Air purification systems, air purification methods, and programs

Abstract

It reliably collects even the finest dust particles that accumulate in the upper space of a room, maintaining a clean working environment. [Solution] The air purification system 1 comprises an air purifier 3 for collecting dust in the indoor air, an unmanned aerial vehicle 2 which is a blower for blowing indoor air, and a dust concentration meter 4 for measuring the dust concentration in the indoor air. The system includes a control unit 26, which is a computer in the unmanned aerial vehicle 2, which includes a blower area setting unit 33 that sets a blower area 106 based on a dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is above a predetermined concentration threshold, a dust collection area setting unit 31 that sets a dust collection area 103 for collecting dust in the air based on the suction airflow 102 of the air purifier 3, and a flight control unit 35 which is a blower control unit that controls the arrangement of the unmanned aerial vehicle 2 and the blower airflow so that the air is blown from the blower area 106 to the dust collection area 103.

Description

[Technical Field]

[0001] The present invention relates to an air cleaning system, an air cleaning method, and a program for cleaning indoor air containing dust. [Background Art]

[0002] Conventionally, air cleaning devices are installed in indoor spaces such as factories to clean air containing dust generated from working equipment such as processing machines installed therein. Most dust generated from component processing machines in factories has a particle diameter of submicron (μm) or less, so it often rises and accumulates in the upper indoor space. Even when an air cleaning device fixedly installed on the indoor floor or ceiling is operated, it merely sucks air, and thus may not efficiently collect dust.

[0003] In contrast, the flying vehicle disclosed in Patent Document 1 includes a main body having rotor blades, and an air cleaner provided on the main body and capable of cleaning air. The main body flies along a predetermined route in a predetermined space, and the air cleaner performs air cleaning along the route. [Prior Art Document] [Patent Document]

[0004] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-21517 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] According to conventional techniques such as the flying vehicle of Patent Document 1, air cleaning is performed by passing through the shortest route that passes through a plurality of positions where the dust concentration is equal to or higher than a peak value in a predetermined space, so that the dust concentration can be reduced at the plurality of positions in the passing predetermined space. However, most dust generated from component processing machines in factory indoor spaces has a particle diameter of submicron (μm) or less, so it is often distributed and accumulated in the upper indoor space, and there is a tendency that positions where the dust concentration is equal to or higher than the peak value do not exist in a concentrated manner.

[0006] Therefore, conventional technologies, such as the aircraft described in Patent Document 1, may not be able to collect all the dust floating in the upper space of a room. In particular, dust particles with a diameter of submicron (μm) or less are blown away by the downwash (downward airflow) of the aircraft. Thus, when an aircraft equipped with an air purifier passes over or stops at a location where the dust concentration exceeds its peak, it blows away the dust and is unable to collect it, which may result in inefficient dust collection in a given space.

[0007] This invention has been made in view of the above-mentioned problems, and the object of this invention is to provide an air purification system, an air purification method, and a program that can reliably collect even fine dust particles that remain in the upper space of a room without any leakage, and maintain a clean working environment in the room. [Means for solving the problem]

[0008] To solve the above problems, the first air purification system of the present invention is an air purification system comprising: an air purification device for collecting dust in the air in a room; a blower for blowing air in the room; and a dust concentration measuring unit for measuring the dust concentration in the air in the room, wherein the air purification system comprises: a blower area setting unit for setting a blower area based on a dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold; a dust collection area setting unit for setting a dust collection area for collecting dust in the air based on the suction airflow of the air purification device; and a blower control unit for controlling the arrangement of the blower and the blower airflow so as to blow air into the dust collection area while passing through the blower area.

[0009] According to the first air purification system of the present invention, by operating a blower to control the airflow (blow air) for fine dust particles floating in a room, the air purifier can suck in and capture the blown dust-containing air, thereby achieving high dust collection capacity. In this way, even fine dust particles remaining in a room can be collected without any leakage, and the indoor working environment can be kept clean.

[0010] To solve the above problems, the second air purification system of the present invention comprises a plurality of air purification devices, the dust collection area setting unit sets one dust collection area based on the arrangement of the plurality of air purification devices and the suction airflow, and the air blowing control unit controls the arrangement of the air blowers and the air blowing airflow so as to blow air through the air blowing area to the one dust collection area.

[0011] According to the second air purification system of the present invention, by operating a blower device to control the airflow (blow air) for each of the multiple air purification devices, each air purification device can suck in and capture the blown dust-containing air to collect dust, thereby achieving a high dust collection capacity.

[0012] To solve the above problems, in the third air purification system of the present invention, the air blowing area setting unit sets the air blowing area by separating a predetermined air blowing distance on the extension line between the dust collection position and the air purification device, the air blowing control unit controls the air blower to control the airflow of the room as it passes through the air blowing area, and the air purification device collects dust in the air whose airflow has been controlled by the air blower.

[0013] According to the third air purification system of the present invention, based on the arrangement relationship between the dust collection position and the air purification device, the range in which the unmanned aerial vehicle blows air from the dust collection position to the air purification device is limited to the blowing area. As a result, fine dust particles floating in the air, centered around the dust collection position where the dust concentration is high, can be reliably sent to the air purification device by the air blown from the blower. Furthermore, the blower can be operated efficiently, and the blowing away of fine dust particles regardless of the air purification device can be suppressed.

[0014] To solve the above problems, the fourth air purification system of the present invention includes a dust region setting unit that sets a dust region centered on the dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold.

[0015] According to the fourth air purification system of the present invention, it is possible to easily set a blowing area such that the airflow generated by the blowing of the blower passes through the dust area.

[0016] To solve the above problems, in the fifth air purification system of the present invention, the air blowing area setting unit sets the air blowing area by setting the predetermined air blowing distance in the vicinity of the air purification device such that the second air velocity due to the blowing of the blowing device is less than the first air velocity due to the suction of the air purification device.

[0017] According to the fifth air purification system of the present invention, the air purifier can easily and reliably draw in dusty air that has been sent near the air purifier by the downdraft generated by the air blowing of the blower.

[0018] To solve the above problems, in the sixth air purification system of the present invention, the blower is composed of an unmanned aerial vehicle or a circulator.

[0019] According to the sixth air purification system of the present invention, efficient airflow can be achieved to the air purification device via a dust collection position using an unmanned aerial vehicle or a circulator.

[0020] To solve the above problems, in the seventh air purification system of the present invention, the air blowing area setting unit sets the air blowing area in the space above the air purification device.

[0021] According to the seventh air purification system of the present invention, a downward airflow (downwash) can be generated from above by the airflow of the blower to remove fine dust particles that remain in the upper space of a room, and the air purification device can easily and reliably draw in the dusty air that has been sent near the air purification device.

[0022] In order to solve the above problem, an eighth air cleaning system of the present invention includes a flight plan creation unit that sets a plurality of linear flight paths for flight by the unmanned aerial device serving as the air blowing device, while offsetting the plurality of linear flight paths in the air blowing region, and the air blowing control unit controls the unmanned aerial device such that the unmanned aerial device performs dust collection flight in which air is blown toward the dust collectable region while flying along the plurality of flight paths in the air blowing region in a direction away from the air cleaning device.

[0023] According to the eighth air cleaning system of the present invention, downwash can be uniformly generated at each position in the air blowing region, air can be blown to fine dust floating near the dust collection position on an area level instead of a point level, and the air cleaning device can easily and reliably suck dust air sent into the vicinity of the air cleaning device.

[0024] In order to solve the above problem, in a ninth air cleaning system of the present invention, the air blowing control unit controls the unmanned aerial device such that the dust collection flight is repeated along the plurality of flight paths in the air blowing region corresponding to the dust collection position from when the dust concentration at the dust collection position measured by the dust concentration measurement unit becomes equal to or higher than a predetermined concentration threshold until the dust concentration becomes lower than the predetermined concentration threshold.

[0025] According to the ninth air cleaning system of the present invention, the concentration of fine dust floating in the air can be reliably reduced centering on a dust collection position having a high dust concentration.

[0026] In order to solve the above problem, in a tenth air cleaning system of the present invention, when the air blowing region is set on a side opposite to a suction port of the air cleaning device, the air blowing control unit controls the air blowing device so as to generate a downwash directed toward the suction port side of the air cleaning device.

[0027] According to the tenth air cleaning system of the present invention, when the air blowing device blows air from the air blowing region through the dust region, the blown air can be sent to the suction port side without the air cleaning device forming a blind spot.

[0028] To solve the above problems, in the 11th air purification system of the present invention, the airflow area setting unit sets multiple airflow areas based on the dust collection position, and the airflow control unit controls the unmanned aerial vehicle to perform the dust collection flight in stages within the multiple airflow areas.

[0029] According to the 11th air purification system of the present invention, the unmanned aerial vehicle (UAV) descends in stages and blows air through dust collection flight in each stage of the airflow area, thereby gradually lowering the dust collection position of fine dust floating in the upper space and sending it to the intake port of the air purification device. Furthermore, by lowering the dust collection position of the fine dust from the upper space, the second air velocity produced by the airflow in the lower stage of the UAV can reach the intake port without reduction.

[0030] To solve the above problems, in the 12th air purification system of the present invention, the air blowing control unit controls the unmanned aerial vehicle to fly including hovering air blowing flight, which blows air into the dust collection area while hovering in the air blowing area.

[0031] According to the 12th air purification system of the present invention, even when a dust collection location where the dust concentration is above a predetermined concentration threshold is located directly above the intake port of the air purifier, dust at the dust collection location can be efficiently collected.

[0032] To solve the above problems, in the 13th air purification system of the present invention, the air blowing control unit controls the unmanned aerial vehicle to switch between the dust collection flight and the hovering air blowing flight in the air blowing area, depending on the dust collection position and the position and / or angle of the air purification device where the dust concentration is equal to or greater than a predetermined concentration threshold.

[0033] According to the 13th air purification system of the present invention, regardless of the dust collection location where the dust concentration is above a predetermined concentration threshold and the location of the air purification device's intake port, the unmanned aerial vehicle can be flown efficiently to efficiently collect dust from the air.

[0034] Furthermore, in order to solve the above problems, the present invention provides an air purification method for purifying the air in a room using an air purification device for collecting dust in the air in a room, a blower for blowing air in the room, and a dust concentration measuring unit for measuring the dust concentration in the air in the room, the method comprising: a blower area setting step for setting a blower area based on a dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold; a dust collection area setting step for setting a dust collection area for collecting dust in the air based on the suction airflow of the air purification device; and a blower control step for controlling the arrangement of the blower and the blower airflow so that air is blown into the dust collection area while passing through the blower area.

