning left, rotating right, and rotating left. Furthermore, the running movement mechanism is configured to be able to move backwards as well as forwards.

The housing 201 of the traveling vehicle 200 of this third embodiment is provided with a support 207 that protrudes upward from the top surface of the housing 200 and moves up and down relative to the housing 201. Although not shown in FIG. 18, a vertical movement mechanism for moving the support 207 up and down is provided within the housing 201.

A movable platen 208 is attached to the upper end of a support 207 that moves up and down. In this example, the movable platen 208 has a rectangular parallelepiped shape with the same cross section as the housing 201. And, like the housing 201, the outer surface of this movable platen 208 is made of a material that exhibits photocatalytic functions, for example, a high-performance composite material formed of a thin film of metal-modified apatite.

Therefore, organic matter, including bacteria, in the air around the housing 201 and the movable platen 208 is adsorbed by the thin film of metal-modified apatite exposed on the surface of the housing 201 and the movable platen 208, and is decomposed into water and carbon dioxide by the photocatalytic function, purifying the air. If the movable platen 208 moves up and down, the area where the air is purified by the thin film of metal-modified apatite also moves, making it possible to purify the air over a wider area.

The base material constituting the housing 201 and the movable platen 208 is not limited to resin, but may be, for example, a plate-like body made of wood, glass, metal, ceramics, etc. The material of the housing 201 and the movable platen 208 is not limited to a high-performance composite material in which a thin film of metal-modified apatite is formed on a base material, as in this example, but may be a sheet or film of metal-modified apatite attached to the surface of the plate-like body constituting the above-mentioned base material. The photocatalytic apatite is not limited to the metal-modified apatite disclosed in Patent Document 1, but may be any material that exhibits photocatalytic functions.

In this third embodiment, light-emitting units that irradiate light onto the outer surfaces of the housing 201 and the movable platen 208 are attached. In the example of FIG. 18, mounting arms 211A, 211B, 211C, 211D, and 211E of light-emitting units 210A, 210B, 210C, 210D, and 210E are attached to the four side surfaces and bottom surface of the housing 201, which is a rectangular box shape. In this case, mounting arms 211A, 211B, 211C, 211D, and 211E are attached to the housing 201 so that light-emitting units 210A, 210B, 210C, 210D, and 210E can irradiate the entire surfaces of the four side surfaces and bottom surface of the housing 201 as shown by dotted lines in FIG. 18.

In addition, in order to irradiate the upper surface of the housing 201 and the lower surface of the movable platen 208 with light, in this embodiment, mounting arms 213L and 213R are provided above two opposing side surfaces of the housing 201, and light-emitting units 212L and 212R are attached to these mounting arms 213L and 213R. The reason for providing two light-emitting units 212L and 212R in this way is to ensure that light can be sufficiently irradiated to the areas exposed on the upper surface of the housing 201 and the lower surface of the movable platen 208.

Furthermore, in this third embodiment, an attachment arm 215 is attached to the upper surface of the movable platen section 208, and a light emitting section 214 is attached to this attachment arm 215. The light emitting section 214 is attached so that it can irradiate light onto almost the entire area of the upper surface of the movable platen section 208.

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

In this example, as shown in Figures 18(A) and (B), cameras CM11 to CM14 are provided on each of the four sides of the movable platen 208. The optical axes (corresponding to the shooting direction) of these cameras CM11 to CM14 are perpendicular to the mounting surfaces of the cameras CM11 to CM14, and each camera can shoot a predetermined angle of view with the optical axis direction as the center.

Furthermore, a drive control device section 220 including a battery as a power source is provided within the housing 201. Figure 19 is a block diagram showing an example of the configuration of the drive control device section 220 in the running vehicle 200 of this embodiment, with the battery omitted in Figure 19. Note that the example in Figure 19 is assumed when the flying body 1 of the first embodiment is changed to the running vehicle 200, and the same block names are used for similar components. The following explanation will mainly focus on the differences between the configuration in Figure 2 and the configuration in Figure 19.

As shown in FIG. 19, the drive control device unit 220 in this embodiment is configured by connecting a control unit 221 consisting of a microcomputer (abbreviated as microcomputer in FIG. 2) to a traveling movement drive unit 222, a gyro sensor 223, a geomagnetic sensor 224, an obstacle sensor 226, a movement space information memory 227, a current position detection unit 228, an illuminance sensor 229, a traveling movement plan generation unit 230, a vertical movement drive signal generation unit 231, a group of cameras 233, an image recognition unit 234, a lighting control circuit 235, and an operation unit 236 via a system bus 240.

