JP6645720B1 - Power supply system - Google Patents

Abstract

An unmanned power supply vehicle and a power supply system that allow an unmanned aerial vehicle to carry on a transport operation continuously. An unmanned power supply vehicle (3) wirelessly transmits power while following an unmanned aerial vehicle (1) performing a transport operation. The unmanned aerial vehicle 1 includes a flight control unit that controls the flight of the aircraft 1, a power receiving unit 18 that receives wirelessly transmitted power, and a storage battery that stores the power received by the power receiving unit 18. The unmanned power supply vehicle 3 travels to follow the unmanned aerial vehicle 1 based on the position of the unmanned aerial vehicle 1 detected by the unmanned aerial vehicle 1 and the position of the unmanned aerial vehicle 1 detected by the unmanned aerial vehicle 1. It has a device 33 and a power transmission unit 32 that performs wireless power transmission based on the position of the unmanned aerial vehicle 1 detected by the flying object detection unit 30. [Selection diagram] Fig. 1

Description

About feeding electric system that powers the unmanned air vehicle to perform the transportation operation.

  2. Description of the Related Art Unmanned aerial vehicles that carry out transportation work outdoors or indoors have been conventionally developed (for example, see Patent Document 1). The unmanned aerial vehicle described in Patent Literature 1 is capable of hovering and capable of autonomous flight. The unmanned aerial vehicle has a gripping device mounted thereon, and absorbs a load by the mounted gripping device, and moves with the load to perform a transport operation. Since this unmanned aerial vehicle flies in the air, its moving speed is faster than that of a transport vehicle, and it is suitable for performing a transport operation.

  By the way, the unmanned aerial vehicle has a small storage capacity and cannot carry out the transport operation continuously for a long time. Therefore, for example, the picking system described in Patent Literature 2 is provided with a power storage unit that supplies power to the unmanned aerial vehicle at a departure point where the unmanned aerial vehicle waits for a transport operation. The unmanned aerial vehicle is supplied with power during the transport operation at the departure portion, thereby preventing power shortage during the transport operation.

  However, it is problematic that the unmanned aerial vehicle cannot carry out the work while the power is supplied, which is not preferable from the viewpoint of the operation rate.

JP 2018-114822 A JP 2018-016435 A

  Therefore, an object to be solved by the present invention is to provide a power supply system that allows an unmanned aerial vehicle to carry on a continuous transport operation.

In order to solve the above problems, engaging Ru feeding system of the present invention,
And unmanned air vehicles performing transportation operations, a power supply system comprising a unmanned powered vehicle, the powering by wireless transmission to the unmanned air vehicle,
The unmanned aerial vehicle,
A flight control unit that controls the flight of the aircraft,
A load holding unit that holds a load related to the transport operation,
A power receiving unit that receives wirelessly transmitted power;
And a storage battery that stores the power received by the power receiving unit,
The unmanned vehicle is
A flying object detection unit that detects the position of the unmanned flying object,
A traveling device for following the unmanned aerial vehicle based on the position of the unmanned aerial vehicle detected by the aerial vehicle detection unit,
A power transmission unit that wirelessly transmits power to the unmanned aerial vehicle based on the position of the unmanned aerial vehicle detected by the aerial vehicle detection unit,
The unmanned power feeding vehicle wirelessly transmits power while following the unmanned aerial vehicle,
The unmanned aerial vehicle, when flying while being wirelessly transmitted by the unmanned power feeding vehicle, further includes an altitude comparison unit that compares the flight altitude of the own aircraft with a predetermined flight altitude at the time of power feeding,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, based on a result compared by the altitude comparison unit, the flight altitude of the unmanned aerial vehicle to the predetermined flight altitude Controlling the flight altitude of the unmanned aerial vehicle so that

Above Symbol power supply system is, for example,
The unmanned vehicle is
It further has a vehicle position detection unit that recognizes the position of the vehicle,
The unmanned aerial vehicle follows the unmanned aerial vehicle while detecting the position of the unmanned aerial vehicle by the flying object detection unit and detecting the position of the own vehicle by the own vehicle position detection unit.