[0035] Furthermore, in order to solve the above problems, the program of the present invention is characterized in that, in order to purify the indoor air using an air purifier that collects dust in the indoor air, a blower that blows the indoor air, and a dust concentration measuring unit that measures the dust concentration in the indoor air, the program causes the computer of the blower to execute the following: a blower area setting step of setting a blower area based on a dust collection position in which the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold; a dust collection area setting step of setting a dust collection area in which dust in the air is collected based on the suction airflow of the air purifier; and a blower control step of controlling the arrangement of the blower and the blower airflow so as to blow air into the dust collection area while passing through the blower area. [Effects of the Invention]

[0036] According to the present invention, even fine dust particles accumulating in the upper space of a room can be collected reliably and without loss, making it possible to maintain a clean working environment in the room. [Brief explanation of the drawing]

[0037] [Figure 1] This is a schematic diagram showing the configuration of an air purification system according to an embodiment of the present invention. [Figure 2]This block diagram shows the electrical configuration of an air purification system according to an embodiment of the present invention. [Figure 3] This is a plan view showing an example of an air purification area in an air purification system according to an embodiment of the present invention. [Figure 4] This is a plan view showing an example of an air purification area in an air purification system according to an embodiment of the present invention. [Figure 5] This is a plan view showing an example of an air purification area in an air purification system according to an embodiment of the present invention. [Figure 6] This is a side view showing an example of a dusty area to be cleaned in an air purification system according to an embodiment of the present invention. [Figure 7] This is a side view showing an example of a blown air area that is subject to air purification in an air purification system according to an embodiment of the present invention. [Figure 8] This is a perspective view showing an example of a dusty area to be cleaned in an air purification system according to an embodiment of the present invention. [Figure 9] This is a perspective view showing an example of the airflow area to be purified in an air purification system according to an embodiment of the present invention. [Figure 10] This figure shows an example of a flight path in the airflow area in an air purification system according to an embodiment of the present invention. [Figure 11] This flowchart shows an example of the operation of an air purification system according to an embodiment of the present invention. [Figure 12] This is a flowchart showing the flight plan creation operation of an air purification system according to an embodiment of the present invention. [Figure 13] This is a side view showing an example of a dusty area to be cleaned in an air purification system according to a second modification of the present invention. [Figure 14] This is a side view showing an example of a blowing area that is the target of air purification in an air purification system according to a second modification of the present invention. [Figure 15]This is a side view showing an example of a first-stage dust region that is the target of air purification in an air purification system according to a third modification of the present invention. [Figure 16] This is a side view showing examples of the first and second stage airflow areas that are the target of air purification in an air purification system according to a third modification of the present invention. [Figure 17] This is a side view showing examples of dusty areas and air-blowing areas that are to be air-purified in an air purification system according to a fourth modification of the present invention. [Figure 18] This is a side view showing examples of dusty areas and air-blowing areas that are to be air-purified in an air purification system according to a fifth modification of the present invention. [Figure 19] This is a side view showing examples of dusty areas and air-blowing areas that are to be air-purified in an air purification system according to a sixth modification of the present invention. [Figure 20] This is a side view showing examples of dusty areas and air-blowing areas that are to be air-purified in an air purification system according to a seventh modification of the present invention. [Modes for carrying out the invention]

[0038] Embodiments of the present invention will be described below with reference to the drawings. The following embodiments are preferred examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these embodiments.

[0039] [Air purification system] An air purification system 1 according to an embodiment of the present invention will now be described. As shown in Figure 1, the air purification system 1 comprises an unmanned aerial vehicle 2 (blower), a dust concentration meter 4 (dust concentration measuring unit), and an air purification device 3, and is a system that collects dust from the air in a room where work equipment 6 is installed and purifies the air. In the air purification system 1, the unmanned aerial vehicle 2 blows air containing dust from the room toward the air purification device 3, the dust concentration meter 4 measures the dust concentration in the room air, and the air purification device 3 sucks in and collects dust from the room air. In the air purification system 1, the unmanned aerial vehicle 2, the dust concentration meter 4, and the air purification device 3 are configured to work together.

[0040] Figure 1(1) shows the state of the air purification system 1 before the unmanned aerial vehicle 2 takes flight, and Figure 1(2) shows the state of the air purification system 1 while the unmanned aerial vehicle 2 is in flight. Figure 2 is a block diagram showing the electrical configuration of the air purification system 1.

[0041] Figure 3 shows an example of an air purification area 100 where the air purification system 1 performs air purification (dust collection). In the air purification area 100, multiple air purification devices 3 and multiple dust concentration meters 4 are installed, and a waiting area 5 such as a drone port for the unmanned aerial vehicle 2 to wait is also installed. Figure 4 shows an example of the arrangement of multiple air purification devices 3, multiple dust concentration meters 4 and the waiting area 5 in the air purification area 100.

[0042] In this embodiment, the air purification system 1 designates the indoor space of a factory or other facility where work equipment 6 such as processing machines is installed as the air purification area 100. The unmanned aerial vehicle 2 performs a dust collection flight so as to blow air toward the air purification system 3 while flying toward the dust collection location 101 where dust in the air is accumulating, thereby generating a downwash (downward airflow). The air purification system 1 sets up a blowing area 106 (dust collection flight area) in the air purification area 100 for the unmanned aerial vehicle 2 to perform its dust collection flight.

[0043] The air purification system 1 may also be a system in which the unmanned aerial vehicle 2 and the air purification device 3 cooperate with a cloud server (not shown), and programs related to the operation of the unmanned aerial vehicle 2 and the air purification device 3, as well as data such as environmental maps and flight plans, may be stored on the cloud server. In this case, the unmanned aerial vehicle 2 and the air purification device 3 download data and programs from the cloud server as needed.

[0044] [Dust concentration meter] The dust concentration meter 4 of this embodiment will now be described. The dust concentration meter 4 is installed in an air purification area 100, such as a factory, to measure the dust concentration in the air purification area 100 where the air purification device 3 performs air purification. For example, as shown in Figures 3, 4, and 5, multiple dust concentration meters 4 are arranged in the factory, which is the air purification area 100, and each dust concentration meter 4 is placed near multiple work equipment 6, such as processing machines, as shown in Figures 1, 6, and 7.

[0045] The dust concentration meter 4 is installed at a higher elevation near the work equipment 6 to measure the concentration of dust floating in the upper space of the room. The dust concentration meter 4 may consist of, for example, a handheld particle counter or a simple optical (infrared) dust concentration meter. The dust concentration meter 4 is wirelessly connected to the unmanned aerial vehicle 2 and the air purifier 3, and transmits the measured dust concentration along with the identification information and location information of the dust concentration meter 4 to the unmanned aerial vehicle 2 and the air purifier 3.

[0046] Furthermore, the dust concentration meter 4 may be connected to the upper end of an extendable member such as an electrically operated cylinder that can extend vertically, so that the dust concentration at multiple measurement points in the vertical direction can be measured at one installation location in the air purification area 100, thereby allowing the installation height of the dust concentration meter 4 to be changed. Alternatively, the dust concentration meter 4 may be installed at multiple measurement points at one installation location in the air purification area 100, such as at the height of a person's face, just above the work equipment 6, or several meters above the work equipment 6.

[0047] This allows the dust concentration distribution in the vertical direction to be understood based on the measurement results of dust concentrations at multiple measurement points using the dust concentration meter 4. Furthermore, any of the multiple measurement points of the dust concentration meter 4 can be set as a priority point for detecting dust concentration preferentially. For example, by setting a measurement point near the height of a person's face as the priority point and preferentially measuring the dust concentration there, dust near a person's face can be quickly collected, effectively stabilizing the working environment for workers.

[0048] [Air purifier] The air purifier 3 of this embodiment will now be described.

[0049] The air purifier 3 may be suspended from the ceiling, as shown in Figure 1, i.e., installed in a ceiling-mounted manner, or it may be fixed to the floor, as shown in Figure 16, i.e.. For example, as shown in Figures 3, 4, and 5, multiple air purifiers 3 are arranged in a factory which is an air purification area 100, and each air purifier 3 is positioned near multiple work equipment 6, such as processing machines, as shown in Figures 1, 6, and 7. Inside the main body 10 of the air purifier 3, as shown in Figure 2, there is an air purification unit 11, a control unit 12, a storage unit 13, a communication unit 14, and a power supply unit 15. The main body 10 of the air purifier 3 has an intake port 10a for drawing in outside air and bringing it inside, and an exhaust port 10b for discharging the internal air to the outside.

[0050] The air purification unit 11 is a dust collector that draws air from the outside to the inside of the device body 10 and collects dust in the air to purify (collect) it. The air purification unit 11 is equipped with a suction unit 16 that draws air into the inside of the device body 10 and a dust collection unit 17 that collects the dust in the air drawn into the inside of the device body 10, both located inside the device body 10. In the air purification device 3, the suction port 10a of the device body 10 is in communication with the dust collection unit 17, the suction port 16, and the exhaust port 10b of the device body 10.

[0051] The suction unit 16 is composed of a suction fan operated by a motor (not shown). The suction unit 16 generates an internal airflow inside the main body 10 from the suction port 10a to the exhaust port 10b, thereby generating a suction airflow 102 outside the suction port 10a toward the suction port 10a and an exhaust airflow outside the exhaust port 10b toward the exhaust port 10b, as shown in Figure 6(1). The suction unit 16 is preferably positioned downstream of the dust collection unit 17, i.e., on the exhaust port 10b side, in the direction of the internal airflow from the suction port 10a to the exhaust port 10b.

[0052] The dust collection unit 17 is configured as an air filter type such as a HEPA filter or an electrostatic filter, or as a high-voltage electrostatic precipitator having an electrostatic electrode and a dust collection electrode, and is preferably positioned upstream of the suction unit 16, i.e., on the suction port 10a side, in the direction of internal airflow from the suction port 10a to the exhaust port 10b of the main body of the device 10. For example, the air filter type dust collection unit 17 is configured with a filter made of spunbond nonwoven fabric pleated into a star shape, or with a HEPA filter or an electrostatic filter. The air filter type dust collection unit 17 may also be equipped with a pulse jet dust removal function. The high-voltage electrostatic precipitator type dust collection unit 17 has an electrostatic electrode that charges dust in the air and a dust collection electrode that collects the charged dust, and a high voltage is applied to each electrode by a high-voltage power supply.

[0053] In the air purification unit 11, the space upstream of the dust collection unit 17 in the direction of internal airflow becomes a dirty area where dust-laden air exists. The dust-laden air is purified by the dust collection unit 17 and released as clean air from the exhaust port 10b of the device body 10 by the exhaust from the suction unit 16 downstream in the direction of internal airflow. In addition, in the air purification device 3, the area outside the suction port 10a of the device body 10 where the suction airflow 102 is generated becomes a dust collection area 103 where dust from the air can be collected by the air purification device 3, as shown in Figure 7(1).