That is, a running movement drive unit 222 is provided in place of the aerial flight drive unit 102 in FIG. 2. A running movement mechanism unit 241 is connected to the running movement drive unit 222, which controls the rotational drive of the drive wheels 202, 203, 205, and 206 and also controls a directional steering mechanism (not shown). The running movement mechanism unit 241 enables the running vehicle 200 to move in a predetermined direction at a predetermined speed.

In place of the flight plan generation unit 110 in FIG. 2, a travel movement plan generation unit 230 is provided. This travel movement plan generation unit 230 recognizes the height of the target movement space stored in the movement space memory 227, and sets the upper limit height when moving the moving platen unit 208 up and down.

In addition, instead of the flight drive signal generation unit 111 of FIG. 2, a vertical movement drive signal generation unit 231 is provided. This vertical movement drive signal generation unit 231 generates a drive signal that moves the movable platen unit 208 up and down at a vertical movement height range and vertical movement speed according to the vertical movement instruction for the movable platen unit 208 included in the travel movement plan generated by the travel movement plan generation unit 230. The vertical movement drive signal generated by the vertical movement drive signal generation unit 231 is supplied to a vertical movement mechanism unit 242 provided in the housing 201. The support pillar 207 is driven by this vertical movement drive signal to move the movable platen unit 208 up and down at a vertical movement height range and vertical movement speed according to the vertical movement drive signal.

Furthermore, a movement control signal generation unit 232 is provided in place of the position and orientation control signal generation unit 112. This movement control signal generation unit 232 generates a movement control signal that controls the movement position and movement direction of the housing 201 based on the gyro sensor 223, the geomagnetic sensor 224, and the images captured by the cameras CM11 to CM14 so that they correspond to the travel movement plan.

Note that in the example of FIG. 19, the height sensor 105 in FIG. 2 is not provided. Other parts with the same names in FIG. 19 have the same configuration and perform the same operations as those in the example of FIG. 2.

The travel plan generating unit 230 of the travel vehicle 200 of the third embodiment generates a similar travel plan, except that the travel vehicle 200 travels on a floor or ground surface, whereas the flying vehicle 1 of the first embodiment travels in space. For example, it sets which of the travel patterns shown in FIG. 3(A), FIG. 4(A), or FIG. 5(A) will be used for travel. However, the travel plan of the third embodiment includes setting the travel speed and travel mode of the moving board unit 208 to move up and down according to the set travel pattern. Here, the travel speed is the average speed of the up and down movement, and possible travel modes include constant up and down movement, gradually increasing the speed as the vehicle moves upward, gradually decreasing the speed as the vehicle moves upward, moving slowly in the middle and moving quickly elsewhere, and so on.

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

In the drive control device unit 220 of the running vehicle 200 of this third embodiment, although the method of movement differs between flying and running, it can perform the same operational flow as the drive control device unit 10 of the flying vehicle 1 of the first embodiment shown in Figures 9 and 10.

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

The mobile vehicle 200 of the third embodiment is equipped with light-emitting units 210A-210E, 212L, 212R, and 214, so that even if the outside light is insufficient, the light-emitting units 210A-210E, 212L, 212R, and 214 can be turned on to sufficiently purify the air through the photocatalytic function of the thin film of photocatalytic apatite on the outer surfaces of the housing 201 and the movable platen 208. This makes it suitable for purifying the air under the floors of buildings, etc.

Note that while the running vehicle 200 in FIG. 18 is an example of application to a case similar to that of the first embodiment described above, it can also be applied to the second embodiment described above. That is, it can also be applied to a case in which a cleanliness sensor is provided on the housing 201 or the moving platen section 208 of the running vehicle, and a solar panel is also provided. Processing operations similar to those of the second embodiment described above can be performed simply by changing the moving state from flying to running.

[Other embodiments or modifications]
In the first and second embodiments described above, a thin film exhibiting a photocatalytic function is formed or attached only to the outer surfaces of the housings 6 and 6S, but a layer exhibiting a photocatalytic function may also be formed or attached to the outer surface of the drive control unit 3, the four arms 4A, 4B, 4C, and 4D constituting the aerial flight mechanism 2, and the surfaces of the rotor mechanisms 5A, 5B, 5C, and 5D. Furthermore, a layer exhibiting a photocatalytic function may also be formed or attached to the surfaces of the legs 7A and 7B, the light emitting units 9A to 9E, and the mounting arms 91A to 9E.

Similarly, in the third embodiment, a layer exhibiting photocatalytic function may be formed or applied to the surfaces of the drive wheels 202, 203, 205, and 206 and the support 207.

