Autonomous mobile air purifier, dust collection system, and dust collection method

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 autonomous mobile air purifier 2 comprises an air purification unit 12 that draws in air from the outside to the inside and purifies it, and a control unit 17 that functions as a blower control unit 34 that controls the unmanned aerial vehicle 3, which is a blower, to blow air into the air above the main body of the device 10 in cooperation with the air purification by the air purification unit 12. The air purification unit 12 comprises a suction unit 24 that draws air into the inside and a dust collection unit 25 that collects dust in the air drawn into the inside. While maintaining the unmanned aerial vehicle 3 at a predetermined blowing height relative to the main body of the device 10, the self-positions of the main body of the device 10 and the unmanned aerial vehicle 3 are synchronized to position the unmanned aerial vehicle 3 to blow air toward the main body of the device 10, and dust in the air blown by the unmanned aerial vehicle 3 is collected by the air purification unit 12.

Description

Technical Field

[0001] The present invention relates to an autonomous moving air purifying device that collects dust in the air while moving autonomously, and a dust collection system and a dust collection method using this autonomous moving air purifying device.

Background Art

[0002] Conventionally, an autonomous moving air purifying device is configured to collect dust in the air while autonomously moving in a cleaning area indoors when air containing dust is generated from work equipment such as processing machines installed indoors such as factories. Since a lot of dust generated from component processing machines in factories has a particle size of sub-micron (μm) or less, it often rises and stays in the upper space of the room. Even when the autonomous moving air purifying device autonomously moves close to the location where the dust is generated, it simply sucks air in the lower space of the room, and there are cases where dust cannot be efficiently collected.

[0003] On the other hand, the cleaning system of Patent Document 1 includes an automatic vacuum cleaner that automatically moves on the floor surface, and an unmanned aerial vehicle that automatically flies and blows air downward. The automatic vacuum cleaner communicates with the unmanned aerial vehicle and sucks the dust moved by the wind generated by the unmanned aerial vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, since the dust generated from parts processing machines inside a factory is mostly submicron (μm) or smaller in particle size, it often accumulates in the upper space of the room. Even if conventional technologies such as the cleaning system described in Patent Document 1 are applied to send dust-laden air downwards using the downwash of an unmanned aerial vehicle, the position of the unmanned aerial vehicle and the position of the automatic vacuum cleaner may not correspond, or the timing of the downwash of the unmanned aerial vehicle and the timing of dust collection by the automatic vacuum cleaner may not correspond. This makes it difficult to collect dust-laden air without leakage by the automatic vacuum cleaner, and thus difficult to maintain a clean working environment inside the room.

[0006] This invention has been made in view of the above-mentioned problems, and the object of this invention is to provide an autonomous mobile air purifier, a dust collection system, and a dust collection method that can reliably collect even fine dust particles that remain in the upper space of a room without leakage, and maintain a clean working environment in the room. [Means for solving the problem]

[0007] To solve the above problems, the first autonomous mobile air purifier of the present invention is an autonomous mobile air purifier that collects dust in the air while moving autonomously, comprising: a main body of the device; an air purification unit that sucks air from outside to inside the main body of the device and purifies it; and a blower control unit that controls a blower to blow air towards the air above the main body of the device in cooperation with the air purification by the air purification unit, wherein the air purification unit comprises an intake unit that sucks air into the main body of the device and a dust collection unit that collects dust in the air sucked into the main body of the device, and is characterized in that the blower is maintained at a predetermined blowing height relative to the main body of the device, the self-positions of the main body of the device and the blower are synchronized, the blower is positioned to blow air toward the main body of the device, and dust in the air blown by the blower is collected by the air purification unit.

[0008] According to the first autonomous mobile air purifier of the present invention, a high dust collection capacity can be achieved by blowing air towards the device body to remove dust floating above the device body in the upper space of a room such as a factory, which is an air purification area.

[0009] To solve the above problems, in the second autonomous mobile air purifier of the present invention, the air blowing control unit controls an unmanned aerial vehicle or a circulator as the air blowing device that works in cooperation with the air purifier unit.

[0010] According to the second autonomous mobile air purifier of the present invention, a strong downdraft can be generated toward the main body of the device by the downwash of an unmanned aerial vehicle or a circulator, and fine dust can be reliably delivered to the autonomous mobile air purifier on the floor surface.

[0011] To solve the above problems, the third autonomous mobile air purifier of the present invention sets a dust collection position to a location in the upper space of a room where dust is accumulating at a high concentration.

[0012] According to the third autonomous mobile air purifier of the present invention, it is possible to selectively control the airflow and draw in dust from points with high concentrations of dust-laden air lingering in indoor spaces such as factories, thus avoiding the use of unnecessary electricity.

[0013] To solve the above problems, the fourth autonomous mobile air purifier of the present invention is equipped with a suction hood that rectifies the air drawn into the air purifier, and the suction hood is configured to change the size of the opening for taking in air.

[0014] According to the fourth autonomous mobile air purifier of the present invention, dust-laden air sent to the device body by the downwash (downward airflow) of the unmanned aerial vehicle can be efficiently sucked in through the suction hood, thereby efficiently purifying the air in indoor spaces such as factories.

[0015] To solve the above problems, in the fifth autonomous mobile air purifier of the present invention, the air blower control unit controls the movement of the air blower, thereby maintaining the air blower at a predetermined air blowing height relative to the device body, and synchronizing the self-positions of the device body and the air blower so that the center of the device body and the center of the air blower overlap.

[0016] According to the fifth autonomous mobile air purifier of the present invention, dust-laden air floating in the upper space of a room such as a factory can be concentrated and sent to the autonomous mobile air purifier using the downwash (downward airflow) of an unmanned aerial vehicle, and dust in the dust-laden air can be efficiently collected.

[0017] To solve the above problems, in the sixth autonomous mobile air purifier of the present invention, the air purifier unit is provided with a first suction opening, a second suction opening, and a third suction opening for taking in air into the inside of the device body, the first suction opening is opened horizontally at the top of the device body, the second suction opening is opened on the side of the device body, and the third suction opening is opened at the bottom of the device body facing the floor.

[0018] According to the sixth autonomous mobile air purifier of the present invention, by providing multiple suction openings at various positions, dust-laden air sent by the downwash (downward airflow) of an unmanned aerial vehicle can be reliably and completely drawn into the autonomous mobile air purifier.

[0019] To solve the above problems, in the seventh autonomous mobile air purifier of the present invention, the third suction opening can be replaced with a wiping and cleaning unit that performs wiping and cleaning of the floor surface.

[0020] According to the seventh autonomous mobile air purifier of the present invention, dust accumulated on the floor surface can be cleaned.

[0021] In order to solve the above problems, in the eighth autonomous mobile air purifier of the present invention, the apparatus main body includes a traveling part with a differential two-wheel drive system, and the traveling part rotates the apparatus main body in place during the dust collection operation by the air purification part.

[0022] According to the eighth autonomous mobile air purifier of the present invention, when sucking and collecting the dust that has leaked to the surroundings without being completely sucked at the upper first suction opening, by rotating the apparatus main body in place and repeatedly rotating 360 degrees on the spot, the second suction opening can be directed in any direction on the side of the apparatus main body, and the dust that has leaked to the surroundings can be evenly sucked and collected, and a high air purification effect can be obtained.

[0023] In order to solve the above problems, the ninth autonomous mobile air purifier of the present invention includes a takeoff and landing port where the unmanned flying apparatus serving as the blower apparatus takes off and lands, and the takeoff and landing port includes a power supply part that wirelessly and electrically connects the power supply part of the autonomous mobile air purifier and the power supply part of the unmanned flying apparatus, and is configured to be able to charge the power supply part of the unmanned flying apparatus.

[0024] According to the ninth autonomous mobile air purifier of the present invention, the convenience of the unmanned flying apparatus can be improved.

[0025] In order to solve the above problems, the tenth autonomous mobile air purifier of the present invention sets a traveling route for autonomous movement based on the route during manual traveling, and sets a dust collection position for collecting dust in the air on the traveling route.

[0026] According to the tenth autonomous mobile air purifier of the present invention, it is possible to set the dust collection position at the position where the operator determines that the dust collection effect is the highest in the air purification area by passing through it during manual traveling.

[0027] Also, in order to solve the above problems, the dust collection system of the present invention includes an autonomous mobile air cleaner that collects dust in the air while autonomously moving within an air purification area, and a dust concentration meter that is disposed at a predetermined dust collection position within the air purification area and detects the concentration of dust in the air. The autonomous mobile air cleaner includes a device body, an air purification unit that sucks and purifies air from the outside to the inside of the device body, a blowing control unit that controls a blowing device to blow air against the air above the device body in cooperation with the air purification by the air purification unit, and a communication unit that acquires the detection result of the concentration of dust by the dust concentration meter. The air purification unit includes a suction unit that sucks air into the device body and a dust collection unit that collects dust in the air sucked into the device body. When the autonomous mobile air cleaner determines that the detection result of the concentration of dust by the dust concentration meter is equal to or higher than a predetermined concentration threshold, the autonomous mobile air cleaner moves to the dust collection position, maintains the blowing device at a predetermined blowing height with respect to the device body, synchronizes the respective self-positions of the device body and the blowing device, corresponds the blowing device to a position where blowing is performed toward the device body, and collects the dust in the air blown by the blowing device by the air purification unit.