[0054] The control unit 12 is composed of a computer such as a CPU (Central Processing Unit), and the storage unit 13 is composed of ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, etc. The control unit 12 is also connected to each part of the air purifier 3, such as the air purification unit 11, the storage unit 13, and the power supply unit 15.

[0055] The memory unit 13 stores programs and data for controlling each part and various functions of the air purifier 3, and the control unit 12 performs calculation processing based on the programs and data stored in the memory unit 13 to comprehensively control each part and various functions.

[0056] For example, the memory unit 13 stores programs and data for setting the airflow of the suction unit 16 and the dust collection operation of the dust collection unit 17 in the air purification unit 11, and the control unit 12 controls the air purification operation (dust collection operation) of the air purification unit 11, such as turning the suction unit 16 on and off, adjusting the airflow, and turning the dust collection unit 17 on and off.

[0057] The communication unit 14 is controlled by the control unit 12 and communicates wirelessly with external devices such as the unmanned aerial vehicle 2 and the dust concentration meter 4 using communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0058] The power supply unit 15 is equipped with a battery (power source) and charging circuit mounted inside the main unit 10 of the device. When connected to an external power source, the battery is charged, and power is supplied to each part of the air purifier 3. For example, the power supply unit 15 is powered and charged by a power cable installed in the factory.

[0059] Furthermore, as shown in Figure 3 and other figures, if the air purification system 1 includes multiple air purifiers 3, it is preferable that the multiple air purifiers 3 be connected to each other via wired or wireless communication and be able to start and turn on / off in conjunction with each other. For example, each air purifier 3 may be controlled to start and turn on / off by a built-in timer or program, or to start and turn on / off according to the dust concentration measurement result by the dust concentration meter 4, or to start and turn on / off by arbitrary operation by an operator using an operation terminal (not shown) or controller (not shown).

[0060] When the air purifier 3 is started, it sends a start signal to the unmanned aerial vehicle 2 to begin operation. When the air purifier 3 is stopped, it sends a stop signal to the unmanned aerial vehicle 2 to stop operation.

[0061] [Unmanned flying device] The unmanned aerial vehicle 2 of this embodiment will now be described.

[0062] The unmanned aerial vehicle 2 is a blower that blows dusty air present near the air purifier 3 in the air purification area 100 toward the air purifier 3, and is composed of a so-called drone. The unmanned aerial vehicle 2 can perform manual flight in response to instruction signals such as flight instructions received via wireless communication from a control device (not shown), and can also perform automatic flight according to a pre-set program.

[0063] The unmanned aerial vehicle 2 may be controlled to start up and turn on / off by a built-in timer or program, or according to the dust concentration measurement results from the dust concentration meter 4, or according to a signal from the air purifier 3, or it may be controlled to start up and turn on / off by any operation performed by an operator using an operation terminal (not shown) or a controller (not shown). For example, the unmanned aerial vehicle 2 starts operation in response to an operation start signal received from the air purifier 3, and stops operation in response to an operation stop signal received from the air purifier 3. When the unmanned aerial vehicle 2 receives a stop signal, it ends its dust collection flight in each air supply area 106 of the air purification area 100, flies to the waiting area 5, and then stops.

[0064] As shown in Figure 1, the unmanned aerial vehicle 2 comprises a main body 20 for housing the various parts, a flight unit 21 for flying the main body 20, and an imaging unit 22 for capturing aerial images of the surroundings.

[0065] Furthermore, as shown in Figure 2, the unmanned aerial vehicle 2 includes a flight detection unit 23 that detects the flight status of the unmanned aerial vehicle 2, a measurement unit 24 that measures the positional relationship between the unmanned aerial vehicle 2 and surrounding walls, obstacles, etc., and a power supply unit 25 that supplies power to each part of the unmanned aerial vehicle 2 and controls the remaining charge and charging of the battery (not shown).

[0066] Furthermore, the unmanned aerial vehicle 2 comprises a control unit 26 that comprehensively controls each part and function of the unmanned aerial vehicle 2 (such as flight by the flight unit 21 and imaging by the imaging unit 22), a storage unit 27 that stores data and programs, and a communication unit 28 that communicates with external devices. The storage unit 27 stores the flight program and flight plan of the flight unit 21.

[0067] Next, we will explain the various parts of the unmanned aerial vehicle 2.

[0068] The flight unit 21 is equipped with multiple (for example, four) flight wings on top of the main body 20, and also with multiple flight motors (not shown) that rotate each of the multiple flight wings. The flight unit 21 controls the flight altitude, flight direction, flight attitude, flight speed, etc. of the unmanned aerial vehicle 2 by controlling the rotation speed of each flight motor via the control unit 26.

[0069] The imaging unit 22 is located at the bottom of the main body 20 of the device and generates aerial images by imaging the area around the unmanned aerial vehicle 2. The imaging unit 22 is composed of, for example, a CCD (Charge Coupled Device) camera, a wide-angle camera, an infrared camera, etc. The imaging unit 22 generates and outputs the aerial image itself, or / or image analysis data of the aerial image, as imaging data.

[0070] The flight detection unit 23 is composed of an inertial measurement unit (IMU) that combines two sensors: a gyro sensor that detects the tilt and attitude changes of the device body 20, and an acceleration sensor that senses the speed of movement to determine how far the device body 20 has moved within a certain period of time. The unit detects the flight state of the unmanned aerial vehicle 2, such as attitude changes and acceleration, while it is in flight. The flight detection unit 23 can detect the direction of gravity using the acceleration sensor and calculate the horizontal position using the direction of gravity as the vertical direction. The flight detection unit 23 may also be equipped with a magnetic compass sensor that acts as a compass to determine direction.

[0071] The measurement unit 24 includes an LRF that measures the angle and distance between the main body of the device 20 and surrounding walls and obstacles, as well as an infrared laser sensor and an ultrasonic sensor that detect the presence or absence of walls and obstacles within a predetermined distance from the main body of the device 20.

[0072] The power supply unit 25 is equipped with a battery (power source) and charging circuit mounted inside the main unit 20 of the device. When connected to an external power source, the battery is charged, and power is also supplied to each part of the unmanned aerial vehicle 2.

[0073] The control unit 26 is composed of computer devices such as a CPU, and the storage unit 27 is composed of ROM, RAM, SSD, flash memory, etc. The control unit 26 is also connected to each part of the unmanned aerial vehicle 2, such as the flight unit 21, imaging unit 22, flight detection unit 23, measurement unit 24, power supply unit 25, and storage unit 27.

[0074] The memory unit 27 stores programs and data for controlling each part and various functions of the unmanned aerial vehicle 2, and the control unit 26 performs calculation processing based on the programs and data stored in the memory unit 27 to comprehensively control each part and various functions of the unmanned aerial vehicle 2. For example, by executing the programs stored in the memory unit 27, the control unit 26 operates as the environmental map acquisition unit 30, the dust collection area setting unit 31, the dust area setting unit 32, the air blowing area setting unit 33, the flight plan creation unit 34, and the flight control unit 35, as shown in Figure 2.

[0075] The communication unit 28 is controlled by the control unit 26 and communicates wirelessly with external devices such as the air purifier 3, dust concentration meter 4, and control device using communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0076] For example, the communication unit 28 communicates wirelessly with the air purifier 3 and the dust concentration meter 4 to receive location information of the air purifier 3, dust concentration measured by the dust concentration meter 4, and identification and location information of the dust concentration meter 4. The communication unit 28 may also receive drawing data of the air purification area 100, including the layout of the factory and the arrangement of work equipment 6 such as processing machines (location information such as coordinates and height), from a server and store it in the storage unit 27. For example, it may receive BIM data of a factory provided by the Japan Construction Information Technology Center as drawing data from a server and store it in the storage unit 27.

[0077] The environmental map acquisition unit 30 acquires an environmental map of the air purification area 100 where air purification is performed and stores it in the storage unit 27. For example, while the unmanned aerial vehicle 2 is flying over the air purification area 100, the environmental map acquisition unit 30 uses technologies such as SLAM (Simultaneous Localization and Mapping) to estimate its own position and create an environmental map in real time. While the unmanned aerial vehicle 2 is manually flying over the air purification area 100 in advance, the environmental map acquisition unit 30 uses the LRF of the measurement unit 24 to grasp positional information such as the location and height of indoor work equipment 6, dust concentration meter 4, and air purification device 3 and creates an environmental map.

[0078] At this time, while flying over the air purification area 100, the environmental map acquisition unit 30 acquires positional information of the device body 20 and obstacles around the device body 20 as measurement results from the measurement unit 24, and based on these measurement results from the measurement unit 24, it creates a local map of the area around the device body 20 at predetermined time intervals or predetermined distance intervals. Based on the local map and the amount of movement of the unmanned aerial vehicle 2, the environmental map acquisition unit 30 estimates the self-position of the unmanned aerial vehicle 2 in the local map. The environmental map acquisition unit 30 creates an environmental map of the air purification area 100 by stitching together (combining) each local map.

[0079] Alternatively, the environmental map acquisition unit 30 may receive environmental map data, such as CAD data, from an external device in response to any operation performed by the operator.

[0080] The environmental map acquisition unit 30 may incorporate the positional information of the air purifier 3 and dust concentration meter 4 from the drawing data of the air purification area 100 into the environmental map. Alternatively, the environmental map acquisition unit 30 may use a 3D LRF to acquire a 3D environmental map of the air purification area 100 while the unmanned aerial vehicle 2 is moving, and identify obstacles in the overhead space and incorporate them into the 3D environmental map. Furthermore, the environmental map acquisition unit 30 may identify obstacles in the overhead space based on aerial images captured by the unmanned aerial vehicle 2 and incorporate them into the 3D environmental map. In this case, the environmental map acquisition unit 30 unfolds the aerial images into coordinates and matches the coordinates in the 3D environmental map with the coordinates in the aerial images to incorporate the positional coordinates of the obstacles into the 3D environmental map.

[0081] The dust collection area setting unit 31 sets a dust collection area 103 in which dust from the air can be collected by the air purifier 3, as shown in Figure 7(1), based on the suction airflow 102 of the air purifier 3 (such as the position of the suction port 10a, the direction of the suction airflow 102, and the airflow rate (wind speed) of the suction airflow 102), and calculates the coordinates of the dust collection area 103 in the air purification area 100 (environmental map) and stores them in the storage unit 27. The dust collection area setting unit 31 may also set one dust collection area 103 by considering the arrangement of multiple air purifiers 3 (position of the suction port 10a), the airflow rate (wind speed) of the suction airflow 102, and the direction of the suction airflow 102. For example, the dust collection area setting unit 31 sets the dust collection area 103 to be the range from 0.1 to 0.5 m / s in wind speed from the suction port 10a of the air purifier 3.