Above Symbol power supply system is, for example,
The unmanned vehicle is a plurality, and is disposed in each of a plurality of areas. When the unmanned aerial vehicle is detected by the flying object detection unit, the unmanned aerial vehicle follows the unmanned aerial vehicle in each of the regions. Transmit wireless power to the flying object.

The power supply system is preferably
The unmanned aerial vehicle further includes a storage unit that stores a predetermined flight path that the unmanned power feeding vehicle can follow the own aircraft,
The flight control unit causes the unmanned aerial vehicle to fly along the predetermined flight path when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle.

The power supply system is preferably
When the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, the unmanned aerial vehicle further includes a speed comparison unit that compares a flight speed of the own aircraft with a predetermined flight speed during power feeding,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, based on a result compared by the speed comparison unit, the flight speed of the unmanned aerial vehicle to the predetermined flight speed Controlling the flight speed of the unmanned aerial vehicle so that

The power supply system is, for example,
The unmanned power supply vehicle and the unmanned aerial vehicle can wirelessly communicate with each other,
The unmanned aerial vehicle,
The apparatus further includes an own position detecting unit that detects a position of the own apparatus,
Transmit the position of the own device detected by the own device position detection unit to the unmanned power feeding vehicle,
The flying object detection unit detects the position of the unmanned aerial vehicle by receiving the position of the unmanned aerial vehicle.

Feeding electric system Ru engaged with the present invention, it is possible to perform the transportation work continuously in an unmanned air vehicle.

1 is a schematic side view illustrating a power supply system according to an embodiment. It is a figure which shows the ceiling marker provided in the ceiling of FIG. A and B show an unmanned aerial vehicle, A is a perspective view seen from above, B is a perspective view seen from below, and C is a bottom view showing a power receiving unit. FIG. 2 is a block diagram illustrating the power supply system of FIG. 1. It is a schematic top view which shows operation | movement of the unmanned aerial vehicle and unmanned feeding vehicle of FIG. 1 in a warehouse. FIG. 10 is a block diagram illustrating a power supply system according to another embodiment. FIG. 7 is a schematic top view showing the operation of the unmanned aerial vehicle and the unmanned power feeding vehicle in FIG. 6 in a warehouse.

<First embodiment>
Hereinafter, a first embodiment of an unmanned power supply vehicle and a power supply system according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view illustrating a power supply system according to the present embodiment. The unmanned aerial vehicle 1 carries the load W indoors. The unmanned power supply vehicle 3 supplies power by wirelessly transmitting power while following the unmanned aerial vehicle 1.

<Ceiling>
As shown in FIG. 2, a plurality of rectangular ceiling markers 4 for use by the unmanned aerial vehicle 1 to detect its own position are provided on the entire ceiling C. The ceiling markers 4 are retroreflective materials, and are arranged at equal intervals in the same column or the same row. That is, the ceiling markers 4 are arranged on the ceiling C at different intervals for each row. For example, the length of the interval P3 between the lowermost rows in FIG. 2 is the same. On the other hand, the lengths of the intervals P1, P2, and P3 of the first, second, and third rows are different from each other. The lengths of the intervals P4 and P5 between the first, second, and third stages are also different.

<Unmanned aerial vehicle>
As shown in FIGS. 3A and 3B, the unmanned aerial vehicle 1 has a disk-shaped main body 10, four arms 12 extending horizontally from the side of the main body 10, and a distal end side of each of the four arms 12. A motor 13 provided, a rotor 14 provided on the motor 13, an upper unit 15 having a substantially octagonal prism shape provided on an upper surface of the main body 10, two skids 16 provided on a lower surface of the main body 10, It has a load holding unit 17 provided between the two skids 16 and a power receiving unit 18 provided on the lower surface of the load holding unit 17.