[0028] Furthermore, in order to solve the above problems, the present invention provides a dust collection method that uses an autonomous mobile air purifier that autonomously moves within an air purification area and collects dust from the air, and a dust concentration meter that is placed at a predetermined dust collection position within the air purification area and detects the concentration of dust in the air, wherein the autonomous mobile air purifier comprises a main body, an air purification unit that sucks air from the outside to the inside of the main body and purifies it, a blower control unit that controls a blower to blow air onto the air above the main body in cooperation with the air purification by the air purification unit, and a communication unit that acquires the detection result of the dust concentration by the dust concentration meter, The air purification unit comprises a suction unit for drawing air into the main body of the device and a dust collection unit for collecting dust in the air drawn into the main body of the device. The autonomous mobile air purification device, when it determines that the dust concentration detected by the dust concentration meter is above a predetermined concentration threshold, moves to a dust collection position, maintains the blower at a predetermined blowing height relative to the main body of the device, synchronizes the positions of the main body of the device and the blower, positions the blower to blow air toward the main body of the device, and collects dust in the air blown by the blower with the air purification unit. [Effects of the Invention]

[0029] According to the present invention, even fine dust particles accumulating in the upper space of a room can be collected without any leakage, making it possible to maintain a clean working environment in the room. [Brief explanation of the drawing]

[0030] [Figure 1] This is a schematic diagram showing the configuration of a dust collection system equipped with an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 2] This is a block diagram showing the electrical configuration of a dust collection system equipped with an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 3] This is a plan view showing an example of an air purification area to be purified in an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 4]This is a plan view showing an example of an air purification area to be purified in an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 5] This is a schematic diagram showing an example of an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 6] This is a schematic diagram showing an example of a suction hood for an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 7] This is a schematic diagram showing an example of pivot turning of an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 8] This is a schematic diagram showing another example of an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 9] This is a schematic diagram showing an example of autonomous movement to a dust collection position of an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 10] This is a schematic diagram showing an example of air purification at a dust collection location for an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 11] This is a schematic diagram showing an example of alignment between an autonomous mobile air purifier and an unmanned aerial vehicle according to an embodiment of the present invention. [Figure 12] This flowchart shows an example of operation of an autonomous mobile air purifier according to an embodiment of the present invention. [Figure 13] This flowchart shows an example of operation of an unmanned aerial vehicle (UAV) that works in conjunction with an autonomous mobile air purifier according to an embodiment of the present invention. [Modes for carrying out the invention]

[0031] 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.

[0032] [Dust collection system] A dust collection system 1 according to an embodiment of the present invention will now be described. As shown in Figure 1, the dust collection system 1 comprises an autonomous mobile air purifier 2, an unmanned aerial vehicle 3, and a dust concentration meter 4. The autonomous mobile air purifier 2, the unmanned aerial vehicle 3, and the dust concentration meter 4 are configured to work in conjunction with each other. Figure 1(1) shows the unmanned aerial vehicle 3 in a state where it has landed on the autonomous mobile air purifier 2, and Figure 1(2) shows the unmanned aerial vehicle 3 in a state where it has taken off from the autonomous mobile air purifier 2.

[0033] [Autonomous Mobile Air Purifier] The autonomous mobile air purifier 2 of this embodiment will now be described. Figure 2 is a block diagram showing the electrical configuration of the dust collection system 1.

[0034] The autonomous mobile air purifier 2 is a vehicle capable of manual driving based on manual operation and autonomous driving (autonomous movement) based on automatic control, and operates in one of the following driving modes: manual driving mode, learning driving mode, or automatic driving mode. In automatic driving mode, the autonomous mobile air purifier 2 performs autonomous mobile air purifying, automatically purifying (collecting dust) the air in the air purifying area 100 (see Figures 3 and 4) based on an air purifying plan (dust collection plan) consisting of pre-set data and programs.

[0035] Figures 3 and 4 show examples of air purification areas 100 in which the autonomous mobile air purifier 2 performs autonomous mobile air purification. The autonomous mobile air purifier 2 uses, for example, the indoor space of a factory where work equipment such as processing machines is installed as the air purification area 100, and performs air purification (dust collection) in the air purification area 100 while traveling through the air purification area 100.

[0036] As shown in Figures 1 and 5, the autonomous mobile air purifier 2 comprises a main body 10 for housing the various components, a traveling unit 11 for moving the main body 10, and an air purifying unit 12 for drawing in and purifying the air around the main body 10 from the outside to the inside. The left half of Figure 5 shows a see-through view with the suction hood 21 open, and the right half of Figure 5 shows a side view with the suction hood 21 closed.

[0037] Furthermore, the autonomous mobile air purifier 2 includes a measurement unit 13 that measures the positional relationship between the device body 10 and surrounding walls and obstacles (for example, people, work equipment, ornaments, carts, automated guided vehicles (AMRs)), and an imaging unit 14 that captures images of the area around the device body 10. The autonomous mobile air purifier 2 also includes an operation display unit 15 for operating various functions of the autonomous mobile air purifier 2 and displaying various information, and a power supply unit 16 for supplying power to each part of the autonomous mobile air purifier 2 and for monitoring the remaining battery level (not shown) and controlling charging.

[0038] Furthermore, the autonomous mobile air purifier 2 includes a control unit 17 that comprehensively controls each part and various functions of the autonomous mobile air purifier 2 (such as driving by the driving unit 11, air purification by the air purification unit 12, and measurement by the measurement unit 13), and a storage unit 18 that stores an air purification plan consisting of the driving route of the autonomous mobile air purifier, driving data from the driving unit 11, and air purification data from the air purification unit 12. The autonomous mobile air purifier 2 also includes a communication unit 19 for wireless communication with external devices such as the unmanned aerial vehicle 3.

[0039] The main body of the device 10 is equipped with a takeoff and landing port 20 for the unmanned aerial vehicle 3, which functions as a blower to provide airflow to the air above the main body of the device 10, and a suction hood 21 for rectifying the air drawn into the air purification unit 12.

[0040] The takeoff and landing port 20 is located in the center of the top of the main body 10 of the device and has a horizontal, table-shaped takeoff and landing plane on which the unmanned aerial vehicle 3 takes off and lands. As shown in Figure 6 and other figures, the takeoff and landing plane has a marker 20a for the unmanned aerial vehicle 3 to align with the main body 10 (takeoff and landing port 20) when it takes off.

[0041] The marker 20a is formed so that the center of the device body 10 (takeoff / landing port 20) can be detected in aerial images captured from the unmanned aerial device 3. For example, it is formed in a circular, triangular, rectangular, or other polygonal shape at the center of the takeoff / landing port 20. Alternatively, the marker 20a is formed in a circular shape relative to the center of the takeoff / landing port 20, or in a circular or polygonal shape at a position offset from the center of the takeoff / landing port 20, so that the center of the device body 10 (takeoff / landing port 20) can be detected in aerial images captured from the unmanned aerial device 3 even while the autonomous mobile air purifier 2 is performing a pivot turn (see Figure 7).

[0042] The takeoff and landing port 20 is configured to charge the power supply unit 45 of the unmanned aerial vehicle 3 by including a power supply unit 20b, such as a connector (not shown) that electrically connects the power supply unit 16 of the autonomous mobile air purifier 2 and the power supply unit 45 of the unmanned aerial vehicle 3, or a wireless power supply unit that electrically connects them wirelessly. The power supply unit 20b may charge the power supply unit 45 of the unmanned aerial vehicle 3 when the power supply unit 16 of the autonomous mobile air purifier 2 is being charged, or it may charge the power supply unit 45 of the unmanned aerial vehicle 3 regardless of whether the power supply unit 16 of the autonomous mobile air purifier 2 is being charged.

[0043] As shown in Figures 1, 5, and 6, the suction hood 21 is provided along the upper outer shape of the device body 10 so as to surround the sides of the take-off and landing port 20 at the top of the device body 10. Figure 6(1) shows the suction hood 21 in a closed state in a left side view and a right top view, and Figure 6(2) shows the suction hood 21 in an open state in a left side view and a right top view. The suction hood 21 has a plurality of opening plates 21a, which are arranged along the upper outer shape of the device body 10, and the upper ends of the plurality of opening plates 21a form openings for taking in air from above to the air purification unit 12.

[0044] The lower ends of multiple opening plates 21a are rotatably attached to the upper end of the device body 10, and the suction hood 21 is configured to change the size of the air intake opening by rotating each opening plate 21a outward or inward. A pleat 21b is provided between two adjacent opening plates 21a. When the suction hood 21 operates in the direction of opening the opening, each opening plate 21a rotates inward and the pleat 21b folds down, and the opening becomes smallest when two adjacent opening plates 21a are in contact with each other. When the suction hood 21 operates in the direction of closing the opening, each opening plate 21a rotates outward and the pleat 21b extends, and the opening becomes largeest when two adjacent opening plates 21a are separated from each other.

[0045] Furthermore, the suction hood 21 is equipped with a hood opening / closing member 21c, such as an electric cylinder, which rotates the opening plate 21a outward or inward. Both ends of the electric cylinder, which is the hood opening / closing member 21c, are attached to the inner surfaces of the two opposing opening plates 21a. The hood opening / closing member 21c is controlled by the control unit 17 to extend and retract, thereby rotating the opening plate 21a outward or inward.

[0046] The running section 11 is located at the bottom of the main body 10 and is configured as a differential two-wheel drive system, comprising, for example, a front wheel 11a which is an auxiliary wheel and a pair of rear wheels 11b which are drive wheels. The front wheel 11a is rotatably mounted at the center in the width direction of the device on the front side in the direction of travel. The front wheel 11a rotates in response to the movement of the main body 10 driven by the pair of rear wheels 11b.

[0047] The rear wheels 11b are located on both sides (left and right) in the width direction of the device at the rear in the direction of travel, and are equipped with a pair of left and right drive motors 11c (see Figure 5) and a rear wheel rotation encoder (not shown). The drive unit 11 moves the device body 10 forward by driving the drive motors 11c to rotate the rear wheels 11b, and stops the device body 10 by stopping the rotation of the rear wheels 11b. The driving speed of the autonomous mobile air purifier 2 (drive unit 11) is adjusted (accelerated / decelerated) by controlling the drive of the drive motors 11c. The drive unit 11 may also move the device body 10 backward by having the drive motors 11c reverse the rotation of the rear wheels 11b.