[0082] As shown in Figures 6(2), 7(1), and 8, the dust area setting unit 32 sets a dust area 105 containing the dust that will be blown by the unmanned aerial vehicle 2, centered on the dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is equal to or greater than a predetermined concentration threshold, and calculates the coordinates of the dust area 105 in the air purification area 100 (environmental map) and stores them in the storage unit 27.

[0083] For example, the dust area setting unit 32 may, in advance, know the predicted locations of dust expected to be generated from each work equipment 6 and the dust concentration meter 4 capable of measuring the dust concentration thereon. Based on the drawing data of the air purification area 100, it may detect the predicted locations of dust corresponding to the dust concentration meter 4 that has detected a dust concentration above a predetermined concentration threshold as dust collection locations 101 above the predetermined concentration threshold.

[0084] Alternatively, the dust area setting unit 32 may automatically set the dust collection position 101 by detecting locations in the air purification area 100 where dust in the air is accumulating at a high concentration. For example, the dust area setting unit 32 may calculate the dust concentration distribution present in the air purification area 100 based on the dust concentrations detected by multiple dust concentration meters 4 in the air purification area 100, and based on this concentration distribution, detect locations in the air purification area 100 where dust is accumulating at or above a predetermined concentration threshold as the dust collection position 101 above the predetermined concentration threshold.

[0085] Alternatively, the dust area setting unit 32 may analyze aerial images of the air purification area 100 taken by the unmanned aerial vehicle 2, or images of the air purification area 100 taken by a surveillance camera installed in a factory or other room, using image analysis software to detect the degree of cloudiness and clusters of fine dust (cloud-like clumps) from the images. Based on the detection results, it may calculate the dust concentration distribution with a three-dimensional spread of dust in the air purification area 100, and based on this concentration distribution, detect the locations in the air purification area 100 where dust remains above a predetermined concentration threshold as dust collection locations 101 above the predetermined concentration threshold.

[0086] Furthermore, the unmanned aerial vehicle 2 may, in order to assist in detecting the dust concentration in the air purification area 100, capture an image of the air purification area 100 while irradiating it with an infrared laser beam using a laser pointer or the like, and then detect the dust concentration by scanning the degree of blurring and smearing of the laser beam in the irradiated space and performing image analysis. Alternatively, the three-dimensional dust concentration distribution in the factory space may be calculated by irradiating the air purification area 100 with an infrared laser beam in 360 degrees (up, down, left, right, and diagonally).

[0087] The dust area setting unit 32 then identifies one or more points (coordinates) of the dust collection position 101 where the dust concentration is above a predetermined concentration threshold, and expands the three-dimensional spatial coordinates at each point to form a dust area 105. At this time, the dust area setting unit 32 designates the air purifier 3 closest to the dust collection position 101 where the dust concentration is above the predetermined concentration threshold from among the multiple air purifiers 3 as the air purifier 3 that will collect dust at that dust collection position 101.

[0088] Here, a point at a dust collection position 101 with a concentration above a predetermined threshold is located above the center of the suction port 10a of the air purifier 3 designated for that dust collection position 101. As shown in Figure 8, the direction connecting the point to the intersection of vertical lines passing through the center of the suction port 10a of the air purifier 3 on the horizontal plane containing that point is defined as the front-to-back direction (Y direction) of the dust region 105. Furthermore, the direction intersecting the front-to-back direction of the dust region 105 on the horizontal plane containing the point at the dust collection position 101 with a concentration above a predetermined threshold is defined as the left-to-right direction (X direction) of the dust region 105. Note that the up-and-down direction (Z direction) of the dust region 105 is the vertical direction.

[0089] The dust area setting unit 32, in a three-dimensional spatial coordinate system, designates a two-dimensional region (for example, a square region) with predetermined lengths in the vertical direction (Z direction) and horizontal direction (X direction) centered on a dust collection position 101 where the concentration is above a predetermined threshold, as the dust area 104, as shown in Figure 8(1). At this time, the vertical and horizontal lengths of the two-dimensional dust area 104 may be predetermined lengths, or lengths determined based on the concentration distribution.

[0090] Furthermore, as shown in Figure 8(2), the dust area setting unit 32 offsets the two-dimensional dust range 104 (XZ plane) in the front-to-back direction (Y direction) with respect to the point of the dust collection position 101 where the dust concentration is equal to or greater than a predetermined concentration threshold, to specify a three-dimensional region (for example, a cubic region), and sets the three-dimensional dust area 105. Note that the dust area setting unit 32 does not limit the shape of the dust area 105 to be set to a cube, but may set the three-dimensional dust area 105 to other polygons or spheres.

[0091] As shown in Figures 1, 7, and 9, the airflow area setting unit 33 sets an airflow area 106 (dust collection flight area) in which the unmanned aerial vehicle 2 blows air toward the designated air purifier 3 relative to the dust collection position 101, based on the dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is above a predetermined concentration threshold, and calculates the coordinates of the airflow area 106 in the air purification area 100 (environmental map) and stores them in the storage unit 27. The airflow area setting unit 33 sets the airflow area 106 in the upper space above the workers, work equipment 6, each air purifier 3, and other obstacles in the room, and sets the airflow area 106 so that the unmanned aerial vehicle 2 can fly at a height where there are no obstacles in the horizontal direction. Note that the airflow area setting unit 33 may set one or more airflow areas 106 in the air purification area 100.

[0092] For example, the airflow area setting unit 33 sets the airflow area 106 by spacing it a predetermined distance apart on the extension of the vector 107 connecting the dust collection position 101 (where the dust concentration is above a predetermined threshold) and the air purifier 3. At this time, the airflow area setting unit 33 sets the predetermined airflow distance to the shortest distance in the vicinity of the suction port 10a of the air purifier 3 such that the second wind speed V2 due to the airflow (downwash) of the unmanned aerial vehicle 2 is less than the first wind speed V1 of the suction airflow 102.

[0093] Alternatively, the airflow area setting unit 33 may set the airflow distance such that the second wind speed V2 of the unmanned aerial vehicle 2 is less than or equal to half the first wind speed V1 of the air purifier 3 near the intake port 10a of the air purifier 3. Alternatively, the airflow area setting unit 33 may set the airflow distance such that the second wind speed V2 of the unmanned aerial vehicle 2 is 1 m / s or less or 0.5 m / s or less near the intake port 10a of the air purifier 3. The airflow area setting unit 33 may also calculate an attenuation level corresponding to the airflow distance for the second wind speed V2 due to the downwash of the unmanned aerial vehicle 2 based on data obtained from experiments or simulations of the airflow (downwash) of the unmanned aerial vehicle 2, and set the airflow distance based on that attenuation level.

[0094] Alternatively, the airflow area setting unit 33 may set the airflow distance by calculating the attenuation of the downwash of the unmanned aerial vehicle 2 using a mathematical formula. For example, the airflow area setting unit 33 may use the initial wind speed V(0) of the unmanned aerial vehicle 2, the distance d from the unmanned aerial vehicle 2, and the attenuation coefficient k to calculate the wind speed V(d) of the unmanned aerial vehicle 2 at a distance d using the formula V(d) = V(0) × e -kd It is calculated by [method].

[0095] Specifically, as shown in Figure 9(1), the airflow area setting unit 33 calculates a vector 107 from the dust collection position 101 above a predetermined concentration threshold to the air purifier 3, that is, it calculates the angle θ between the extension line connecting the point of the dust collection position 101 above a predetermined concentration threshold and the center of the suction port 10a of the air purifier 3, and the horizontal plane (XY plane) in the front-back and left-right directions. The tilt angle with respect to the vertical when the unmanned aerial vehicle 2 flies in the airflow area 106 is set to 90°-θ based on this angle θ. The airflow area setting unit 33 sets the airflow reference position 108 at a position a predetermined airflow distance from the center of the suction port 10a of the air purifier 3, on the extension line connecting the point of the dust collection position 101 above a predetermined concentration threshold and the center of the suction port 10a of the air purifier 3, and sets the airflow area 106 on the horizontal plane including the airflow reference position 108.

[0096] For example, the airflow area setting unit 33 sets a two-dimensional airflow area 106 on a horizontal plane including the airflow reference position 108, having a predetermined length in the front-to-back direction (Y direction) and the left-to-right direction (X direction) with the airflow reference position 108 as the center. Specifically, as shown in Figure 9(2), the airflow area setting unit 33 sets a two-dimensional airflow area 106 based on the intersection points of a straight line parallel to the extension line connecting the point of the dust collection position 101 above a predetermined concentration threshold and the center of the suction port 10a of the air purifier 3, and passing through each endpoint of the dust area 105, and the horizontal plane including the airflow reference position 108.

[0097] Note that the endpoints of the dust region 105 are not limited to the vertices that make up the outline of the dust region 105, but may also be the edges. The largest area shown on the horizontal plane by the intersection of a straight line passing through each position of the outline of the dust region 105 and parallel to the extension line mentioned above, and the horizontal plane containing the air blowing reference position 108, is defined as the two-dimensional air blowing region 106.

[0098] Alternatively, the airflow area setting unit 33 may set a two-dimensional airflow area 106 by using an extension line connecting the point of the dust collection position 101 and a dust collection area 103 where the first wind speed V1 near the suction port 10a of the air purifier 3 is equal to or greater than a predetermined value, instead of using an extension line connecting the point of the dust collection position 101 and the center of the suction port 10a of the air purifier 3.

[0099] Furthermore, in cases where the interior of a factory or other indoor space is narrow, the airflow area 106 may not be freely set due to the arrangement of the dust collection position 101 and the air purifier 3. In this case, when the airflow area setting unit 33 calculates the vector 107 from the dust collection position 101 to the air purifier 3, it may calculate the angle θ formed by the extension line connecting the point of the dust collection position 101 and the center of the suction port 10a of the air purifier 3 with respect to a direction shifted by a predetermined angle from the suction direction passing through the center of the suction port 10a of the air purifier 3, and use this as the vector 107 from the dust collection position 101 to the air purifier 3.

[0100] The flight plan creation unit 34 creates a flight plan based on the drawing data and environmental map of the air purification area 100, associating flight information such as flight altitude, flight speed, and tilt angle with the flight path for the unmanned aerial vehicle 2 to fly in the air purification area 100, and stores it in the memory unit 27. The flight plan creation unit 34 creates flight paths such as a dust collection flight path 110 (see Figure 10) for dust collection flight within the above-mentioned air blowing area 106, a mobile flight path 111 (see Figure 10) for traveling back and forth on the dust collection flight path 110, and an indoor mobile path 112 (see Figure 5) for moving between the waiting area 5 and the air blowing area 106.