  The upper unit 15 is provided with a camera 15a and a lighting unit 15b for detecting the position of the unmanned aerial vehicle 1. The illumination unit 15b illuminates the area above the unmanned aerial vehicle 1, and the camera 15a captures an image of the ceiling C including the ceiling marker 4 illuminated by the illumination unit 15b to generate an upward image. Since the ceiling marker 4 is a retroreflective material, the camera 15a can appropriately image the ceiling marker 4 even if the incident angle of the illumination applied to the ceiling marker 4 is large.

  The load holding unit 17 holds the load W related to the transport operation. The load holding unit 17 has a mounting surface on which the load W is mounted, but is merely an example, and the configuration is not particularly limited as long as the load W can be held. The load holding unit 17 is preferably made of a conductive member that blocks microwaves. Thereby, the microwave radiated from below the unmanned aerial vehicle 1 is blocked by the conductive member, so that the load W held by the load holding unit 17 is prevented from being exposed to the microwave.

  As shown in FIG. 3C, the power receiving unit 18 includes a plurality of rectennas 18a. The rectenna 18a receives the microwave transmitted from the unmanned power supply vehicle 3 and converts the microwave into a direct current.

  As shown in FIG. 4, the unmanned aerial vehicle 1 further includes a storage battery 20, a control device 21, an altitude sensor (not shown), and a speed sensor (not shown).

  Storage battery 20 is electrically connected to power receiving unit 18. The storage battery 20 stores the DC current converted by the rectenna 18a and supplies power to the motor 13. Storage battery 20 may be a lead storage battery or an alkaline storage battery.

  The control device 21 includes a flight control unit 210, a storage unit 211, a position detection unit 212, an altitude comparison unit 213, and a speed comparison unit 214.

  The flight control section 210 enables hovering of the unmanned aerial vehicle 1 by controlling the number of revolutions of each motor 13, and controls the flight direction, the flight altitude, and the flight speed of the unmanned aerial vehicle 1.

  The storage unit 211 previously stores an image of the entire ceiling C including the ceiling marker 4 (hereinafter, simply referred to as a “ceiling image”) together with position information.

  The own device position detection unit 212 performs template matching for comparing the upper image captured by the camera 15a with the ceiling image, and searching for a position in the ceiling image where the upper image exists. For template matching, for example, SSD (“Sum of Squared Difference”) or SAD (“Sum of Absolute Difference”) may be used as a similarity calculation method. The own aircraft position detection unit 212 detects the horizontal position of the unmanned aerial vehicle 1 based on the result of the template matching. The altitude sensor includes, for example, an ultrasonic sensor, a laser sensor, and the like. The own position detection unit 212 detects the altitude of the unmanned aerial vehicle 1 using an altitude sensor.

  The storage unit 211 further stores a predetermined flight altitude and a predetermined flight speed of the unmanned aerial vehicle 1 at the time of power supply. The power supply efficiency by the microwave depends on the distance between the power transmission side and the power reception side. Therefore, the flight altitude and flight speed of the unmanned aerial vehicle 1 at the time of power supply are set in advance so that the distance between the unmanned aerial vehicle 1 and the unmanned power feeding vehicle 3 can be kept within a certain range and the power supply efficiency by the microwave can be kept high. Stipulated. Therefore, the predetermined flight altitude is set to be slightly higher than the power transmission unit 32 described later. In addition, the predetermined flight speed is set to be equal to or slightly lower than the traveling speed of the unmanned power feeding vehicle 3.

  The altitude comparison unit 213 compares the altitude of the unmanned aerial vehicle 1 detected by the altitude sensor with a predetermined flight altitude, and outputs the comparison result to the flight control unit 210.

  The speed comparison unit 214 compares the flight speed of the unmanned aerial vehicle 1 detected by the speed sensor with a predetermined flight speed, and outputs the comparison result to the flight control unit 210.

  The flight control unit 210 controls the flight altitude and the flight speed of the unmanned aerial vehicle 1 at the time of power supply to the predetermined flight altitude and the predetermined flight speed based on the comparison results by the altitude comparison unit 213 and the speed comparison unit 214. .