[0048] Furthermore, the pair of rear wheels 11b are equipped with steering rotation encoders (not shown), and as shown in Figure 7, the device body 10 is pivoted to the left or right by rotating the pair of rear wheels 11b in opposite directions. Figure 7(1) shows a top view of the autonomous mobile air purifier 2 during pivot turning, and Figure 7(2) shows a side view of the autonomous mobile air purifier 2 during pivot turning. For example, by rotating the right rear wheel 11b forward and the left rear wheel 11b backward, the device turns to the left, while by rotating the right rear wheel 11b backward and the left rear wheel 11b forward, the device turns to the right. The turning radius of the autonomous mobile air purifier 2 (running section 11) is adjusted by controlling the rotation of each of the pair of rear wheels 11b.

[0049] In this embodiment, an example has been described in which the vehicle is equipped with auxiliary front wheels 11a and drive rear wheels 11b. However, the present invention is not limited to this example, and in other embodiments, for example, the vehicle may be equipped with drive front wheels 11a and auxiliary rear wheels 11b.

[0050] When the autonomous mobile air purifier 2 performs autonomous mobile air purifying in the air purifying area 100, the driving unit 11 operates in accordance with the control of the control unit 17, which is based on driving data of the environmental map and air purifying plan associated with the air purifying area 100.

[0051] The air purification unit 12 is equipped with a suction unit 24 for drawing air into the main body 10 and a dust collection unit 25 for collecting dust from the air drawn into the main body 10, both located inside the main body 10. The air purification unit 12 is equipped with a first suction opening 26, a second suction opening 27, and a third suction opening 28 for taking air into the main body 10, and an exhaust port 29 for discharging the air after dust has been collected by the dust collection unit 25.

[0052] The first suction opening 26 is horizontally opened at the top of the device body 10 and communicates with the opening of the suction hood 21. The second suction openings 27 are opened on both the left and right sides of the device body 10, and the third suction opening 28 is opened at the bottom of the device body 10, facing the floor. The exhaust port 29 is located below the second suction opening 27 and is opened on the side of the device body 10. The air purification unit 12 may be configured so that the third suction opening 28 and a wiping cleaning unit 28a such as a mop or dust cloth are interchangeable, as shown in Figure 8. When the wiping cleaning unit 28a is attached, dust and other dirt accumulated on the floor can be effectively wiped away and removed while the device is moving autonomously.

[0053] The suction unit 24 consists of a suction fan (motor) and is attached to the lower part of the main body 10 of the device. The suction unit 24 communicates with the first suction opening 26, the second suction opening 27, and the third suction opening 28 via the dust collection unit 25 on the upstream side in the direction of air flow, and also communicates with the exhaust port 29 on the downstream side in the direction of air flow.

[0054] The dust collection unit 25 is composed of an air filter system such as a HEPA filter or an electrostatic filter, or a high-voltage electrostatic precipitator having an electrostatic electrode and a dust collection electrode, and is formed in a cylindrical shape and mounted above the suction unit 24. For example, the dust collection unit 25 of the high-voltage electrostatic precipitator 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. The dust collection unit 25 communicates with the first suction opening 26, the second suction opening 27 and the third suction opening 28 on the upstream side in the direction of air flow, and also communicates with the suction unit 24 on the downstream side in the direction of air flow.

[0055] In the air purification unit 12, by operating the suction unit 24, dust-laden air is sucked in from outside the main body 10 through the first suction opening 26, the second suction opening 27, and the third suction opening 28, collected by the dust collection unit 25, and discharged to the outside through the suction unit 24 and the exhaust port 29. In other words, the space upstream of the dust collection unit 25 in the flow direction becomes the dirty area, and the exhaust from the downstream suction unit 24 is released as clean air. The air purification unit 12 has a cyclone unit (not shown) that communicates with the first suction opening 26 and the second suction opening 27, and is configured to collect dust more effectively.

[0056] The air purification unit 12 sucks in dusty air from above the main body 10 through the suction hood 21 and the first suction opening 26, and sucks in any dusty air that leaks out after being sucked in by the first suction opening 26 through the second suction opening 27. The air purification unit 12 also sucks in dust floating near the floor and dust accumulated on the floor through the third suction opening 28.

[0057] Furthermore, the air purification unit 12 may be configured to variably control the suction strength through each of the first suction opening 26, second suction opening 27, and third suction opening 28 by controlling each of the adjustment members, such as dampers or on-off valves, which adjust the airflow rate.

[0058] The measurement unit 13 includes a laser range finder (LRF) 13a that measures positional information (for example, the angle and distance with respect to the direction of travel of the device body 10) between the device body 10 and surrounding walls and obstacles. The measurement unit 13 measures positional information with respect to walls and obstacles at predetermined intervals (for example, every 25 ms) while the device body 10 is moving. The LRF 13a is positioned in a notch formed by cutting out the front of the device body 10 in the left-right direction, and has a measurement range that extends to the front and both the left and right sides.

[0059] Furthermore, the measurement unit 13 includes an obstacle detection unit (not shown), such as an ultrasonic sensor or an infrared sensor, which detects the presence or absence of walls, obstacles, etc., within a predetermined distance from the main unit 10 of the device. The obstacle detection unit may operate continuously while the main unit 10 is moving, and will detect walls, obstacles, etc., that may come into contact with the main unit 10 as the device continues to move, and will output an alarm signal.

[0060] The imaging unit 14 is located on the upper part of the main body 10 of the device and captures images of the surroundings of the autonomous mobile air purifier 2 to generate surrounding image data. The imaging unit 14 is composed of, for example, a TOF camera or a CCD camera.

[0061] The operation display unit 15 is located on the upper part of the main unit 10 and includes, for example, a main switch for switching the power of the autonomous mobile air purifier 2 on and off, an emergency stop button for completely stopping the operation of the autonomous mobile air purifier 2, and a touch panel device. The touch panel device may be directly attached to the main unit 10, or it may consist of a tablet terminal that is detachably attached to the main unit 10. The touch panel device, which is a tablet terminal, is connected to the control unit 17 via wireless communication by the communication unit 19, enabling remote operation of the autonomous mobile air purifier 2. The touch panel device displays various screens in response to control signals from the control unit 17 and transmits operation signals to the control unit 17 based on touch operations on each screen.

[0062] The power supply unit 16 includes a battery (power source) and a 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 autonomous mobile air purifier 2. For example, the power supply unit 16 is charged by a charging cable installed in the factory. The power supply unit 16 may also output a signal indicating the remaining battery level to the control unit 17.

[0063] The control unit 17 is composed of a computer such as a CPU (Central Processing Unit). The control unit 17 is connected to a storage unit 18 that includes ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, etc. The control unit 17 is also connected to each part of the autonomous mobile air purifier 2, such as the travel unit 11, air purification unit 12, measurement unit 13, imaging unit 14, operation display unit 15, and power supply unit 16.

[0064] Furthermore, the control unit 17 is connected to external devices via the communication unit 19 to enable communication. The communication unit 19 communicates wirelessly with external devices such as the touch panel device of the operation display unit 15, which is a tablet terminal separate from the unmanned aerial vehicle 3 and the main unit 10, using communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0065] For example, the communication unit 19 communicates wirelessly with the dust concentration meter 4 or an indoor dust collector that communicates with the dust concentration meter 4 to receive the dust concentration measured by the dust concentration meter 4, as well as identification information and location information of the dust concentration meter 4. The communication unit 19 may also receive drawing data of the air purification area 100, including the layout of the factory and the arrangement of work equipment such as processing machines, from a server or the like and store it in the storage unit 18. For example, it may receive BIM data of a factory provided by the Japan Construction Information Technology Center or the like as drawing data from a server or the like and store it in the storage unit 18.

[0066] The memory unit 18 stores programs and data for controlling each part and various functions of the autonomous mobile air purifier 2, and the control unit 17 performs calculation processing based on the programs and data stored in the memory unit 18 to comprehensively control each part and various functions. For example, by executing the programs stored in the memory unit 18, the control unit 17 operates as the environmental map acquisition unit 30, the dust collection position setting unit 31, the plan creation unit 32, the autonomous mobile air purifier control unit 33, the air blowing control unit 34, and the hood control unit 35, as shown in Figure 3.

[0067] The memory unit 18 stores an air purification plan consisting of travel data from the travel unit 11 (e.g., travel speed during and without air purification) and air purification data from the air purification unit 12 (e.g., rotation speed of the suction motor of the suction unit 24, and the set value of the high voltage applied to the charged electrode and dust collection electrode of the dust collection unit 25 of the high-voltage electrostatic precipitator). The autonomous mobile air purification device 2 may pre-set reference values ​​for travel data and air purification data and store them in the memory unit 18, or it may set travel data and air purification data according to arbitrary operations of the operator and store them in the memory unit 18.

[0068] As a result, the autonomous mobile air purifier 2 can move autonomously according to an air purifying plan stored in the memory unit 18 in advance and automatically purify the air. The memory unit 18 stores environmental maps and air purifying plans associated with the air purifying areas 100 that are the target of autonomous mobile air purifying, and may store environmental maps and air purifying plans for each of the multiple air purifying areas 100.

[0069] The dust collection system 1 may also be a system in which the autonomous mobile air purifier 2 cooperates with a cloud server (not shown), and the cloud server may store programs related to the autonomous movement of the autonomous mobile air purifier 2, data such as environmental maps and air purification plans, and flight control programs for the unmanned aerial vehicle 3. In this case, the autonomous mobile air purifier 2 downloads data and programs from the cloud server as needed.