[0101] The flight plan creation unit 34 sets the flight altitude for each flight path to be higher than the workers and work equipment 6 inside the room, each air purifier 3, and other obstacles, and to a height where there are no obstacles horizontally. The flight plan creation unit 34 may also set the flight altitude for each flight path in response to any operation by the worker. Furthermore, the flight plan creation unit 34 may set a common flight altitude for the dust collection flight path 110, the mobile flight path 111, and the indoor mobile path 112, or it may set different flight altitudes for each of them.

[0102] The flight plan creation unit 34 sets the flight speed for each flight path as follows: for the mobile flight path 111 and the indoor mobile flight path 112, it sets the standard flight speed for each type of unmanned aerial vehicle 2 (for example, 2 to 10 km / h); and for the dust collection flight path 110, it sets a flight speed higher than the standard flight speed (for example, 10 to 40 km / h) to increase the downwash wind speed. The flight plan creation unit 34 may also set the flight speed for each flight path according to arbitrary operations by the operator.

[0103] The flight speed and tilt angle of the unmanned aerial vehicle 2 are interdependent, and the faster the flight speed, the sharper the tilt angle becomes. Therefore, the flight plan creation unit 34 sets the tilt angle according to the set flight speed. Note that the flight speed and tilt angle of the unmanned aerial vehicle 2 during mobile flight differ depending on the model of the unmanned aerial vehicle 2. For example, the flight plan creation unit 34 may set the flight speed during dust collection flight to 2-4 km / h and the tilt angle to 2-3°.

[0104] As shown in Figure 10, the flight plan creation unit 34 sets multiple dust collection flight paths 110 that extend linearly in the front-to-back direction (Y direction) within the range of the air blowing area 106, offsetting them in the left-to-right direction (X direction) and spacing them apart. Figure 10(1) shows a plan view of the air blowing area 106 and the multiple dust collection flight paths 110, and Figure 10(2) shows an upward perspective view of the air blowing area 106 and the multiple dust collection flight paths 110. The flight plan creation unit 34 sets the starting point of each dust collection flight path 110 to the side closer to the air purifier 3 and the ending point to the side further away from the air purifier 3. The flight plan creation unit 34 sets the left-to-right offset interval of the multiple dust collection flight paths 110 as the distance between the center of the flight motor on one side of the unmanned aerial vehicle 2 and the center of the flight motor on the opposite side. In this way, the flight plan creation unit 34 can generate a downdraft (downwash) without gaps in the dust area 105 by setting multiple dust collection flight paths 110 without gaps within the range of the air blowing area 106.

[0105] In other words, the air-blowing area 106 is a dust-collecting flight area where the unmanned aerial vehicle 2 flies for dust collection by the air purifier 3. When the unmanned aerial vehicle 2 flies in the dust-collecting flight area, as shown in Figure 7(2), the unmanned aerial vehicle 2 blows air onto the dust in the dust area 105, and the air purifier 3 collects the blown dust-containing air.

[0106] Furthermore, as shown in Figure 10, the flight plan creation unit 34 sets a mobile flight path 111 for the unmanned aerial vehicle 2 to move between each of the dust collection flight paths 110, which are the outbound paths, in order to have the unmanned aerial vehicle 2 fly back and forth along multiple dust collection flight paths 110 in the air blowing area 106. For example, the flight plan creation unit 34 sets a mobile flight path 111 so that after the unmanned aerial vehicle 2 has finished flying along one dust collection flight path 110 and has flown away from the air purifier 3 from the end point of that dust collection flight path 110, it moves to the next dust collection flight path 110 by passing along one side of the air blowing area 106 to the starting point of that next dust collection flight path 110. Note that in the mobile flight path 111, the path along one side of the air blowing area 106 may be used in common as the return path for each dust collection flight path 110.

[0107] Furthermore, if multiple air-blowing areas 106 (dust collection flight areas) are installed in the air purification area 100, the flight plan creation unit 34 connects each dust collection flight area with a straight line from the waiting area 5 and sets the indoor travel path 112 so that the unmanned aerial vehicle 2 moves through each dust collection flight area by the shortest distance.

[0108] The flight control unit 35 controls the multiple flight motors of the flight unit 21 to rotate each of the flight wings, and controls the flight altitude, flight direction, flight attitude, and flight speed of the unmanned aerial vehicle 2 so that it automatically flies over the air purification area 100 according to the flight plan created by the flight plan creation unit 34. In particular, the flight control unit 35 functions as a blower control unit that controls the flight (positioning) and blower airflow of the unmanned aerial vehicle 2 so that it blows air into the dust collection area 103 while passing through the blower area 106.

[0109] Specifically, the flight control unit 35 controls the flight unit 21 so that the unmanned aerial vehicle 2, which is waiting at the waiting area 5, moves to each air-blowing area 106 according to the indoor movement path 112 of the flight plan and flight information such as flight altitude, flight speed, and tilt angle associated with the indoor movement path 112.

[0110] Furthermore, the flight control unit 35 controls the flight unit 21 so that the unmanned aerial vehicle 2, upon arriving in the air-blowing area 106, performs dust collection flight in the air-blowing area 106 according to the flight information such as the flight altitude, flight speed, and tilt angle associated with the multiple dust collection flight paths 110 of the flight plan. At this time, the flight control unit 35 controls the unmanned aerial vehicle 2 to fly from the starting point to the ending point of each dust collection flight path 110, and to perform dust collection flight by blowing air towards the corresponding dust-collectible area 103 and the air-blowing area 3 while flying in a direction away from the air purifier 3 along each dust collection flight path 110.

[0111] Furthermore, the flight control unit 35 controls the flight unit 21 to perform a mobile flight from the end point of one dust collection flight path 110 to the starting point of an adjacent dust collection flight path 110, according to the mobile flight path 111 of the flight plan and flight information such as flight altitude, flight speed, and tilt angle associated with the mobile flight path 111. In this way, the flight control unit 35 controls the flight unit 21 so that the unmanned aerial vehicle 2 flies back and forth along multiple dust collection flight paths 110 in the blowing area 106.

[0112] Furthermore, when the unmanned aerial vehicle 2 completes a dust collection flight along one of the multiple dust collection flight paths 110 in the air-blowing area 106, the flight control unit 35 remeasures the dust concentration at the dust collection position 101 corresponding to the air-blowing area 106 using the dust concentration meter 4. If the dust concentration falls below a predetermined concentration threshold, the flight control unit 21 is controlled according to the indoor movement path 112 and flight information to move to the air-blowing area 106 for the next dust collection position 101. On the other hand, if the dust concentration measured again is above a predetermined concentration threshold, the flight control unit 35 controls the flight unit 21 according to the dust collection flight path 110, the movement flight path 111, and flight information to perform a dust collection flight along one of the multiple dust collection flight paths 110 in the air-blowing area 106 again.

[0113] As a result, the flight control unit 35 controls the flight unit 21 so that the unmanned aerial vehicle 2 repeats dust collection flights in the corresponding air blowing area 106 from when the dust concentration at the dust collection position 101 exceeds a predetermined concentration threshold until it falls below the predetermined concentration threshold.

[0114] Furthermore, when the unmanned aerial vehicle 2 has completed its dust collection flight until the dust concentration at each corresponding dust collection position 101 in all air-blowing areas 106 falls below a predetermined concentration threshold, the flight control unit 35 controls the flight unit 21 to return the unmanned aerial vehicle 2 to the waiting area 5 according to the indoor travel path 112 of the flight plan and flight information such as flight altitude, flight speed, and tilt angle associated with the indoor travel path 112.

[0115] [Example of air purification system operation] An example of the operation of the air purification system 1 of this embodiment will be explained with reference to the flowcharts in Figures 11 and 12.

[0116] As shown in Figure 11, first, in order to perform air purification in a predetermined air purification area 100, the unmanned aerial vehicle 2 is activated when it detects a predetermined start timing (for example, the factory's start time of 8:00 AM) using a timer (step S1).

[0117] Furthermore, the air purifier 3 starts up and begins dust collection operation when it detects a predetermined start timing (for example, the factory's start time of 8:00 AM) using a timer (step S2). At this time, the air purifier 3 transmits an operation start signal to the unmanned aerial vehicle 2 (step S3).

[0118] When the unmanned aerial vehicle 2 receives an operation start signal from the air purifier 3 (step S4), it measures the dust concentration using each dust concentration meter 4 according to the passage of a predetermined time interval (step S5), and when it detects a dust collection position 101 where the dust concentration is above a predetermined concentration threshold (step S5: Yes), it proceeds to the flight plan creation operation shown in Figure 12 (step S6) in order to perform a dust collection flight in the air purifying area 100.

[0119] Furthermore, if the unmanned aerial vehicle 2 does not detect a dust collection location 101 where the dust concentration is above a predetermined concentration threshold (step S5: No), it will continue to wait at the waiting location 5 without proceeding to the flight plan creation operation.

[0120] As shown in Figure 12, in the flight plan creation operation, the unmanned aerial vehicle 2 first obtains the environmental map of the air purification area 100, which was acquired by the environmental map acquisition unit 30, from the storage unit 27 (step S20).

[0121] The unmanned aerial vehicle 2, using the dust area setting unit 32, detects each dust collection position 101 in the air purification area 100 where the dust concentration is above a predetermined concentration threshold (step S21), and designates the air purification device 3 closest to each dust collection position 101 (step S22).

[0122] Furthermore, the unmanned aerial vehicle 2, using the dust area setting unit 32, sets the front-to-back direction of each dust collection position 101 in the air purification area 100 based on each dust collection position 101 and the designated air purification device 3, and sets each two-dimensional dust range 104 extending from each dust collection position 101 in the left-to-right and up-to-down directions (step S23).

[0123] The unmanned aerial vehicle 2 sets up three-dimensional dust regions 105 in the air purification area 100 by offsetting each two-dimensional dust region 104 in the front-rear direction, with each dust collection position 101 as the center (step S24).

[0124] The unmanned aerial vehicle 2 sets each air blowing area 106 in the air purification area 100 based on a vector 107 that passes through each dust area 105 and the designated air purification device 3, using the air blowing area setting unit 33 (step S25).

[0125] The unmanned aerial vehicle 2 uses a flight plan creation unit 34 to set up multiple dust collection flight paths 110 that will perform dust collection flights in each air blowing area 106 within the air purification area 100, and a movement flight path 111 that will move between the dust collection flight paths 110 in each air blowing area 106 (step S26). It then sets an indoor movement path 112 that will move to each air blowing area 106 to create a flight plan (step S27) and completes the flight plan creation operation.

[0126] The unmanned aerial vehicle 2 is controlled by the flight control unit 35 to move and fly over the air purification area 100 according to the flight plan (step S7), and to perform dust collection flight in each air supply area 106 (step S8).