  The storage unit 211 further stores transport information. The transport information includes a loading position and a loading position. Further, the storage unit 211 further stores a power supply flight path that is a predetermined flight path at the time of power supply of the unmanned aerial vehicle 1. The power supply flight path is determined in advance based on the layout in the warehouse and the traveling characteristics of the unmanned power supply vehicle 3 so that the unmanned power supply vehicle 3 can follow the unmanned aerial vehicle 1.

  At the time of power supply, the flight control unit 210 controls the flight direction of the unmanned aerial vehicle 1 so that the unmanned aerial vehicle 1 flies on the power supply flight path.

<Unmanned vehicle>
As shown in FIGS. 1 and 4, the unmanned power supply vehicle 3 includes a main body 35, a flying object detection unit 30, a storage battery 31, a power transmission unit 32, and a traveling device 33.

  The flying object detection unit 30 includes an upper camera 301 and an analysis unit (not shown). The upper camera 301 is provided on an upper part of the main body 35. The upper camera 301 captures an image of the periphery of the unmanned electric vehicle 3 and generates a surrounding image. The analysis unit detects the unmanned aerial vehicle 1 and its position based on the surrounding image.

  The storage battery 31 supplies power to the power transmission unit 32. Storage battery 31 may be a lead storage battery or an alkaline storage battery.

  The power transmission unit 32 is provided on the upper part of the unmanned power supply vehicle 3. The power transmission unit 32 supplies power to the unmanned aerial vehicle 1 by transmitting a microwave to the position of the unmanned aerial vehicle 1 detected by the flying object detection unit 30. The power transmission unit 32 may be configured by a phased array antenna, but is merely an example and is not limited to this.

  The traveling device 33 includes a power unit (not shown), wheels 330, and a steering unit 331. The unmanned power supply vehicle 3 runs by rotating the wheels 330 by the power of the power unit. The steering unit 331 steers the wheels 330 based on the position of the unmanned aerial vehicle 1 detected by the aerial vehicle detection unit 30 so that the unmanned power feeding vehicle 3 can follow the unmanned aerial vehicle 1. The power unit may be carried by, for example, the storage battery 31 or may be configured by another storage battery.

<Power supply method>
5A and 5B show an example of a transporting operation of the unmanned aerial vehicle 1 in the warehouse. A plurality of shelves 5 each having a loading section are installed. As shown in FIG. 5A, the unmanned aerial vehicle 1 receives the load W at the loading position P1, and moves to the loading position P2. When power is not supplied, the unmanned aerial vehicle 1 flies along the flight path D1, which is the shortest distance, when moving from the loading position P1 to the loading position P2. Specifically, when the unmanned aerial vehicle 1 holds the load W, the unmanned aerial vehicle 1 is elevated from the loading position P1 to above the shelf 5 by the flight control unit 210, and is horizontally moved from above the loading position P1 to above the loading position P2. And descends to the loading position P2. Thereby, the unmanned aerial vehicle 1 can move faster than flying around the shelf 5, so that the moving time can be reduced.

  As shown in FIG. 5B, the unmanned aerial vehicle 1 controls the flight altitude and the flight speed to predetermined flight altitudes and flight speeds by the flight control unit 210 at the time of power supply, and the shelf 5 along the power supply flight path D2. While flying around from the loading position P1 to the loading position P2.

  The unmanned power supply vehicle 3 detects the unmanned aerial vehicle 1 and its position by the aerial vehicle detection unit 30. Next, the unmanned power feeding vehicle 3 follows the unmanned aerial vehicle 1 being transported by the traveling device 33. Since the speed of the unmanned aerial vehicle 1 is controlled by the flight control unit 210 and the unmanned aerial vehicle 1 flies on the power supply flight path D2, the unmanned aerial vehicle 3 can follow the unmanned aerial vehicle 1. .

  The unmanned power feeding vehicle 3 transmits microwaves to the unmanned aerial vehicle 1 by the power transmission unit 32. At this time, the unmanned power supply vehicle 3 preferably transmits the microwave while following the unmanned aerial vehicle 1 so as to be located directly below the unmanned aerial vehicle 1. According to this positional relationship, the power receiving unit 18 and the power transmitting unit 32 face each other and the transmitted microwave is efficiently absorbed by the power receiving unit 18, so that the power supply efficiency can be kept high. Further, according to this positional relationship, the transmitted microwave is prevented from reaching the load W from the opening of the load holding unit 17, so that the load W is prevented from being affected by the microwave.