[0070] The environmental map acquisition unit 30 acquires an environmental map of the air purification area 100 where autonomous mobile air purification is performed and stores it in the storage unit 18. For example, while the autonomous mobile air purifier 2 is traveling through 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. The environmental map acquisition unit 30 may create the environmental map while the autonomous mobile air purifier 2 is manually driving through the air purification area 100 in learning mode or manual mode and performing air purification, or it may create the environmental map while the autonomous mobile air purifier 2 is manually driving around the air purification area 100 in manual mode.

[0071] At this time, while traveling through the air purification area 100, the environmental map acquisition unit 30 acquires positional information of the device body 10 and obstacles around the device body 10 as measurement results from the measurement unit 13, and based on these measurement results from the measurement unit 13, creates a local map of the area around the device body 10 at predetermined time intervals or predetermined distance intervals. Based on the local map and the detection results from each encoder of the travel unit 11 (amount of movement of the travel unit 11), the environmental map acquisition unit 30 estimates the self-position (coordinates) of the autonomous mobile air purifier 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.

[0072] 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 on the operation display unit 15.

[0073] The environmental map acquisition unit 30 may use the 3D LRF 13a to acquire a 3D environmental map of the air purification area 100 while the autonomous mobile air purifier 2 is moving autonomously, and may identify obstacles in the overhead space in addition to obstacles on the travel path of the autonomous mobile air purifier 2 and reflect them in the 3D environmental map. Alternatively, the environmental map acquisition unit 30 may identify obstacles in the overhead space based on aerial images captured by the unmanned aerial vehicle 3 and reflect them in 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 reflect the position coordinates of the obstacles in the 3D environmental map.

[0074] The dust collection position setting unit 31 sets the dust collection positions for the air purification area 100, where the autonomous mobile air purifier 2 will perform air purification, and stores these positions in the storage unit 18.

[0075] For example, the dust collection position setting unit 31 may set a dust collection position in the air purification area 100 according to the operator's arbitrary operation. Specifically, it may display a screen of the air purification area 100 on the touch panel device of the operation display unit 15 and set the dust collection position to the position selected on the screen of the air purification area 100. Alternatively, while the autonomous mobile air purifier 2 is being manually driven in the air purification area 100 in learning mode or manual driving mode, the dust collection position may be set to the driving position where the dust collection position setting operation was performed on the operation display unit 15.

[0076] Alternatively, the dust collection position setting unit 31 may automatically set the dust collection position to the closest position equidistant from the work equipment and the dust concentration meter 4, based on the position of the work equipment such as processing machines and the position of the dust concentration meter 4. In this case, the dust collection position setting unit 31 pre-acquires drawing data of the air purification area 100, including the layout of the factory and the arrangement of work equipment such as processing machines, and stores it in the storage unit 18. It also pre-stores the position of the dust concentration meter 4 installed in the factory within the air purification area 100 in the storage unit 18. The dust collection position setting unit 31 sets the dust collection position while ensuring a safe distance from walls, work equipment, and obstacles.

[0077] Alternatively, the dust collection position setting unit 31 may automatically set the dust collection position by detecting locations in the air purification area 100 where dust in the air is concentrated. For example, the dust collection position setting unit 31 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 detect locations in the air purification area 100 where dust is concentrated based on this concentration distribution.

[0078] Alternatively, the dust collection position setting unit 31 may use image analysis software to analyze surrounding images of the air purification area 100 captured by the imaging unit 14, aerial images of the air purification area 100 captured by the unmanned aerial vehicle 3, and images of the air purification area 100 captured by surveillance cameras installed in rooms such as factories. The unit may then detect the degree of cloudiness and clusters of fine dust (cloud-like clumps) from the images, calculate the three-dimensional dust concentration distribution in the air purification area 100 based on the detection results, and detect locations in the air purification area 100 where dust is concentrated at high concentrations based on this concentration distribution.

[0079] Furthermore, the autonomous mobile air purifier 2 may, in order to assist in detecting the dust concentration in the air purifying area 100, capture an image of the air purifying 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 purifying area 100 with an infrared laser beam in 360 degrees (up, down, left, right, and diagonally).

[0080] The plan creation unit 32 identifies areas within the air purification area 100, such as passages and open spaces, where travel routes can be created, based on drawing data and environmental maps of the air purification area 100. It then creates a travel route that autonomously moves through dust collection points and dust concentration meters 4 while ensuring a safe distance from work equipment such as processing machines within the air purification area 100. The plan creation unit 32 is best positioned to create a travel route that passes through the center of the area where travel routes can be created.

[0081] The plan creation unit 32 creates an air purification plan for performing autonomous mobile air purification along the travel route and stores it in the storage unit 18 in association with the air purification area 100 and the environmental map. The plan creation unit 32 creates an air purification plan by including travel data such as the travel speed of the travel unit 11 during air purification and non-air purification, and air purification data such as the rotation speed of the suction motor of the suction unit 24 of the air purification unit 12 and the set values ​​of the high voltage applied to the charged electrodes and dust collection electrodes of the dust collection unit 25 of the high-voltage electrostatic precipitator.

[0082] The autonomous mobile air purification control unit 33 reads an environmental map and an air purification plan associated with the air purification area 100 to be targeted for autonomous mobile air purification from the storage unit 18 according to predetermined start conditions, and controls the driving unit 11 and the air purification unit 12 to perform autonomous mobile air purification based on the driving route, driving data and cleaning data of this environmental map and air purification plan.

[0083] For example, the autonomous mobile air purification control unit 33 may use the arrival of a predetermined time period (e.g., 8:00, 12:00, 17:00, etc.) as a predetermined start condition. Alternatively, the autonomous mobile air purification control unit 33 may use the timing when the dust concentration meter 4 detects a dust concentration above a predetermined concentration threshold as a predetermined start condition. Furthermore, the autonomous mobile air purification control unit 33 may use the timing when the autonomous mobile air purification execution button on the operation display unit 15 is operated as a predetermined start condition.

[0084] At this time, the autonomous mobile air purification control unit 33 performs autonomous movement while estimating the autonomous mobile air purification device 2's own position on the environmental map corresponding to the air purification plan. For example, the autonomous mobile air purification control unit 33 uses the environmental map acquisition unit 30 to create a local map using techniques such as SLAM, estimates the autonomous mobile air purification device 2's own position on the local map, and matches the local map to the environmental map to estimate its own position on the environmental map. Then, the autonomous mobile air purification control unit 33 controls the driving unit 11 to autonomously move from the start position to the end position of the driving path, while matching the driving position on the driving path of the autonomous mobile air purification plan with the self-position estimated on the environmental map.

[0085] Furthermore, the autonomous mobile air purification control unit 33 may detect walls and obstacles based on the measurement results of the measurement unit 13 during autonomous movement, and control the driving unit 11 to avoid walls and obstacles when walls or obstacles are detected. In addition, the autonomous mobile air purification control unit 33 may control the driving unit 11 to decelerate when the distance between the autonomous mobile air purification device 2 and walls or obstacles approaches a predetermined safety distance, and to stop when the distance to walls or obstacles falls below the predetermined safety distance. Moreover, the autonomous mobile air purification control unit 33 may stop autonomous movement when it detects a moving obstacle based on the measurement results of the measurement unit 13 during autonomous movement, and resume autonomous movement when it no longer detects moving obstacles.

[0086] As shown in Figure 9, the autonomous mobile air purification control unit 33 stops autonomous movement when it reaches a dust collection position near the processing machine on its autonomously moving travel path, and as shown in Figure 10, controls the air purification unit 12 to perform air purification at the dust collection position based on air purification data. At this time, the autonomous mobile air purification control unit 33 operates the suction unit 24 of the air purification unit 12 to draw air from the outside to the inside of the device body 10 through the first suction opening 26, the second suction opening 27, and the third suction opening 28, and operates the dust collection unit 25 to collect dust from the drawn-in air, and discharges the air after dust collection through the exhaust port 29.

[0087] Furthermore, the autonomous mobile air purification control unit 33 should control the travel unit 11 to perform pivot turns at the dust collection position when performing air purification. The autonomous mobile air purification device 2 can collect dust-laden air leaking around the device body 10 by repeatedly performing pivot turns while the air purification unit 12 performs air purification at the dust collection position, thereby evenly and uniformly sucking it in through the second suction opening 27.

[0088] Furthermore, if the autonomous mobile air purifier 2 detects an obstacle such as a crane in the space above the dust collection position based on the measurement results measured by the measurement unit 13, the surrounding image captured by the imaging unit 14, or the aerial image captured by the unmanned aerial vehicle 3, it may stop autonomous movement at a position a predetermined distance (for example, 1 m) before or after the dust collection position in its travel path, designate that position as a temporary dust collection position, and perform air purification at the temporary dust collection position.

[0089] Furthermore, the autonomous mobile air purification control unit 33 may control the system to start air purification if it determines that the dust concentration detected by the dust concentration meter 4 is above a predetermined concentration threshold when it reaches a dust collection position and stops autonomous movement, while it may control the system to resume autonomous movement without performing air purification if it determines that the dust concentration is below the predetermined concentration threshold. In this case, after starting air purification, the autonomous mobile air purification control unit 33 controls the air purification unit 12 to terminate air purification and the travel unit 11 to resume autonomous movement when the dust concentration falls below the predetermined concentration threshold.

[0090] The autonomous mobile air purification control unit 33 may also control the air purification unit 12 to perform air purification based on air purification data while autonomous movement is in progress. For example, the autonomous mobile air purification control unit 33 may control the unit to perform air purification at a relatively low intensity while autonomous movement is in progress, and to perform air purification at a relatively high intensity while autonomous movement is stopped at a dust collection location.

[0091] The airflow control unit 34 controls the unmanned aerial vehicle 3, which is a blower device, in cooperation with the air purification unit 12, which is controlled by the autonomous mobile air purification control unit 33, when the air purification unit 12 performs air purification at the dust collection position, so that it blows air onto the air above the main body of the device 10.