[0127] When the unmanned aerial vehicle 2 finishes its dust collection flight in each airflow area 106, it remeasures the dust concentration at the dust collection position 101 corresponding to that airflow area 106 using the dust concentration meter 4 and determines whether the dust concentration is above a predetermined concentration threshold (step S9).

[0128] If the dust concentration measured again by the unmanned aerial vehicle 2 is above a predetermined concentration threshold (step S9: Yes), the flight control unit 35 controls the flight unit 21 to perform dust collection flight again in the blowing area 106 (step S8).

[0129] On the other hand, if the dust concentration measured again is less than a predetermined concentration threshold (Step S9: No) and there is a blowing area 106 for the next dust collection position 101 (Step S10: Yes), the flight control unit 35 controls the flight unit 21 to move to the blowing area 106 for the next dust collection position 101 (Step S7), and controls the flight unit 21 to perform dust collection flight in the next blowing area 106 (Step S8).

[0130] Furthermore, if there is no airflow area 106 for the next dust collection position 101 (step S10: No), that is, if the dust concentration at all dust collection positions 101 falls below a predetermined concentration threshold, the flight control unit 35 controls the flight unit 21 to return to the standby position 5 (step S11).

[0131] Alternatively, when the air purifier 3 starts and stops in response to a stop operation by an operator or when a predetermined stop timing is detected by a timer, it sends a stop signal to the unmanned aerial vehicle 2. When the unmanned aerial vehicle 2 receives a stop signal from the air purifier 3, the flight control unit 35 may control the flight unit 21 to return to the standby location 5.

[0132] Alternatively, if the unmanned aerial vehicle 2 receives a stop signal from the air purifier 3, it may control the flight unit 21 to return to the standby location 5 after performing dust collection flights in each airflow area 106 until the dust concentration at all dust collection locations 101 falls below a predetermined concentration threshold.

[0133] [Configuration and Effects of This Embodiment] As described above, according to this embodiment, the air purification system 1 comprises an air purifier 3 for collecting dust in the indoor air, an unmanned aerial vehicle 2 which is a blower for blowing indoor air, and a dust concentration meter 4 (dust concentration measuring unit) for measuring the dust concentration in the indoor air. The system includes a control unit 26, which is a computer in the unmanned aerial vehicle 2, which includes a blower area setting unit 33 that sets a blower area 106 based on a dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is above a predetermined concentration threshold, a dust collection area setting unit 31 that sets a dust collection area 103 for collecting dust in the air based on the suction airflow 102 of the air purifier 3, and a flight control unit 35 which is a blower control unit that controls the arrangement of the unmanned aerial vehicle 2 and the blower airflow so that air is blown from the blower area 106 to the dust collection area 103.

[0134] In other words, the air purification method for purifying indoor air using an air purifier 3 that collects dust in the indoor air, an unmanned aerial vehicle 2 which is a blower that blows indoor air, and a dust concentration meter 4 (dust concentration measuring unit) that measures the dust concentration in the indoor air, includes a blower area setting step which is operated by a control unit 26 which is a computer in the unmanned aerial vehicle 2, and sets a blower area 106 based on a dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is above a predetermined concentration threshold; a dust collection area setting step which is operated by a suction airflow 102 of the air purifier 3 and sets a dust collection area 103 for collecting dust in the air; and a blower control step which controls the arrangement of the unmanned aerial vehicle 2 and the blower airflow so that the air is blown from the blower area 106 to the dust collection area 103.

[0135] In other words, a program for purifying indoor air using an air purifier 3 that collects dust in the indoor air, an unmanned aerial vehicle 2 which is a blower that blows indoor air, and a dust concentration meter 4 (dust concentration measuring unit) that measures the dust concentration in the indoor air includes a blower area setting step that sets a blower area 106 based on a dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is above a predetermined concentration threshold, a dust collection area setting step that sets a dust collection area 103 for collecting dust in the air based on the suction airflow 102 of the air purifier 3, and a blower control step that controls the position of the unmanned aerial vehicle 2 and the blower airflow so that the air is blown from the blower area 106 to the dust collection area 103. This program is executed by a control unit 26, which is a computer equipped in the unmanned aerial vehicle 2.

[0136] With this configuration, the air purification system 1 controls the airflow (blows air) by operating a blower such as the unmanned aerial vehicle 2 to control the airflow against fine dust particles floating in the room. The air purification device 3 then sucks in and captures the blown dust-containing air, enabling it to exhibit high dust collection capabilities. In this way, even fine dust particles that remain in the room are collected without any leakage, and the indoor working environment can be kept clean.

[0137] Furthermore, in this embodiment, the air purification system 1 includes a plurality of air purification devices 3, the dust collection area setting unit 31 sets one dust collection area 103 based on the arrangement of the plurality of air purification devices 3 and the suction airflow 102, and the flight control unit 35 controls the arrangement of the unmanned aerial vehicle 2 and the airflow to blow air towards the one dust collection area 103 while passing through the airflow area 106.

[0138] As a result, the air purification system 1 controls the airflow (blows air) by operating a blower device such as an unmanned aerial vehicle 2 for each of the multiple air purification devices 3, allowing each air purification device 3 to suck in and capture the blown dust-containing air and collect dust, thereby demonstrating a high dust collection capacity.

[0139] In this embodiment, the airflow area setting unit 33 sets the airflow area 106 by spacing a predetermined airflow distance between the dust collection position 101 and the air purifier 3 on the extension line between them, the flight control unit 35 controls the unmanned aerial vehicle 2 to control the airflow of the room as it passes through the airflow area 106, and the air purifier 3 collects dust from the air whose airflow has been controlled by the unmanned aerial vehicle 2.

[0140] As a result, the air purification system 1 limits the range in which the unmanned aerial vehicle 2 blows air from the dust collection position 101 to the air purification device 3 to the air blowing area 106, based on the arrangement of the dust collection position 101 and the air purification device 3. This ensures that fine dust particles floating in the air, centered around the dust collection position 101 where the dust concentration is high, are reliably sent to the air purification device 3 by the air blown from the unmanned aerial vehicle 2. Furthermore, this allows the unmanned aerial vehicle 2 to operate efficiently and prevents fine dust particles from being blown away regardless of the air purification device 3.

[0141] Furthermore, in this embodiment, the air purification system 1 includes a dust area setting unit 32 that sets a dust area 105 centered on a dust collection position 101 where the dust concentration measured by the dust concentration meter 4 is equal to or greater than a predetermined concentration threshold.

[0142] This allows the air purification system 1 to easily set a blowing area 106 such that the airflow generated by the blowing of the unmanned aerial vehicle 2 passes through the dust area 105.

[0143] Furthermore, in this embodiment, the airflow area setting unit 33 sets the airflow area 106 by setting a predetermined airflow distance in the vicinity of the air purifier 3 such that the second wind speed V2 caused by the airflow from the unmanned aerial vehicle 2 is less than the first wind speed V1 caused by the suction of the air purifier 3.

[0144] As a result, the air purification system 1 can easily and reliably draw in dusty air that has been brought near the air purification device 3 by the downdraft generated by the airflow from the unmanned aerial vehicle 2.

[0145] Furthermore, in this embodiment, the blower is composed of an unmanned aerial vehicle 2 or a circulator.

[0146] As a result, the air purification system 1 can efficiently blow air to the air purification device 3 via the dust collection position 101 using either the unmanned aerial vehicle 2 or a circulator.

[0147] Furthermore, in this embodiment, the airflow area setting unit 33 sets the airflow area 106 in the space above the air purifier 3.

[0148] As a result, the air purification system 1 can generate a downdraft from above using the airflow from the unmanned aerial vehicle 2 to remove fine dust particles that remain in the upper space of the room, and the air purification device 3 can easily and reliably draw in the dusty air that has been sent near the air purification device 3.

[0149] Furthermore, in this embodiment, the air purification system 1 includes a flight plan creation unit 34 that sets multiple linear flight paths for the unmanned aerial vehicle 2 to fly by offsetting them in the air supply area 106, and the flight control unit 35 controls the unmanned aerial vehicle 2 to perform a dust collection flight in which the unmanned aerial vehicle 2 flies along multiple flight paths away from the air purification unit 3 while blowing air towards the dust collection area 103.

[0150] As a result, the air purification system 1 can generate a downdraft evenly at each position in the airflow area 106, allowing it to blow air at a range level rather than a point level towards fine dust floating near the dust collection position 101, and enabling the air purification device 3 to easily and reliably draw in the dusty air sent near it.

[0151] In this embodiment, the flight control unit 35 controls the unmanned aerial vehicle 2 to repeatedly perform dust collection flights along multiple flight paths in the air blowing area 106 corresponding to the dust collection position 101, from when the dust concentration at the dust collection position 101, as measured by the dust concentration meter 4, exceeds a predetermined concentration threshold until it falls below that predetermined concentration threshold.

[0152] As a result, the air purification system 1, The concentration of fine dust particles floating in the air can be reliably reduced, centered around the dust collection position 101 where the dust concentration is high.

[0153] [First variation] In the above-described embodiment, the air purification system 1 was described in which an unmanned aerial vehicle 2 is used as a blower that blows air to the air purification device 3 via the dust collection position 101. However, the present invention is not limited to this example.

[0154] In the first modified example, the air purification system 1 may include a circulator as a blower, instead of the unmanned aerial vehicle 2, which blows air to the air purification device 3 via the dust collection position 101 to generate a downdraft. In this case, the air purification system 1 is configured such that the air purification device 3 and a computer on a cloud server linked to the air purification device 3 function as a blower control unit that controls the circulator, controlling the placement of the circulator and the airflow so that the circulator blows air through the blower area 106 towards the dust collection area 103.

[0155] The circulator is installed near the air purification device 3 and the work equipment 6 in an indoor space such as a factory, which is an air purification area 100, so as to blow air that sends dust generated by the work equipment 6 to the air purification device 3, based on the arrangement of the air purification device 3 and the work equipment 6.

[0156] The air purification system 1 attaches a circulator to the upper end of an extendable member, such as an electrically operated cylinder that can extend and retract vertically, allowing the vertical position of the circulator to be changed. The circulator should be small and configured to allow the direction of the airflow to be changed. The air purification system 1 transmits airflow instructions to the circulator via a blower control unit, and by rotating the circulator in place, the range of the downward airflow can be widened, and dust that accumulates in a wide area in the upper space can be effectively collected.

[0157] Furthermore, the air purification system 1 can determine in advance the location and height of the air purifier 3 and dust concentration meter 4 installed in the room, based on the drawing data and environmental map of the air purification area 100.