In addition, in the above-described embodiment, the material with photocatalytic function constituting the housing 6, 6S, 201 and the movable platen 208 is a high-performance composite material in which a thin film of metal-modified apatite is formed on the surface of the housing 6, 6S, 201 and the movable platen 208, but it goes without saying that this is not limited to this, and any material that can decompose organic substances in the air by photocatalytic function may be used.

In addition, in the above-described embodiment, an ultraviolet ray emitting light was used as the light emitting unit to activate the photocatalytic function, but any light emitting unit that emits infrared rays, such as an infrared LED (Light Emitting Diode) or an infrared laser, or a light emitting unit that emits visible light, such as a visible light LED (Light Emitting Diode) or a visible light laser, may be used as long as it activates the photocatalytic function.

In the third embodiment, the moving body is a running moving body that moves autonomously on the bottom surface of the moving space without flying, but the moving body according to the present invention may be a moving body that can fly and move autonomously on the bottom surface of the moving space. It may also be a moving body that can move on water.

1, 1S...Flying vehicle, 2...Aerial flight mechanism, 3...Drive control unit, 6, 6S...Housing, 9A to 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 (36)

A housing having a material having a photocatalytic function on at least a part of an outer surface side;
A housing moving means for moving the housing;
A light emitting unit that irradiates light onto at least a part of the material exhibiting a photocatalytic function on the outer surface side of the housing;
an illuminance sensor for detecting the illuminance of external light;
a light emission control means for controlling whether or not to turn on the light emitting unit based on the illuminance of the external light detected by the illuminance sensor;
A cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
A control unit that controls the housing moving means;
Equipped with
The moving body, wherein the control unit controls movement of the housing by the housing moving means based on a detection result of the cleanliness sensor. 2. The moving body according to claim 1, wherein the material exhibiting a photocatalytic function is a material using photocatalytic apatite including metal-modified apatite. 3. The moving body according to claim 1 or 2, wherein the housing moving means is capable of moving the housing in flight. A means for determining the presence or absence of a person and/or an animal within the moving space is provided,
The moving body according to any one of claims 1 to 3, characterized in that the control unit controls the movement of the housing by the housing moving means based on the discrimination means so as to avoid the movement range of the person and/or animal. A current position detection means for detecting a current position;
A storage unit that stores moving space information related to a moving space;
Equipped with
The moving body according to any one of claims 1 to 4, characterized in that the control unit moves the housing by the housing moving means within the movement space according to a predetermined movement plan while referring to the current position detected by the current position detection means. The moving body according to claim 5 , wherein the moving space information is stored in a cloud, and is obtained from the cloud and stored in the storage unit. The storage unit stores movement space information related to a plurality of movement spaces in an identifiable manner,
7. The moving body according to claim 5, wherein the moving space information of a moving space that is a target for air purification can be selected and designated from the moving space information relating to the plurality of moving spaces. The device includes a battery and a remaining charge detection unit for detecting a remaining charge of the battery.
8. The moving body according to claim 5, wherein the control unit creates the travel plan based on the remaining charge of the battery detected by the remaining charge detection means. The moving body according to any one of claims 5 to 8, wherein the movement plan includes information on a movement speed and a movement stop control. The moving body according to any one of claims 5 to 9, wherein the movement plan is generated based on the position, size, and shape of the movement space and the positions of obstacles. The moving body according to any one of claims 5 to 10, wherein the movement plan is generated taking into consideration the shape and size of a ground plane or a floor plane that the movement space occupies, and a height. the housing moving means is capable of moving the housing in flight,
The moving body according to any one of claims 5 to 11, wherein the movement plan also includes movement in a height direction. 13. The moving body according to claim 5, wherein the movement space is divided into a plurality of spaces, and the movement plan is executed for each divided space. The moving body according to claim 13, wherein the cleanliness of the air in each of the divided spaces is checked, and the travel plan is generated so as to prioritize purification of the air in the divided spaces with low cleanliness. The moving body according to claim 13 or 14, characterized in that the cleanliness of the air in the divided space after movement is checked, and it is determined whether it is the same as the cleanliness of the air in the initial state of the divided space before movement, and if it is determined that it is the same, air purification is performed using the same movement pattern as in the divided space before movement. A moving body as described in any one of claims 13 to 15, characterized in that the cleanliness of the air in the divided space after movement is checked, and it is determined whether it is the same as the cleanliness of the air in the initial state of the divided space before movement, and if it is determined that it is not the same, air purification is performed using a movement pattern different from that of the divided space before movement. the movement plan is set to include a plurality of movement patterns that differ according to the cleanliness detected by the cleanliness sensor,