[0092] Specifically, when the air purification unit 12 starts air purification at the dust collection position by the autonomous mobile air purification control unit 33, the air blower control unit 34 activates the unmanned aerial vehicle 3 waiting on the takeoff / landing port 20 and transmits flight instructions to the unmanned aerial vehicle 3. The air blower control unit 34 controls the unmanned aerial vehicle 3 according to the flight instructions and raises it to a predetermined air blowing height. The air blower control unit 34 also synchronizes the positions of the main unit 10 and the unmanned aerial vehicle 3, and positions the unmanned aerial vehicle 3 to face the main unit 10. For example, while maintaining the air blowing height, the air blower control unit 34 aligns the unmanned aerial vehicle 3 with the main unit 10 (takeoff / landing port 20) and makes it hover in a position opposite the autonomous mobile air purification unit 2. Furthermore, while maintaining the hovering of the unmanned aerial vehicle 3, the air blower control unit 34 generates a downwash (downward airflow) downward and blows air towards the main unit 10 in the air above the main unit 10.

[0093] The airflow control unit 34 may set the airflow height of the unmanned aerial vehicle 3 to a value set according to any operation of the operation display unit 15 by the worker, or it may set the height at which the dust concentration is detected to be highest by the multiple dust concentration meters 4 installed in the factory. For example, a worker can visually confirm the height at which dust is most concentrated in the factory and set that height as the airflow height of the unmanned aerial vehicle 3. Alternatively, the airflow control unit 34 may set the airflow height of the unmanned aerial vehicle 3 to the height at which the dust concentration is detected to be highest by the dust concentration meter 4 installed in the autonomous mobile air purifier 2 while the autonomous mobile air purifier 2 is moving autonomously within the factory.

[0094] Furthermore, the airflow control unit 34 transmits a return instruction to the unmanned aerial vehicle 3 when the air purification unit 12 completes air purification at the dust collection position, as instructed by the autonomous mobile air purification control unit 33. The airflow control unit 34 controls the unmanned aerial vehicle 3 based on the return instruction, ending the downwash airflow, ending hovering, and descending to land at the takeoff / landing port 20.

[0095] Furthermore, the airflow control unit 34 transmits a stop command to the unmanned aerial vehicle 3 when the autonomous mobile air purifier 2 completes its autonomous movement as controlled by the autonomous mobile air purifier control unit 33. The airflow control unit 34 controls the unmanned aerial vehicle 3 based on the stop command and stops the operation of the unmanned aerial vehicle 3.

[0096] The airflow control unit 34 may also control the unmanned aerial vehicle 3 such that when the autonomous mobile air purifier 2 starts autonomous movement at the starting position of the travel path by the autonomous mobile air purifier control unit 33, the unmanned aerial vehicle 3 is activated, the activation of the unmanned aerial vehicle 3 is maintained while autonomous movement is being performed, and the activation of the unmanned aerial vehicle 3 is stopped when the autonomous mobile air purifier 2 ends autonomous movement at the end position of the travel path.

[0097] Alternatively, the airflow control unit 34 may control the unmanned aerial vehicle 3 so that when the autonomous mobile air purifier 2 starts autonomous movement at the starting position of the travel path by the autonomous mobile air purifier control unit 33, the unmanned aerial vehicle 3 is raised to a predetermined airflow height, and while autonomous movement is being performed, it maintains alignment with the main unit 10 (takeoff / landing port 20) at the predetermined airflow height through tailgating flight, and when the autonomous mobile air purifier 2 ends autonomous movement at the end position of the travel path, the unmanned aerial vehicle 3 is lowered and lands on the takeoff / landing port 20.

[0098] Alternatively, the airflow control unit 34 may control the unmanned aerial vehicle 3 to perform tailgating flight, maintaining alignment with the main body 10 (takeoff / landing port 20) at a predetermined airflow height while the autonomous mobile air purifier 2 autonomously moves within a predetermined range from the dust collection position by the autonomous mobile air purifier control unit 33. By performing tailgating flight of the unmanned aerial vehicle 3, air can be blown over a wide area, and dust and debris suspended in the air over a wide area can be collected.

[0099] The hood control unit 35 works in conjunction with the air purification unit 12, which is controlled by the autonomous mobile air purification control unit 33, to change the size of the opening through which the suction hood 21 takes in air when the air purification unit 12 performs air purification at the dust collection position.

[0100] Specifically, when the air purification unit 12 starts air purification by the autonomous mobile air purification control unit 33 (when autonomous movement stops), the hood control unit 35 controls the hood opening / closing member 21c to rotate each opening plate 21a of the suction hood 21 outward, thereby controlling the suction hood 21 to operate in the direction of opening the opening. Furthermore, when the air purification unit 12 finishes air purification by the autonomous mobile air purification control unit 33 (when autonomous movement resumes), the hood control unit 35 controls the hood opening / closing member 21c to rotate each opening plate 21a of the suction hood 21 inward, thereby controlling the suction hood 21 to operate in the direction of closing the opening.

[0101] [Unmanned flying device] The unmanned aerial vehicle 3 of this embodiment will now be described.

[0102] The unmanned aerial vehicle (UAV) 3 is a blower that works in conjunction with the air purification unit 12 of the autonomous mobile air purifier 2 to blow air onto the air above the main body 10 of the autonomous mobile air purifier 2, and is composed of a so-called drone. The UAV 3 performs flight operations in response to instruction signals, such as flight instructions, received from the autonomous mobile air purifier 2 via wireless communication. In addition, the UAV 3 can also perform flight operations according to a control device (not shown) or a pre-set program instead of instruction signals.

[0103] As shown in Figure 1, the unmanned aerial vehicle 3 comprises a main body 40 for housing the various parts, a flight unit 41 for flying the main body 40, and an imaging unit 42 for capturing aerial images of the surroundings.

[0104] Furthermore, as shown in Figure 2, the unmanned aerial vehicle 3 includes a flight detection unit 43 that detects the flight status of the unmanned aerial vehicle 3, a measurement unit 44 that measures the positional relationship between the unmanned aerial vehicle 3 and surrounding walls, obstacles, etc., and a power supply unit 45 that supplies power to each part of the unmanned aerial vehicle 3 and controls the remaining charge and charging of the battery (not shown).

[0105] Furthermore, the unmanned aerial vehicle 3 includes a control unit 46 that comprehensively controls each part and function of the unmanned aerial vehicle 3 (such as flight by the flight unit 41 and imaging by the imaging unit 42), a storage unit 47 that stores data and programs, and a communication unit 48 that communicates with external devices. The storage unit 47 stores the flight program of the flight unit 41, aerial images captured by the imaging unit 42, and position information detected by the position detection unit 52 described below.

[0106] Next, the various parts of the unmanned aerial vehicle 3 will be described. The flight unit 41 is equipped with a plurality (for example, four) of flight wings 41a on the upper part of the main body 40, and also with a plurality of flight motors (not shown) that rotate each of the plurality of flight wings 41a. The flight unit 41 controls the flight altitude, flight direction, flight attitude, flight speed, etc. of the unmanned aerial vehicle 3 by controlling the rotation speed of each flight motor with the control unit 46.

[0107] The imaging unit 42 is located at the bottom of the main body 40 of the device and generates aerial images by imaging the area around the unmanned aerial vehicle 3. The imaging unit 42 is composed of, for example, a CCD (Charge Coupled Device) camera, a wide-angle camera, an infrared camera, etc. The imaging unit 42 generates and outputs the aerial image itself, or / or image analysis data of the aerial image, as imaging data.

[0108] The flight detection unit 43 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 40, and an acceleration sensor that senses the speed of movement to determine how far the device body 40 has moved within a certain period of time. The IMU detects the flight state of the unmanned aerial vehicle 3 during flight, such as attitude changes and acceleration. The flight detection unit 43 can detect the direction of gravity with the acceleration sensor and calculate the horizontal position using the direction of gravity as the vertical direction. The flight detection unit 43 may also be equipped with a magnetic compass sensor that acts as a compass to determine direction.

[0109] The measurement unit 44 includes an LRF that measures the angle and distance between the main body of the device 40 and surrounding walls and obstacles, and 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 40.

[0110] The power supply unit 45 is equipped with a battery (power source) and charging circuit mounted inside the main unit 40 of the device. When connected to an external power source, the battery is charged, and power is supplied to each part of the unmanned aerial vehicle 3.

[0111] The control unit 46 is composed of computer devices such as a CPU and is connected to the storage unit 47, which includes ROM, RAM, SSD, flash memory, etc. The control unit 46 is also connected to each part of the unmanned aerial vehicle 3, such as the flight unit 41, imaging unit 42, flight detection unit 43, measurement unit 44, and power supply unit 45.

[0112] The memory unit 47 stores programs and data for controlling each part and various functions of the unmanned aerial vehicle 3, and the control unit 46 performs calculation processing based on the programs and data stored in the memory unit 47 to comprehensively control each part and various functions of the unmanned aerial vehicle 3. For example, by executing a program stored in the memory unit 47, the control unit 46 operates as a flight control unit 50, an imaging control unit 51, and a position detection unit 52, as shown in Figure 3.

[0113] The communication unit 48 is controlled by the control unit 46 and communicates wirelessly with external devices such as the autonomous mobile air purifier 2 and the control device using communication standards such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0114] When the communication unit 48 receives instruction signals such as flight instructions and return instructions from the autonomous mobile air purifier 2, the flight control unit 50 controls the multiple flight motors of the flight unit 41 in accordance with the instruction signals to rotate each of the flight wings 41a, and controls the manual flight of the flight unit 41 to control the flight altitude, flight direction, flight attitude, flight speed, etc. of the unmanned aerial vehicle 3.

[0115] Specifically, when the communication unit 48 receives a flight instruction from the autonomous mobile air purifier 2, the flight control unit 50 uses the position detection unit 52 to detect the position of the unmanned aerial vehicle 3 relative to the takeoff and landing port 20 of the autonomous mobile air purifier 2, and controls the multiple flight wings 41a to raise the unmanned aerial vehicle 3 to a predetermined airflow height while synchronizing the center positions of the takeoff and landing port 20 and the unmanned aerial vehicle 3.