[0158] Therefore, the air purification system 1 identifies the dust concentration meter 4 closest to the air purifier 3 and calculates a vector 107 (angle θ) from the air purifier 3 (center of the suction port 10a or a suction point 102a at a predetermined distance) to the dust concentration meter 4. The air purification system 1 places the circulator on the extension of the vector 107 at a position where the second wind speed V2 caused by the circulator's airflow is smaller than the first wind speed V1 of the suction airflow 102 of the air purifier 3. At this time, the air purification system 1 should place the circulator so that the direction of the airflow is toward the air purifier 3 along the vector 107.

[0159] [Second variation] Furthermore, in the above-described embodiment, an example was explained in which a dust collection position 101 where the dust concentration is above a predetermined concentration threshold is located on the side of the suction port 10a of the air purifier 3 that is closest to the dust collection position 101. However, as shown in Figures 13 and 14, a dust collection position 101 where the dust concentration is above a predetermined concentration threshold may be located on the side of the exhaust port 10b, which is opposite to the suction port 10a of the air purifier 3 that is closest to the dust collection position 101.

[0160] In this case, as a second modification, the dust area setting unit 32 sets a suction point 102a at a predetermined distance upstream of the suction airflow 102 from the center of the suction port 10a of the air purifier 3, as shown in Figures 13(2) and 14(1). On a horizontal plane including the point of the dust collection position 101, the direction connecting the intersection of vertical lines passing through the suction point 102a and the point of the dust collection position 101 is defined as the front-to-back direction (Y direction) of the dust area 105. Furthermore, the dust area setting unit 32 defines the direction intersecting the front-to-back direction of the dust area 105 on a horizontal plane including the point of the dust collection position 101 as the left-to-right direction (X direction) of the dust area 105. Note that the up-and-down direction (Z direction) of the dust area 105 is the vertical direction.

[0161] Then, the dust area setting unit 32, similar to the embodiment described above, specifies a two-dimensional dust area 104 in the vertical direction (Z direction) and the horizontal direction (X direction) with the dust collection position 101 as the center in a three-dimensional spatial coordinate system, and sets a three-dimensional dust area 105 by offsetting the two-dimensional dust area 104 (XZ plane) in the front-to-back direction (Y direction).

[0162] Furthermore, the airflow area setting unit 33 sets the airflow reference position 108 at a predetermined airflow distance from the suction point 102a, which is on the extension of the line between the dust collection point 101 and the suction point 102a, which is located at the predetermined distance mentioned above. The airflow area setting unit 33 then sets a two-dimensional airflow area 106 on the horizontal plane based on the intersection points of the horizontal plane including the airflow reference position 108 and the straight lines passing through each endpoint of the dust area 105 and parallel to the extension line.

[0163] As a result, when a blower such as an unmanned aerial vehicle 2 or a circulator blows air from the blowing area 106 through the dust area 105, the air purifier 3 can send the blown air to the intake port 10a side without being in a blind spot.

[0164] [Third variation] Furthermore, in the air purification system 1, as shown in Figures 15 and 16, if the air purification device 3 is fixed to the floor in an indoor space such as a factory, which is the air purification area 100, the vertical distance between the dust collection position 101 for fine dust floating in the upper space and the dust collection area 103 around the suction port 10a of the air purification device 3, which is located in the lower space, may become too large. In this case, the second wind velocity produced by the airflow (downwash) from a blower such as the unmanned aerial vehicle 2 or a circulator may decrease to zero before reaching the suction port 10a.

[0165] Therefore, as a third modification, the air purification system 1 sets up multi-stage airflow areas 106 based on the dust collection position 101 when the vertical distance between the dust collection position 101 and the corresponding suction port 10a of the air purification device 3 in the air purification area 100 is greater than a predetermined value, and controls the air blowing device such as the unmanned aerial vehicle 2 or a circulator to blow air in stages in the multi-stage airflow areas 106.

[0166] For example, the third modified air purification system 1 utilizes a dust concentration meter 4 capable of measuring dust concentrations at multiple measurement points in the vertical direction. First, as shown in Figure 15(1), the air purification system 1 measures the dust concentration at the first stage measurement points from above using the dust concentration meter 4, and the unmanned aerial vehicle 2 uses the dust region setting unit 32 to set the first stage dust region 105 centered on the first stage dust collection position 101a where the dust concentration measured by the first stage dust concentration meter 4 is above a predetermined concentration threshold.

[0167] Furthermore, as shown in Figure 15(2), the unmanned aerial vehicle 2 sets the first stage airflow area 106a based on a vector 107 that passes through the first stage dust area 105 (first stage dust collection position 101a) and the air purifier 3 (suction point 102a located at the center of the suction port 10a or a predetermined distance away) using the airflow area setting unit 33, and the flight plan creation unit 34 creates a flight plan to perform dust collection flight in the first stage airflow area 106a within the air purification area 100. Then, the unmanned aerial vehicle 2 controls the flight unit 21 by the flight control unit 35 to automatically fly over the air purification area 100 according to the flight plan and perform dust collection flight in the first stage airflow area 106a.

[0168] When the unmanned aerial vehicle 2 completes its dust collection flight in the first stage airflow area 106a, before moving to the airflow area 106 for the next dust collection position 101, the air purification system 1 measures the dust concentration from above at the second stage measurement point using the dust concentration meter 4, as shown in Figure 16(1). The unmanned aerial vehicle 2 then uses the dust area setting unit 32 to set the second stage dust area 105 centered on the second stage dust collection position 101b where the dust concentration measured by the second stage dust concentration meter 4 is above a predetermined concentration threshold.

[0169] Furthermore, as shown in Figure 16(2), the unmanned aerial vehicle 2 sets the second-stage airflow area 106b based on a vector 107 that passes through the second-stage dust area 105 (second-stage dust collection position 101b) and the air purifier 3 (suction point 102a located at the center of the suction port 10a or a predetermined distance away) using the airflow area setting unit 33, and the flight plan creation unit 34 creates a flight plan to perform dust collection flight in the second-stage airflow area 106b within the air purification area 100. Then, the unmanned aerial vehicle 2 controls the flight unit 21 by the flight control unit 35 to automatically fly over the air purification area 100 according to the flight plan and perform dust collection flight in the second-stage airflow area 106b.

[0170] In the example described above, the air purification system 1 measures the dust concentration in two stages, sets two dust collection positions 101 and dust areas 105, and sets two airflow areas 106, and the unmanned aerial vehicle 2 performs a two-stage dust collection flight. However, in the third modified example, these operations may be performed in three or more stages.

[0171] As a result, the unmanned aerial vehicle 2 descends in stages, performing airflow through dust collection flight in each stage of the airflow area 106, thereby gradually lowering the dust collection position 101 of fine dust floating in the upper space and sending it to the intake port 10a of the air purifier 3. Furthermore, by lowering the dust collection position 101 of fine dust from the upper space, the second air velocity produced by the airflow in the lower stage of the airflow area 106 of the unmanned aerial vehicle 2 can reach the intake port 10a without reduction.

[0172] [Fourth variation] Furthermore, in the air purification system 1, as shown in Figure 17, fine dust may accumulate approximately directly above the intake port 10a of the air purification device 3 in the indoor space of a factory or other building which is the air purification area 100. In this case, as shown in Figure 17(1), the angle θ between the extension line connecting the dust area 105 (dust collection position 101) and the air purification device 3 (the center of the intake port 10a or a suction point 102a located at a predetermined distance) and the horizontal plane becomes approximately 90°, and the tilt angle of the unmanned aerial vehicle 2 with respect to the vertical during dust collection flight becomes approximately 0°, making it impossible to fly in a direction away from the air purification device 3.

[0173] Therefore, in the fourth modified example, in the air purification system 1, when the angle θ between the extension line connecting the dust region 105 and the air purification device 3 and the horizontal plane is within a predetermined range of approximately 90°, the flight plan creation unit 34 creates a flight plan by setting a flight path to perform a hovering air-blowing flight, which involves hovering and turning in the air-blowing region 106 to blow air into the dust-collectible region 103, as shown in Figure 17(2). Then, the unmanned aerial vehicle 2 is controlled by the flight control unit 35 to automatically fly over the air purification area 100 according to the flight plan and to perform a hovering air-blowing flight in the air-blowing region 106 by controlling the flight unit 21.

[0174] As a result, even if a dust collection position 101 where the dust concentration is above a predetermined concentration threshold is located directly above the suction port 10a of the air purifier 3, dust at the dust collection position 101 can be efficiently collected.

[0175] Furthermore, in the fourth modified example, the dust collection flight and hovering-air-blowing flight may be switched in the air-blowing area 106 depending on the positional relationship between the dust area 105 (dust collection position 101) and the air purifier 3 (suction port 10a) (their respective positions and the angle θ between the extension line and the horizontal plane). For example, the unmanned aerial vehicle 2 may, using the flight plan creation unit 34, determine, based on the positional relationship between the dust area 105 and the air purifier 3, which positions in the air-blowing area 106 allow air to be blown into the dust collection area 103 during dust collection flight and which positions allow air to be blown into the dust collection area 103 during hovering-air-blowing flight, and then create a flight plan by setting the flight path to switch between dust collection flight and hovering-air-blowing flight.

[0176] This allows the unmanned aerial vehicle 2 to fly efficiently and collect dust from the air, regardless of the position of the dust collection position 101 where the dust concentration is above a predetermined concentration threshold and the suction port 10a of the air purifier 3.

[0177] [Fifth variation] Furthermore, in the air purification system 1, as shown in Figure 18(1), in the indoor space of a factory or other building which is the air purification area 100, the horizontal distance (front-to-back and left-to-right) between the dust collection position 101 for fine dust and the dust collection area 103 around the suction port 10a of the air purification device 3 may be too great. In this case, the angle θ between the extension line connecting the dust area 105 (dust collection position 101) and the air purification device 3 (suction point 102a located at a predetermined distance from the center of the suction port 10a) and the horizontal plane becomes close to 0°, and the tilt angle of the unmanned aerial vehicle 2 during dust collection flight becomes close to 90°, causing the flight speed to become too high and making dust collection flight impossible.

[0178] Therefore, in the fifth modified example, in the air purification system 1, when the angle θ between the extension line connecting the dust region 105 and the air purification device 3 and the horizontal plane is within a predetermined range near 0°, and the air blowing region 106 based on the extension line is located above the dust collection region 103 of the air purification device 3, the flight plan creation unit 34 creates a flight plan by setting the dust collection flight path 110 to move in a circular motion while hovering in the air blowing region 106, as shown in Figure 18(2).

[0179] The flight plan creation unit 34 sets the shortest distance at which the second wind speed V2 caused by the airflow (downwash) of the unmanned aerial vehicle 2 becomes smaller than the first wind speed V1 of the intake airflow 102 of the air purifier 3, as the flight altitude during hovering. Since the tilt angle at which the unmanned aerial vehicle 2 can perform dust collection flight differs for each model of unmanned aerial vehicle 2, the predetermined range around 0° for determining the angle θ between the extension line and the horizontal plane described above may be set based on the tilt angle at which each model of unmanned aerial vehicle 2 can perform dust collection flight.