The moving body according to any one of claims 5 to 16, characterized in that the control unit controls the moving body to execute a moving pattern from among the plurality of set moving patterns according to the cleanliness detected by the cleanliness sensor. the housing moving means is capable of moving the housing in flight,
18. The moving body according to claim 5, wherein the movement plan includes a movement control for hovering the housing at a predetermined position for a predetermined period of time after moving the housing a predetermined distance. The movement control includes controlling the degree of thoroughness of the air purification in the target movement space by changing the number of turns, the number of spirals, or the number of positions on the floor surface where the movement pattern is performed.
20. The moving body according to claim 18, The moving body according to claim 19, characterized in that the movement control reflecting the carefulness of the implementation of air purification in the target moving space controls at least one of the time for which the hovering is performed, the distance to the specified position for which the hovering is performed, and the moving speed. The moving body according to claim 19 or claim 20, characterized in that the movement control reflecting the carefulness of the implementation of air purification in the target moving space is controlled according to the size of the target moving space and/or the remaining battery charge. the movement plan is set to include a plurality of movement patterns that differ according to the cleanliness detected by the cleanliness sensor,
The moving body according to any one of claims 5 to 21, wherein the movement pattern includes at least one of a hook type, a zigzag type, a spiral type, and a rectangular type. The moving body according to claim 22, characterized in that movement control is performed that reflects the thoroughness of air purification in the target movement space by changing the number of turns, the number of spirals, or the number of positions on the floor surface where the movement pattern is performed. The moving body according to any one of claims 1 to 23, wherein the housing moving means is capable of moving the housing by running. 25. The moving body according to claim 24, wherein the housing has an outer surface made of a material exhibiting a photocatalytic function, and is provided with a vertical movement part that moves vertically perpendicular to a bottom surface of the moving space. 26. The moving body according to claim 25, wherein the movement plan includes a height range of the vertical movement of the vertical movement part and/or a speed of the vertical movement. 27. The moving body according to claim 25 or 26, wherein an upper limit height of the vertical movement of the vertical movement part is set based on a height of the movement space. At least one of a gyro sensor, a geomagnetic sensor, and a camera is provided;
The moving body according to any one of claims 1 to 27, characterized in that the control unit controls the housing moving means using at least one of the gyro sensor, the geomagnetic sensor, and the camera, thereby controlling the moving position and/or the moving direction of the housing. A display unit is provided,
The moving body according to any one of claims 1 to 28, characterized in that the cleanliness detected by the cleanliness sensor is displayed or notified using the display unit. The movable body described in any one of claims 1 to 29, characterized in that the control unit terminates the movement of the housing and the execution of the photocatalytic function by the housing moving means when the cleanliness of the atmosphere surrounding the housing becomes equal to or greater than a predetermined value based on the detection result of the cleanliness sensor. The moving body according to any one of claims 1 to 30, wherein the housing moving means is capable of moving the housing on water. The present invention includes a communication means and a cleanliness acquisition means for acquiring, from a cloud, information on cleanliness detected by cleanliness sensors installed at one or more locations in the movement space,
32. The moving body according to claim 1, wherein the control unit controls movement of the housing by the housing moving means based on the cleanliness acquired by the cleanliness acquisition means. The device is provided with a battery as a power source and a function for detecting the remaining charge of the battery;
The vehicle according to any one of claims 1 to 32, characterized in that the light emission control means keeps the light emitting unit turned off when the remaining charge of the battery is below a predetermined value, even if the illuminance of the external light is below a predetermined value. the illuminance sensor is provided to detect the illuminance on each of different surfaces of the housing having the material exhibiting a photocatalytic function;
The moving body according to any one of claims 1 to 33 , wherein the light emission control means controls turning on and off the light emitting portion in accordance with the illuminance on each of the different surfaces. The moving body according to any one of claims 1 to 34 , further comprising a portion having a material exhibiting a photocatalytic function other than the housing. a computer provided on a mobile body including a housing having a material exhibiting a photocatalytic function on at least a portion of an outer surface side thereof, a housing moving means for moving the housing, a light emitting unit for irradiating light onto at least a portion of the material exhibiting a photocatalytic function on the outer surface side of the housing, an illuminance sensor for detecting the illuminance of external light, and a cleanliness sensor for detecting the cleanliness of the atmosphere around the housing;
a light emission control means for controlling whether or not to turn on the light emitting unit based on the illuminance of the external light detected by the illuminance sensor;
a control unit that controls the movement of the housing by the housing moving means based on a detection result of the cleanliness sensor;
A mobile program to function as a

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