  As described above, in the power supply system according to the first embodiment, the unmanned aerial vehicle 1 is supplied with power while being followed by the unmanned power supply vehicle 3, so that it is possible to continuously perform the transport operation.

<Second embodiment>
Next, with reference to the drawings, a description will be given of a second embodiment of the automatic guided vehicle and the power supply system according to the present invention. The wireless power supply system according to the second embodiment includes that the unmanned aerial vehicle 1 does not include the speed comparison unit 214, that the unmanned power supply vehicle 3 further includes the line detection unit 34, and that the plurality of guidance lines L1 to L6 are located in the warehouse. The wireless power supply system according to the first embodiment is different from the wireless power supply system according to the first embodiment, but other configurations are common. Therefore, a detailed description of the overlapping components will be omitted.

<Unmanned aerial vehicle>
As described above and FIG. 6, the unmanned aerial vehicle 1 does not have the speed comparison unit 214. The flight control unit 210 does not limit the flight speed of the unmanned aerial vehicle 1 for power supply. The unmanned aerial vehicle 1 performs a transport operation based on the transport information.

<Unmanned vehicle>
As described above and FIG. 7, a plurality of guidance lines L1 to L6 are laid in the warehouse, and a plurality of unmanned power feeding vehicles 3 are arranged for each guidance line L.

  As described above and FIG. 6, the unmanned power supply vehicle 3 further includes a line detection unit 34. The line detection unit 34 detects the guidance line L laid in the warehouse. The guide line L may be provided on the road surface R with a colored tape or paint. In this case, the line detection unit 34 may be configured by the lower camera and the analysis unit. In this case, the lower camera captures the road surface R to generate a road surface R image, and the analysis unit analyzes the road surface R image to detect the guidance line L.

  The steering unit 331 is based on the position of the unmanned aerial vehicle 1 detected by the air vehicle detection unit 30 and the guidance line L detected by the line detection unit 34 so that the unmanned power feeding vehicle 3 can follow the unmanned air vehicle 1. Then, the wheel 330 is steered. Thereby, the unmanned power feeding vehicle 3 follows the unmanned aerial vehicle 1 while traveling on the guidance line L. The area on the guidance line L corresponds to the “predetermined area where the unmanned electric vehicle is arranged” of the present invention.

<Power supply method>
When power is not supplied, the unmanned aerial vehicle 1 flies along the flight path D1 (see FIG. 5A) from the loading position P1 to the loading position P2 in the same manner as in the first embodiment. On the other hand, during power feeding, the unmanned aerial vehicle 1 flies while bypassing the shelf 5 along the power feeding flight path D2 (see FIG. 5B). At this time, unlike the first embodiment, the speed of the unmanned aerial vehicle 1 is not limited for power supply. It is assumed that the flight speed of the unmanned aerial vehicle 1 at this time is faster than that of the unmanned power feeding vehicle 3. As shown in FIG. 5B and FIG. 7, the power supply flight path D2 passes on the guidance line L.

  When the unmanned aerial vehicle 1 is detected by the flying object detection unit 30, the unmanned aerial vehicles 3a to 3c follow the unmanned aerial vehicle 1 on each of the guide lines L1 to L3 and transmit microwaves. Specifically, at unloading position P1, unmanned power feeding vehicle 3a detects unmanned aerial vehicle 1 and transmits microwaves. When receiving the load W, the unmanned aerial vehicle 1 flies forward (see arrow Y) in FIG. 7 above the guidance line L1. The unmanned vehicle 3a transmits the microwave while following the unmanned aerial vehicle 1 to the end of the guidance line L1. Next, when the unmanned aerial vehicle 1 flies leftward (see the arrow X) above the guidance line L2, the unmanned feeding vehicle 3b that has detected the unmanned aerial vehicle 1 follows the unmanned aerial vehicle 1 to the end of the guidance line L2. While transmitting microwaves. Next, when the unmanned aerial vehicle 1 arrives at the loading position P2 above the guidance line L3 and performs a loading operation, the unmanned power feeding vehicle 3c that has detected the unmanned aerial vehicle 1 is moved to the unmanned aerial vehicle 1 on the guidance line L3. Transmit waves.