[0180] Then, the flight control unit 35 controls the flight unit 21 of the unmanned aerial vehicle 2 to automatically fly over the air purification area 100 according to the flight plan, and perform dust collection flight by hovering and circling within the air blowing area 106.

[0181] Furthermore, in the fifth modified example, similar to the fourth modified example, dust collection flight and hovering air blowing flight may be switched in the air blowing area 106 depending on the positional relationship between the dust area 105 and the air purifier 3.

[0182] [Sixth variation] As a sixth modification, in the air purification system 1, the lower end of the unmanned aerial vehicle 2 may be moored to the air purification device 3 (such as the upper end or the area around the intake port 10a) by a string-like mooring member 40 such as a wire or cable, as shown in Figure 19. The unmanned aerial vehicle 2 may also be electrically connected to the mooring member 40 and configured to be rechargeable by receiving power through the mooring member 40.

[0183] When the unmanned aerial vehicle 2 is moored to the mooring member 40 and performs dust collection flight in the air blowing area 106, the distance from the air purifier 3 is maintained by the mooring member 40, so the dust collection flight state can be maintained at a fixed point.

[0184] For example, as shown in Figure 19(1), the unmanned aerial vehicle 2 has a waiting area 5 on top of the air purifier 3 installed on the floor, and is equipped with a winding unit (not shown) such as a spool that can be rotated by a motor, and the mooring member 40 is wound around this winding unit and stored. The unmanned aerial vehicle 2 releases the mooring member 40 by rotating the winding unit forward in response to the start of flight toward dust collection flight, and when it reaches the air blowing area 106, it locks the rotation of the winding unit to stop the release of the mooring member 40, and as shown in Figure 19(2), by maintaining the mooring member 40 at a predetermined length, it can maintain a tilted state that blows air toward the air purifier 3 in the air blowing area 106 and maintain the dust collection flight state.

[0185] When the unmanned aerial vehicle 2 finishes its dust collection flight and returns to the top of the air purifier 3, it reverses the winding mechanism to rewind and store the mooring member 40. The unmanned aerial vehicle 2 may also be equipped with a mooring member 40 that is adjustable in length, utilizing the structure of a measuring tape (convex).

[0186] [7th variation] As a seventh modification, the air purification system 1 may be equipped with a string-like mooring member 40, such as a wire or cable, attached to the ceiling or crane of the room, as shown in Figure 20(1), and the upper end of the unmanned aerial vehicle 2 may be moored by the mooring member 40, as shown in Figure 20(2). The unmanned aerial vehicle 2 may be electrically connected to the mooring member 40 and configured to be rechargeable by receiving power through the mooring member 40.

[0187] When the unmanned aerial vehicle 2 is tethered to the mooring member 40 and performs dust collection flight in the air blowing area 106, it can perform turning flight while maintaining the distance from the pivot point of the mooring member 40, thus allowing the tilt angle to be changed and the dust collection flight state to be maintained at a fixed point. In addition, the unmanned aerial vehicle 2 can generate downwash over a wide area in the air blowing area 106, allowing fine dust in the air to be sent over a wider area to the dust collection area 103 of the air purifier 3.

[0188] The unmanned aerial vehicle 2 may be pre-fixed and moored to the mooring member 40 of the room ceiling or crane, or it may be configured to be detachably attached to the mooring member 40 suspended from the room ceiling or crane, so that it can move to the mooring member 40 and be moored when performing dust collection flight. In this case, the unmanned aerial vehicle 2 may be moored by hooking its upper end onto a hook provided at the tip of the mooring member 40, or it may be moored using the magnetic force (attraction) between a magnet provided at the tip of the mooring member 40 and the upper end of the unmanned aerial vehicle 2.

[0189] [Other variations] In the above-described embodiment of the air purification system 1, an example was described in which the control unit 26 of the unmanned aerial vehicle 2 operates as an environmental map acquisition unit 30, a dust collection area setting unit 31, a dust area setting unit 32, a blower area setting unit 33, and a flight plan creation unit 34. However, the present invention is not limited to this example. In other examples, the air purification system 1 may be configured such that a computer provided in a cloud server (not shown) that can communicate with the unmanned aerial vehicle 2, or the control unit 12 of the air purification device 3, operates as an environmental map acquisition unit 30, a dust collection area setting unit 31, a dust area setting unit 32, a blower area setting unit 33, and a flight plan creation unit 34, and transmits necessary information and instructions to the unmanned aerial vehicle 2.

[0190] Furthermore, the present invention may be modified as appropriate, provided that it does not contradict the gist or idea of ​​the invention as can be read from the claims and the specification as a whole, and such modified air purification systems, air purification methods, and programs are also included in the technical concept of the present invention. [Industrial applicability]

[0191] The present invention can be suitably used in systems, methods, and programs for purifying dust-containing air generated from work equipment such as processing machines installed in indoor spaces such as factories. [Explanation of symbols]

[0192] 1. Air purification system 2 Unmanned flying device (air blower) 3. Air purifier 4 Dust concentration meter (dust concentration measurement section) 5. Waiting area 6. Work Equipment 10 Main unit of the device 10a Suction port 10b Exhaust port 11. Air purification unit 12 Control Unit 13 Storage section 14 Communications Department 15 Power supply section 16 Suction part 17 Dust collection unit 20 Main unit of the device 21. Flight Division 22 Imaging Department 23 Flight detection unit 24 Measurement Unit 25 Power supply section 26 Control Unit 27 Memory section 28 Communications Department 30 Environmental Map Acquisition Section 31 Dust collection area setting section 32 Dust area setting section 33 Airflow area setting unit 34 Flight Plan Creation Department 35 Flight Control Unit (Air Blower Control Unit) 40 Mooring member 100 air purification areas 101, 101a, 101b Dust collection position 102 Intake airflow 102a Suction point 103 Dust collection area 104 Dust range 105 Dust area 106, 106a, 106b ventilation area 107 Vectors 108 Air blow reference position 110 Dust collection flight path 111 Mobile Flight Paths 112 Indoor movement routes

Claims

1. An air purifier that collects dust particles from the indoor air, A blower for blowing air into the room, An air purification system comprising a dust concentration measuring unit for measuring the dust concentration in the air inside the aforementioned room, A blower area setting unit sets a blower area based on a dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold, A dust collection area setting unit sets a dust collection area for collecting dust from the air based on the suction airflow of the air purifier, An air purification system characterized by comprising a blower control unit that controls the arrangement of the blower and the airflow so as to blow air through the blower area and into the dust collection area.

2. Equipped with multiple air purifiers, The dust collection area setting unit sets one dust collection area based on the arrangement of the multiple air purifiers and the suction airflow, The blower control unit controls the arrangement of the blower and the airflow so that the air passes through the blower area and is blown towards the one dust collection area. The air purification system according to feature 1.

3. The airflow area setting unit sets the airflow area by spacing a predetermined airflow distance apart on the extension line between the dust collection position and the air purifier. The air blower control unit controls the air blower to control the airflow of the room as it passes through the air blowing area. The air purification system according to claim 1, characterized in that the air purifier collects dust in the air whose airflow is controlled by the blower.

4. The air purification system according to claim 1, further comprising a dust region setting unit that sets a dust region centered on the dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold.

5. The air purification system according to claim 1, characterized in that the air blowing area setting unit sets the air blowing area by setting the predetermined air blowing distance in the vicinity of the air purifier such that the second air velocity due to the blowing of the blower is less than the first air velocity due to the suction of the air purifier.

6. The air purification system according to claim 1, characterized in that the blowing device is composed of an unmanned aerial vehicle or a circulator.

7. The air purification system according to claim 1, characterized in that the air blowing area setting unit sets the air blowing area in the space above the air purifying device.

8. The system includes a flight plan creation unit that sets multiple straight flight paths for the aforementioned blower, which is an unmanned aerial vehicle, by offsetting them within the blower area. The air purification system according to claim 1, characterized in that the air blowing control unit controls the unmanned aerial vehicle to perform a dust collection flight in which the unmanned aerial vehicle flies along the plurality of flight paths away from the air purifier while blowing air towards the dust collection area.

9. The air purification system according to claim 8, characterized in that the air blowing control unit controls the unmanned aerial vehicle to repeat the dust collection flight along the plurality of flight paths in the air blowing area corresponding to the dust collection position until the dust concentration at the dust collection position, as measured by the dust concentration measuring unit, exceeds a predetermined concentration threshold and then falls below the predetermined concentration threshold.

10. The air purification system according to claim 1, characterized in that the air blowing control unit controls the air blowing device to generate a downward airflow toward the intake port side of the air purifier when the air blowing area is set on the opposite side of the intake port of the air purifier.

11. The airflow area setting unit sets multiple airflow areas based on the dust collection position. The air purification system according to claim 8, characterized in that the air blowing control unit controls the unmanned aerial vehicle to perform the dust collection flight in stages in the multi-stage air blowing region.

12. The air purification system according to claim 8, characterized in that the air blowing control unit controls the unmanned aerial vehicle to fly including hovering air blowing flight, which involves hovering in the air blowing area while blowing air towards the dust collection area.

13. The air purification system according to claim 12, characterized in that the air blowing control unit controls the unmanned aerial vehicle to switch between the dust collection flight and the hovering air blowing flight in the air blowing area, depending on the position and / or angle of the dust collection position and the air purification device where the dust concentration is equal to or greater than a predetermined concentration threshold.

14. An air purifier that collects dust particles from the indoor air, A blower for blowing air into the room, An air purification method for purifying the air in a room using a dust concentration measuring unit that measures the dust concentration in the air in the room, A blower area setting step, which sets a blower area based on a dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold, A dust collection area setting step, which sets a dust collection area for collecting dust in the air based on the suction airflow of the air purifier, An air purification method characterized by comprising a blower control step that controls the arrangement of the blower and the airflow so as to blow air through the blower area and into the dust collection area.

15. An air purifier that collects dust particles from the indoor air, A blower for blowing air into the room, A dust concentration measuring unit for measuring the dust concentration in the air inside the room is used to purify the air inside the room. A blower area setting step, which sets a blower area based on a dust collection position where the dust concentration measured by the dust concentration measuring unit is equal to or greater than a predetermined concentration threshold, A dust collection area setting step, which sets a dust collection area for collecting dust in the air based on the suction airflow of the air purifier, A program characterized by causing the computer of the blower to perform a blower control step that controls the arrangement of the blower and the airflow so that air is blown through the blower area to the dust collection area.

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