[0116] Furthermore, the flight control unit 50 controls the multiple flight wings 41a to maintain the unmanned aerial vehicle 3 at the airflow height and to hover in a predetermined hovering mode while facing the autonomous mobile air purifier 2. At this time, the flight control unit 50 uses the position detection unit 52 to detect the position of the unmanned aerial vehicle 3 relative to the takeoff and landing port 20 of the autonomous mobile air purifier 2, and controls the flight of the unmanned aerial vehicle 3 so that its position is set to the position for hovering mode.

[0117] For example, when the hovering mode is center alignment mode, the flight control unit 50 controls the unmanned aerial vehicle 3 to hover while aligning its center with the center of the takeoff and landing port 20.

[0118] Furthermore, when the hovering mode is the turning (rudder) mode, the flight control unit 50 controls the unmanned aerial vehicle 3 to hover above the takeoff and landing port 20 while turning with a predetermined turning radius relative to the center of the takeoff and landing port 20. In turning mode, the downwash range of the unmanned aerial vehicle 3 can be covered more widely.

[0119] Furthermore, when the hovering mode is offset mode, the flight control unit 50 controls the unmanned aerial vehicle 3 to hover while aligning its center to a position offset by a predetermined offset distance (for example, 0.5 to 1 m) from the center of the takeoff and landing port 20. In offset mode, if there is an obstacle such as a crane above the autonomous mobile air purifier 2, the unmanned aerial vehicle 3 can perform a downwash towards the autonomous mobile air purifier 2 at a position that avoids the obstacle.

[0120] Furthermore, the flight control unit 50 maintains the hovering of the unmanned aerial vehicle 3 and generates a downwash (downward airflow) below the unmanned aerial vehicle 3 by rotating the flight wings 41a of the flight unit 41, thereby blowing air towards the autonomous mobile air purifier 2 (device body 10) in the air above it.

[0121] The flight control unit 50 may also control the flight unit 41 to perform automatic flight according to a flight plan, which is a flight program pre-stored in the memory unit 47. The flight plan includes information such as the flight path of the unmanned aerial vehicle 3, as well as the flight altitude, flight direction, flight attitude, and flight speed at each position along the flight path.

[0122] The imaging control unit 51 controls the imaging unit 42 to capture still or moving aerial images of the area below the unmanned aerial vehicle 3 while the unmanned aerial vehicle 3 is flying while aligning itself with the main body 10 (takeoff and landing port 20) of the autonomous mobile air purifier 2. The imaging control unit 51 stores the captured images in the storage unit 47 and transmits them to the autonomous mobile air purifier 2 via the communication unit 48. In addition to aerial images of the area below the unmanned aerial vehicle 3, the imaging control unit 51 may also capture images of the area around the unmanned aerial vehicle 3, the area around the autonomous mobile air purifier 2, and images of the factory where the autonomous mobile air purifier 2 is moving autonomously, while the unmanned aerial vehicle 3 is flying.

[0123] The position detection unit 52 detects the position information of the unmanned aerial vehicle 3 relative to objects around it, based on aerial images captured by the imaging unit 42 and detection data from the infrared laser sensor (not shown) and ultrasonic sensor (not shown) of the measurement unit 44.

[0124] For example, the position detection unit 52 determines the altitude of the unmanned aerial vehicle 3 from the takeoff / landing port 20 or the floor surface based on detection data from the infrared laser sensor and the ultrasonic sensor.

[0125] Furthermore, the position detection unit 52 detects the position of the unmanned aerial vehicle 3 relative to the main body 10 (takeoff / landing port 20) of the autonomous mobile air purifier 2 based on an aerial image taken by the imaging unit 42 of the area below the unmanned aerial vehicle 3.

[0126] Specifically, as shown in Figure 11, the position detection unit 52 recognizes the marker 20a of the takeoff and landing port 20 based on the aerial image, and detects the position of the unmanned aerial vehicle 3 relative to the takeoff and landing port 20 based on the positional relationship between the marker 20a and a predetermined allowable range on the aerial image. The position detection unit 52 controls the position of the unmanned aerial vehicle 3 relative to the takeoff and landing port 20 so that the marker 20a falls within a predetermined allowable range on the aerial image, thereby aligning the unmanned aerial vehicle 3 with the takeoff and landing port 20. Figure 11(1) shows a state where the center of the unmanned aerial vehicle 3 is offset from the center (allowable range) of the takeoff and landing port 20, and Figure 11(2) shows a state where the center of the unmanned aerial vehicle 3 is within the center (allowable range) of the takeoff and landing port 20.

[0127] The tolerance range in the aerial image may be set as a circle of a predetermined radius relative to the center of the unmanned aerial device 3, and the misalignment between the center of the unmanned aerial device 3 and the center of the takeoff / landing port 20 is permitted within this tolerance range. The size of the tolerance range circle is set to the minimum radius required to prevent dust air blown downward (airflow controlled) by the downwash of the unmanned aerial device 3 from leaking out of the suction hood 21 when the center of the unmanned aerial device 3 and the center of the takeoff / landing port 20 are misaligned.

[0128] The position detection unit 52 may measure the distance and angle from surrounding objects using an LRF (not shown) provided in the unmanned aerial vehicle 3, and calculate the three-dimensional position data of the surrounding objects based on the measured data.

[0129] [Dust concentration meter] The dust concentration meter 4 of this embodiment will now be described. The dust concentration meter 4 is installed in the air purification area 100, such as a factory, where the autonomous mobile air purifier 2 performs autonomous mobile air purification, in order to measure the concentration of dust. For example, multiple dust concentration meters 4 are placed near each of several pieces of work equipment, such as processing machines, within the factory, which is the air purification area 100. The dust concentration meters 4 are installed at a higher location near the work equipment 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.

[0130] 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 and retract vertically, so that the installation height of the dust concentration meter 4 can be changed, allowing for measurement of dust concentrations at multiple measurement points in the vertical direction from a single installation location in the air purification area 100. Alternatively, the dust concentration meter 4 may be installed at multiple measurement points in a single installation location in the air purification area 100, such as at the height of a person's face, directly above work equipment, or several meters above work equipment.

[0131] 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.

[0132] The dust concentration meter 4 is wirelessly connected to an indoor dust collector (not shown) located in the air purification area 100, and transmits the measured dust concentration along with the identification information and location information of the dust concentration meter 4 to the indoor dust collector. The indoor dust collector also transmits the dust concentration received from the dust concentration meter 4 along with the identification information and location information of the dust concentration meter 4 to the autonomous mobile air purifier 2. Alternatively, the dust concentration meter 4 may be wirelessly connected to the autonomous mobile air purifier 2, and transmit the measured dust concentration along with the identification information and location information of the dust concentration meter 4 to the autonomous mobile air purifier 2.

[0133] [Example of operation of an autonomous mobile air purifier] The operation of the autonomous mobile air purifier 2 in the dust collection system 1 of this embodiment will be explained with reference to the flowchart in Figure 12.

[0134] First, as shown in Figure 8, the operator activates the autonomous mobile air purifier 2 in order to perform autonomous mobile air purification in a predetermined air purification area 100, sets an air purification plan corresponding to the air purification area 100 (step S1), and starts autonomous mobile air purification according to the air purification plan (step S2).

[0135] The autonomous mobile air purifier 2 moves autonomously along the travel path of the air purification plan, and when it reaches the dust collection position (step S3: Yes), it stops moving autonomously (step S4) and obtains the dust concentration at the dust collection position from the dust concentration meter 4 (step S5).

[0136] The autonomous mobile air purifier 2, using the autonomous mobile air purifier control unit 33, determines whether the dust concentration at the dust collection location is above or below a concentration threshold (step S6). If it is below the concentration threshold (step S6: No), it resumes autonomous movement along the travel path of the air purifier plan. On the other hand, if the dust concentration at the dust collection location is above or below the concentration threshold (step S6: Yes), the air blowing control unit 34 transmits a flight instruction to the unmanned aerial vehicle 3 (step S7), and the unmanned aerial vehicle 3 starts flying and blows air towards the autonomous mobile air purifier 2.

[0137] Furthermore, the autonomous mobile air purifier 2 controls the air purifying unit 12 by the autonomous mobile air purifying control unit 33 and performs air purifying at the dust collection position based on the air purifying data (step S8).

[0138] While the autonomous mobile air purifier 2 is performing air purification, the autonomous mobile air purification control unit 33 determines whether the dust concentration at the dust collection position is above a concentration threshold (step S9). If it is above the concentration threshold (step S9: Yes), the air purification unit 12 continues air purification.

[0139] On the other hand, if the dust concentration at the dust collection location is below the concentration threshold (Step S9: No), air purification by the air purification unit 12 is stopped (Step S10), and the air blower control unit 34 sends a return instruction to the unmanned aerial vehicle 3 (Step S11). When the unmanned aerial vehicle 3 returns to the takeoff / landing port 20 (Step S12: Yes), the autonomous mobile air purifier 2 resumes autonomous movement along the travel path of the air purification plan.

[0140] Furthermore, if the autonomous mobile air purifier 2 does not reach a dust collection position (Step S3: No) and does not reach the end of the travel path (Step S13: No) while autonomously moving along the travel path, it will continue autonomously moving along the travel path. Also, if the autonomous mobile air purifier 2 does not reach a dust collection position (Step S3: No) and reaches the end of the travel path (Step S13: Yes) while autonomously moving along the travel path, it will send a stop command to the unmanned aerial vehicle 3 (Step S14), stop autonomous movement, and stop the operation of the autonomous mobile air purifier 2.