  As described above, in the power supply system according to the second embodiment, the unmanned power supply vehicle 3 moves according to the position of the unmanned air vehicle 1 with respect to the unmanned air vehicle 1 flying at a speed that cannot be followed by one unmanned power supply vehicle 3. The power is continuously and intermittently supplied to the unmanned aerial vehicle 1 by successively supplying power. Therefore, the unmanned aerial vehicle 1 can perform the carrying operation continuously without limiting the flight speed.

  As described above, in the power supply system according to each embodiment, since the unmanned aerial vehicle 1 is supplied with power while being followed by the unmanned power supply vehicle 3, it is possible to continuously carry out the transportation operation.

  The embodiments of the unmanned power supply vehicle and the power supply system according to the present invention have been described above, but the present invention is not limited to the above embodiments.

  (1) The method by which the unmanned aerial vehicle 1 detects its own position is not particularly limited. For example, the position of the unmanned aerial vehicle 1 may be detected by a Simultaneous Localization And Mapping (SLAM) technique.

  (2) The illumination unit 15b may not be provided on the unmanned aerial vehicle 1 as long as the own position detection unit 212 can recognize the ceiling marker 4 from the upper image captured by the camera 15a.

  (3) The flying object detection unit 30 may further include a radar. In this case, even if the flying object detection unit 30 detects the position of the unmanned flying object 1 by detecting the unmanned flying object 1 with the radar and specifying the approximate position, and capturing the position with the upper camera 301, Good.

  (4) The power receiving unit 18 may be provided on the main body 10 as long as the microwave transmitted by the unmanned power supply vehicle 3 can be efficiently received, and the provided position is not particularly limited. The power receiving unit 18 may be provided on, for example, a side surface of the load holding unit 17. In this case, when power is supplied by the unmanned power feeding vehicle 3, the height of the unmanned aerial vehicle 1 may be controlled by the flight control unit 210 so as to be located in front of the unmanned power feeding vehicle 3.

  (5) The unmanned power supply vehicle 3 in the second embodiment may be of a traveling type using electromagnetic induction. In this case, the guide line L includes a tow path wire laid on the floor, and the line detection unit 34 includes a pickup coil that detects the tow path wire.

  (6) The unmanned vehicle 3 may supply power while following the unmanned vehicle 1 based on its absolute position and the absolute position of the unmanned vehicle 1. As a configuration of the power supply system in this case, for example, the unmanned aerial vehicle 1 and the unmanned power supply vehicle 3 can wirelessly communicate with each other, and the unmanned power supply vehicle 3 further has its own vehicle position detection unit that detects its own position. Can be considered. In this case, the unmanned aerial vehicle 1 transmits the position information of the own aircraft identified by the own aircraft position detection unit 212 to the unmanned power feeding vehicle 3. The unmanned feeding vehicle 3 specifies the position of the unmanned aerial vehicle 1 by (i) receiving the position information by the flying object detection unit 30, and (ii) the position of the unmanned aerial vehicle 1 by the steering unit 331. (3) The power transmission unit 32 transmits microwaves to the unmanned aerial vehicle 1 based on the position of the unmanned aerial vehicle 1 and its own position. The vehicle position detection unit may include, for example, a laser scanner using a known laser guidance system.

  (7) The power supply system may use, for example, a retrodirective method in which a pilot signal is transmitted from the unmanned aerial vehicle 1 to the unmanned power supply vehicle 3 and the power transmission unit 32 transmits a microwave in the direction of the pilot signal. In this case, the unmanned aerial vehicle 1 further includes a pilot signal transmitting unit that transmits a pilot signal. The flying object detection unit 30 specifies the position of the unmanned flying object 1 by receiving the pilot signal.

DESCRIPTION OF SYMBOLS 1 Unmanned aerial vehicle 10 Main body 12 Arm 13 Motor 14 Rotor wing 15 Upper unit 15a Camera 15b Illumination unit 16 Skid 17 Load holding unit 18 Power receiving unit 18a Rectenna 20 Storage battery 21 Control device 210 Flight control unit 211 Storage unit 212 Own position detection unit 213 Altitude comparison unit 214 Speed comparison unit 3, 3a to 3f Power feeding vehicle 30 Flying object detection unit 301 Upper camera 31 Storage battery 32 Power transmission unit 33 Running device 330 Wheel 331 Steering unit 34 Line detection unit 4 Ceiling marker C Ceiling W Load R Road surface L , L1-L6 guidance line

Claims (6)

And unmanned air vehicles performing transportation operations, a power supply system provided with a unmanned powered vehicle to power by wireless transmission to the unmanned air vehicle,
The unmanned aerial vehicle,
A flight control unit that controls the flight of the aircraft,
A load holding unit that holds a load related to the transport operation,
A power receiving unit that receives wirelessly transmitted power;
And a storage battery that stores the power received by the power receiving unit,
The unmanned vehicle is
A flying object detection unit that detects the position of the unmanned flying object,
A traveling device for following the unmanned aerial vehicle based on the position of the unmanned aerial vehicle detected by the aerial vehicle detection unit,
A power transmission unit that wirelessly transmits power to the unmanned aerial vehicle based on the position of the unmanned aerial vehicle detected by the aerial vehicle detection unit,
The unmanned power supply vehicle wirelessly transmits power while following the unmanned aerial vehicle,
The unmanned aerial vehicle, when flying while being wirelessly transmitted by the unmanned power feeding vehicle, further includes an altitude comparison unit that compares the flight altitude of the own aircraft with a predetermined flight altitude at the time of power feeding,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, based on a result compared by the altitude comparison unit, the flight altitude of the unmanned aerial vehicle to the predetermined flight altitude Control the flight altitude of the unmanned aerial vehicle so that
Power supply system, wherein a call. The unmanned vehicle is
It further has a vehicle position detection unit that recognizes the position of the vehicle,
The method according to claim 1, wherein the vehicle follows the unmanned aerial vehicle while detecting the position of the unmanned aerial vehicle by the aerial vehicle detector and detecting the position of the host vehicle by a host vehicle position detector. A power supply system as described. The unmanned vehicle is a plurality of vehicles, and is disposed in a plurality of regions, respectively.When the unmanned vehicle is detected by the vehicle detection unit, the unmanned vehicle follows the unmanned vehicle in each of the regions. The power supply system according to claim 1, wherein the power is wirelessly transmitted to the flying object. The unmanned aerial vehicle further includes a storage unit that stores a predetermined flight path that the unmanned power feeding vehicle can follow the own aircraft,
The flight control unit according to claim 1 , wherein when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, the unmanned aerial vehicle flies along the predetermined flight path . The power supply system according to claim 1 . The unmanned aerial vehicle further includes a speed comparison unit that compares a flight speed of the own aircraft and a predetermined flight speed at the time of power supply when flying while being wirelessly transmitted by the unmanned power supply vehicle,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, based on a result compared by the speed comparison unit, the flight speed of the unmanned aerial vehicle to the predetermined flight speed The power supply system according to any one of claims 1 to 4 , wherein a flight speed of the unmanned aerial vehicle is controlled to be as follows. The unmanned power supply vehicle and the unmanned aerial vehicle can wirelessly communicate with each other,
The unmanned aerial vehicle,
The apparatus further includes an own position detecting unit that detects a position of the own apparatus,
Transmitting the position of the own device detected by the own device position detection unit to the unmanned power feeding vehicle,
The power supply system according to claim 1 , wherein the flying object detection unit detects a position of the unmanned flying object by receiving a position of the unmanned flying object.

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