[0141] [Examples of unmanned aerial vehicle operation] The operation of the unmanned aerial vehicle 3 in the dust collection system 1 of this embodiment will be explained with reference to the flowchart in Figure 13.

[0142] The unmanned aerial vehicle 3 is activated when the autonomous mobile air purifier 2 begins autonomous movement and waits on the takeoff / landing port 20 (step S20).

[0143] When the unmanned aerial vehicle 3 receives a flight instruction from the autonomous mobile air purifier 2 while in standby mode (Step S21: Yes), it controls the multiple flight wings 41a (Step S22), controls the flight attitude (Step S23) and the flight direction (Step S24), and controls the flight altitude (Step S25) to ascend to a predetermined airflow height (Step S26).

[0144] When the unmanned aerial vehicle 3 reaches the blower height (step S26: Yes), it is controlled to hover while maintaining the blower height (step S27).

[0145] While hovering, the unmanned aerial vehicle 3 uses its position detection unit 52 to align itself with the main body 10 (takeoff / landing port 20) of the autonomous mobile air purifier 2 (step S28), and controls the flight position of the unmanned aerial vehicle 3 to match the target position of the takeoff / landing port 20 according to the alignment (step S29).

[0146] When the unmanned aerial vehicle 3 reaches the target position (step S30: Yes), it is controlled to hover while maintaining the airflow height and flight position (step S31).

[0147] When the unmanned aerial vehicle 3 receives a return instruction from the autonomous mobile air purifier 2 during flight (step S32: Yes), it controls the multiple flight wings 41a to return to the takeoff / landing port 20 (step S33).

[0148] When the unmanned aerial vehicle 3 receives a stop command from the autonomous mobile air purifier 2 while in standby mode (step S34: Yes), it controls the multiple flight wings 41a and stops the launch.

[0149] [Configuration and Effects of This Embodiment] As described above, according to this embodiment, the autonomous mobile air purifier 2 that collects dust from the air while moving autonomously comprises a main body 10, an air purification unit 12 that sucks air from the outside to the inside of the main body 10 and purifies it, and a control unit 17 that functions as a blower control unit 34 that controls the unmanned aerial vehicle 3, which is a blower, to blow air onto the air above the main body 10 in cooperation with the air purification by the air purification unit 12. The air purification unit 12 comprises a suction unit 24 that sucks air into the inside of the main body 10, and a dust collection unit 25 that collects dust from the air sucked into the inside of the main body 10. The autonomous mobile air purifier 2 maintains the unmanned aerial vehicle 3 at a predetermined airflow height relative to the main unit 10, synchronizes the positions of the main unit 10 and the unmanned aerial vehicle 3, and positions the unmanned aerial vehicle 3 to direct airflow towards the main unit 10. The air purifier 12 then collects dust from the air blown by the unmanned aerial vehicle 3.

[0150] In other words, in a dust collection method using an autonomous mobile air purifier 2 that autonomously moves within an air purification area 100 to collect dust from the air, and a dust concentration meter 4 that is positioned at a predetermined dust collection location within the air purification area 100 to detect the concentration of dust in the air, the autonomous mobile air purifier 2 comprises a device body 10, an air purification unit 12 that sucks air from outside to inside the device body 10 and purifies it, a control unit 17 that functions as a blower control unit 34 that controls an unmanned aerial vehicle 3, which is a blower, to blow air onto the air above the device body 10 in cooperation with the air purification by the air purification unit 12, and a communication unit 19 that acquires the detection result of the dust concentration by the dust concentration meter 4. In this dust collection method, the air purification unit 12 comprises a suction unit 24 that sucks air into the device body 10 and a dust collection unit 25 that collects the dust from the air sucked into the device body 10. In this dust collection method, when the autonomous mobile air purifier 2 determines that the dust concentration detected by the dust concentration meter 4 is above a predetermined concentration threshold, it moves to a dust collection position, maintains the unmanned aerial vehicle 3 at a predetermined airflow height relative to the main unit 10, synchronizes the positions of the main unit 10 and the unmanned aerial vehicle 3, aligns the unmanned aerial vehicle 3 with the position where it blows air toward the main unit 10, and collects the dust in the air blown by the unmanned aerial vehicle 3 with the air purifier 12.

[0151] With this configuration, the autonomous mobile air purifier 2 can exhibit high dust collection capabilities by blowing air towards the device body 10 to remove dust floating above the device body 10 in the upper space of a room such as a factory in the air purification area 100.

[0152] In this embodiment, the airflow control unit 34 controls the unmanned aerial vehicle 3 as an airflow device that works in conjunction with the air purification unit 12.

[0153] As a result, the autonomous mobile air purifier 2 can generate a strong downdraft towards the main body 10 through the downwash of the unmanned aerial vehicle 3, and reliably deliver fine dust particles to the autonomous mobile air purifier 2 on the floor surface.

[0154] Furthermore, in this embodiment, the autonomous mobile air purifier 2 sets the location where dust is accumulating at a high concentration in the upper space of the room as the dust collection location.

[0155] As a result, the autonomous mobile air purifier 2 can selectively control the airflow to draw in dust from points with high concentrations of dust-laden air that linger in indoor spaces such as factories, thus avoiding the use of unnecessary electricity.

[0156] Furthermore, in this embodiment, the autonomous mobile air purifier 2 is equipped with a suction hood 21 that rectifies the air drawn into the air purifier 12, and the suction hood 21 is configured to change the size of the opening for taking in air.

[0157] As a result, the autonomous mobile air purifier 2 can efficiently draw in dust-laden air that has been sent to the main unit 10 by the downwash (downward airflow) of the unmanned aerial vehicle 3 via the suction hood 21, thereby efficiently purifying the air in indoor spaces such as factories.

[0158] Furthermore, in this embodiment, the airflow control unit 34 controls the movement of the unmanned aerial vehicle 3, thereby maintaining the unmanned aerial vehicle 3 at a predetermined airflow height relative to the device body 10, and synchronizing the self-positions of the device body 10 and the unmanned aerial vehicle 3 so that the center of the device body 10 (takeoff / landing port 20) and the center of the unmanned aerial vehicle 3 overlap.

[0159] As a result, the autonomous mobile air purifier 2 can concentrate dust-laden air floating in the upper space of a factory or other indoor space into the autonomous mobile air purifier 2 using the downwash (downward airflow) of the unmanned aerial vehicle 3, and efficiently collect dust from the dust-laden air.

[0160] Furthermore, in this embodiment, the air purification unit 12 includes a first suction opening 26, a second suction opening 27, and a third suction opening 28 for taking in air into the device body 10. The first suction opening 26 is opened horizontally at the top of the device body 10, the second suction opening 27 is opened on the side of the device body 10, and the third suction opening 28 is opened at the bottom of the device body 10 facing the floor.

[0161] As a result, the autonomous mobile air purifier 2, equipped with multiple suction openings at various positions, can reliably and completely draw in the dust-laden air sent by the downwash (downward airflow) of the unmanned aerial vehicle 3.

[0162] Furthermore, in this embodiment, the third suction opening 28 can be replaced with a wiping and cleaning unit 28a for wiping and cleaning the floor surface.

[0163] This allows the autonomous mobile air purifier 2 to clean dust accumulated on the floor surface.

[0164] Furthermore, in this embodiment, the main body of the device 10 is equipped with a differential two-wheel drive system travel unit 11, and the travel unit 11 pivots the main body of the device 10 while the air purification unit 12 is performing dust collection.

[0165] As a result, when the autonomous mobile air purifier 2 collects dust that could not be sucked up by the upper first suction opening 26 and leaked into the surroundings by sucking it up with the side second suction opening 27, the device body 10 pivots and rotates repeatedly 360 degrees in place, allowing the second suction opening 27 to be directed in any direction to the side of the device body 10, thus enabling even sucking up and collecting dust that has leaked into the surroundings, and achieving a high air purification effect.

[0166] Furthermore, in this embodiment, the unmanned aerial vehicle 3 is provided with a takeoff and landing port 20, and the takeoff and landing port 20 is equipped with a power supply unit 20b that wirelessly electrically connects the power supply unit 16 of the autonomous mobile air purifier 2 and the power supply unit 45 of the unmanned aerial vehicle 3, and is configured to charge the power supply unit 45 of the unmanned aerial vehicle 3.

[0167] This allows the autonomous mobile air purifier 2 to improve the convenience of the unmanned aerial vehicle 3.

[0168] Furthermore, in this embodiment, the autonomous mobile air purifier 2 sets a travel path for autonomous movement based on the path taken during manual travel, and also sets dust collection positions along the travel path for collecting dust from the air.

[0169] This allows the operator to manually navigate through the location in the air purification area 100 that they determine to have the highest dust collection efficiency, and then set the dust collection position at that location.

[0170] [Other examples of the present invention] In the above-described embodiment, the autonomous mobile air purifier 2 was shown to utilize an unmanned aerial vehicle 3 as a blower that provides airflow to the air above the main body 10 of the device. However, the present invention is not limited to this example.

[0171] In another example, the autonomous mobile air purifier 2 may be equipped with a circulator as a blower that generates a downward airflow toward the main body 10. The autonomous mobile air purifier 2 attaches the circulator to the upper end of an extendable member such as an electrically operated cylinder that can extend and retract in the vertical direction, making it possible to change the vertical position of the circulator. The circulator should be small and configured to allow the direction of the airflow to be changed. The autonomous mobile air purifier 2 transmits a blower command to the circulator via the blower control unit 34, 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.

[0172] Alternatively, in another example, the autonomous mobile air purifier 2 may use an external circulator installed in a room such as a factory, which is the air purification area 100, as the blower. In this case, the autonomous mobile air purifier 2 is connected to the external circulator via a communication unit 19, and the blower control unit 34 transmits blower commands to the external circulator via the communication unit 19.

[0173] Furthermore, in the above-described embodiment, the autonomous mobile air purifier 2 is described in which, in order to align the unmanned aerial vehicle 3 with the takeoff and landing port 20, the position detection unit 52 of the unmanned aerial vehicle 3 detects the position of the unmanned aerial vehicle 3 relative to the takeoff and landing port 20 based on the aerial image captured by the imaging unit 42, and synchronizes the self-positions of the device body 10 and the unmanned aerial vehicle 3. However, the present invention is not limited to this example.

[0174] In another example, the autonomous mobile air purifier 2 may synchronize the positions of the main unit 10 and the unmanned aerial vehicle 3 based on detection results from laser sensors such as infrared sensors in order to align the unmanned aerial vehicle 3 with the takeoff and landing port 20.

[0175] Specifically, the autonomous mobile air purifier 2 is equipped with a laser light emitter on the unmanned aerial vehicle 3 and a laser light receiving unit on the takeoff / landing port 20 to constitute a laser sensor. While the unmanned aerial vehicle 3 is hovering, the position detection unit 52 synchronizes the positions of the main unit 10 and the unmanned aerial vehicle 3 to maintain the detection state of the laser sensor, thereby aligning the unmanned aerial vehicle 3 with the takeoff / landing port 20. In this case, it is preferable to allow for a misalignment between the center of the unmanned aerial vehicle 3 and the center of the takeoff / landing port 20 by increasing the amount of laser light received by the receiving unit on the takeoff / landing port 20.

[0176] In the above-described embodiment, an example was explained in which the takeoff and landing port 20 for the unmanned aerial vehicle 3 is provided in the center of the upper part of the device body 10, but the present invention is not limited to this example. In other examples, the takeoff and landing port 20 may be attached at an angle to the end of the suction hood 21, and configured to form a horizontal takeoff and landing plane when the suction hood 21 is closed.

[0177] Incidentally, in indoor spaces such as factories, which are air purification areas 100, fine dust particles that accumulate in the upper space are agglomerated by combining with mist when moisture such as chemical solutions is atomized and sprayed. As the agglomerated dust becomes heavier, it becomes easier to control with a downdraft generated by a blower such as an unmanned aerial vehicle 3, while also becoming less likely to diffuse into the surroundings, allowing for efficient collection by the autonomous mobile air purifier 2.

[0178] Therefore, the autonomous mobile air purifier 2 should be equipped with a mechanism for spraying mist onto a blower such as the unmanned aerial vehicle 3. For example, the unmanned aerial vehicle 3 is equipped with a chemical (moisture) tank, a small compressed air cylinder, and a spray nozzle, and is controlled to spray a mist of the chemical (moisture) when performing downwash.

[0179] In the embodiments described above, an example was explained in which the autonomous mobile air purifier 2 is configured with a mobile unit 11 and an air purifying unit 12 on a main unit 10. However, the present invention is not limited to this example. In other examples, the autonomous mobile air purifier 2 may be configured by mounting an air purifier similar to the air purifying unit 12 on an autonomous mobile transport device (AMR) similar to the mobile unit 11. In this case, the measurement unit 13 and imaging unit 14 are provided on the autonomous mobile transport device, and the take-off / landing port 20 and suction hood 21 are provided on the air purifier.

[0180] 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 autonomous mobile air purifiers, dust collection systems and dust collection methods with such modifications are also included in the technical concept of the present invention. [Industrial applicability]

[0181] The present invention is suitable for use in robots that autonomously move within an air purification area, such as a factory, and perform air purification at predetermined dust collection locations, using an autonomous mobile air purification device that autonomously moves and collects dust from the air. Furthermore, the present invention is suitable for use in dust collection systems that include an autonomous mobile air purification device, such as a robot that performs autonomous mobile air purification, using an unmanned aerial vehicle such as a drone equipped with an imaging unit such as a camera. [Explanation of Symbols]

[0182] 1. Dust collection system 2. Autonomous Mobile Air Purifier 3 Unmanned flying device 4 Dust concentration meter 10 Main unit of the device 11. Running section 12 Air purification unit 13 Measurement Unit 14 Imaging Unit 15 Operation display section 16 Power supply section 17 Control Unit 18 Memory section 19 Communications Department 20 Takeoff and Landing Ports 20a Marker 20b Power supply section 21 Suction Hood 21c Hood opening / closing component 24 Suction part 25 Dust collection unit 26 1st suction opening 27 Second suction opening 28 Third suction opening 28a Wiping and cleaning section 30 Environmental Map Acquisition Section 31 Dust collection position setting unit 32. Planning Department 33. Autonomous Mobile Air Purification Control Unit 34 Air blower control unit 35 Hood Control Unit 40 Main unit of the device 41. Flight Division 42 Imaging Department 43 Flight detection unit 44 Measurement Unit 45 Power supply section 46 Control Unit 47 Memory section 48 Communications Department 50 Flight Control Unit 51 Imaging control unit 52 Position detection unit 100 air purification areas

Claims

1. An autonomous mobile air purifier that collects dust from the air while moving autonomously, The main body of the device, The device body includes an air purification unit that draws in air from the outside to the inside and purifies it, The device comprises a blower control unit that controls the blower to blow air into the air above the main body of the device in cooperation with the air purification by the air purification unit, The air purification unit comprises a suction unit for drawing air into the main body of the device, and a dust collection unit for collecting dust particles in the air drawn into the main body of the device. An autonomous mobile air purifier characterized by maintaining the blower at a predetermined blowing height relative to the main body of the device, synchronizing the positions of the main body of the device and the blower so that the blower is positioned to blow air toward the main body of the device, and collecting dust in the air blown by the blower with the air purifier.

2. The autonomous mobile air purifier according to claim 1, characterized in that the air blowing control unit controls an unmanned aerial vehicle or a circulator as the air blowing device that works in conjunction with the air purifying unit.

3. The autonomous mobile air purifier according to claim 1, characterized in that it sets a location where dust is accumulating at a high concentration in the upper space of a room as the dust collection location.

4. The air purification unit is equipped with a suction hood that rectifies the air drawn into it. The autonomous mobile air purifier according to claim 1, characterized in that the suction hood is configured to allow the size of the opening for taking in air to be changed.

5. The autonomous mobile air purifier according to claim 1, characterized in that the air blowing control unit controls the movement of the air blowing device to maintain the air blowing device at a predetermined air blowing height relative to the device body, while synchronizing the respective positions of the device body and the air blowing device so that the center of the device body and the center of the air blowing device overlap.

6. The air purification unit includes a first suction opening, a second suction opening, and a third suction opening for drawing air into the main body of the device. The first suction opening is horizontally opened in the upper part of the main body of the device, The second suction opening is opened on the side of the main body of the device, The autonomous mobile air purifier according to claim 1, characterized in that the third suction opening is opened at the lower part of the main body of the device facing the floor surface.

7. The autonomous mobile air purifier according to claim 6, characterized in that the third suction opening can be replaced with a wiping and cleaning unit for wiping and cleaning the floor surface.

8. The main body of the device is equipped with a differential two-wheel drive system for the travel section. The autonomous mobile air purifier according to claim 6, characterized in that the traveling unit pivots the main body of the device while the air purifying unit is performing a dust collection operation.

9. The aforementioned blower device, which is an unmanned aerial vehicle, is equipped with a takeoff and landing port for taking off and landing. The autonomous mobile air purifier according to claim 1, characterized in that the takeoff and landing port is equipped with a power supply unit that wirelessly electrically connects the power supply unit of the autonomous mobile air purifier and the power supply unit of the unmanned aerial vehicle, and is configured to charge the power supply unit of the unmanned aerial vehicle.

10. The autonomous mobile air purifier according to claim 1, characterized in that it sets a travel path for autonomous movement based on the path taken during manual movement, and sets a dust collection position along the travel path for collecting dust from the air.

11. A dust collection system comprising: an autonomous mobile air purifier that moves autonomously within an air purification area to collect dust from the air; and a dust concentration meter that is positioned at a predetermined dust collection location within the air purification area to detect the concentration of dust in the air, The autonomous mobile air purifier, The main body of the device, The device body includes an air purification unit that draws in air from the outside to the inside and purifies it, A blower control unit controls the blower to blow air into the air above the main body of the device in conjunction with the air purification by the air purification unit, The system includes a communication unit that acquires the detection result of the dust concentration by the dust concentration meter, The air purification unit comprises a suction unit for drawing air into the main body of the device, and a dust collection unit for collecting dust particles in the air drawn into the main body of the device. The autonomous mobile air purifier, when it determines that the dust concentration detected by the dust concentration meter is above a predetermined concentration threshold, moves to a dust collection position, maintains the blower at a predetermined blowing height relative to the main body of the device, synchronizes the positions of the main body of the device and the blower, positions the blower to blow air toward the main body of the device, and collects dust in the air blown by the blower with the air purifier.

12. A dust collection method using an autonomous mobile air purifier that moves autonomously within an air purification area to collect dust from the air, and a dust concentration meter that is placed at a predetermined dust collection position within the air purification area to detect the concentration of dust in the air, The autonomous mobile air purifier, The main body of the device, The device body includes an air purification unit that draws in air from the outside to the inside and purifies it, A blower control unit controls the blower to blow air into the air above the main body of the device in conjunction with the air purification by the air purification unit, The system includes a communication unit that acquires the detection result of the dust concentration by the dust concentration meter, The air purification unit comprises a suction unit for drawing air into the main body of the device, and a dust collection unit for collecting dust particles in the air drawn into the main body of the device. A dust collection method characterized in that, when the autonomous mobile air purifier determines that the dust concentration detected by the dust concentration meter is above a predetermined concentration threshold, it moves to a dust collection position, maintains the blower at a predetermined blowing height relative to the main body of the device, synchronizes the positions of the main body of the device and the blower, aligns the blower with the position for blowing air toward the main body of the device, and collects dust in the air blown by the blower with the air purifier.

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