JP2020114700A - Power supply system for unmanned flight body - Google Patents

Abstract

To provide a power supply system for an unmanned flight body that enables the unmanned flight body to continuously perform carrying work.SOLUTION: A power supply system for an unmanned flight body comprises a plurality of unmanned flight bodies 1, and an unmanned power supply vehicle 3 that transmits electric power wirelessly, following the unmanned flight bodies 1. The unmanned flight body 1 has a flight control part that controls flight, a flight-body position detecting part that detects a position of the flight body 1, a cargo holding part that holds a cargo W, a power receiving part 18 that receives wirelessly transmitted electric power, a storage battery that stores the received electric power, and a flight body information transmitting part that transmits power storage amounts of the storage battery and the position of the flight body 1 to the unmanned power supply vehicle 3. The unmanned power supply vehicle 3 has a flight body specifying part 33 that specifies the unmanned flight body 1 whose power storage amount is smallest, out of the plurality of flight bodies 1 by comparing the received power storage amounts of the storage batteries of the unmanned flight bodies 1, a travel gear 36 for following the specified flight body 1 and a power transmitting part 35 that transmits power wirelessly to the specified unmanned flight body 1.SELECTED DRAWING: Figure 1

Description

The present invention relates to a power supply system for an unmanned aerial vehicle that supplies power to an unmanned aerial vehicle that performs transportation work.

Conventionally, an unmanned aerial vehicle for carrying work outdoors or indoors has been developed (for example, see Patent Document 1). The unmanned aerial vehicle described in Patent Document 1 is capable of hovering and autonomous flight. This unmanned aerial vehicle is equipped with a gripping device, absorbs a load by the mounted gripping device, and moves together with the load to carry it. Since this unmanned aerial vehicle flies in the air, the unmanned aerial vehicle travels faster than a carrier vehicle and is suitable for carrying work.

By the way, an unmanned aerial vehicle has a small electricity storage capacity and cannot carry a carrying operation continuously for a long time. Therefore, for example, the picking system described in Patent Document 2 is provided with a power storage unit that supplies power to the unmanned aerial vehicle at a starting portion where a plurality of unmanned aerial vehicles are on standby for carrying work. The plurality of unmanned aerial vehicles are supplied with electric power during the transportation work at the departure section, thereby preventing a shortage of electric power during the transportation work.

However, the fact that the unmanned aerial vehicle cannot carry out the carrying work while the power is supplied is a problem because it is not preferable from the viewpoint of the operating rate.

JP, 2008-114822, A JP, 2018-016435, A

Then, the subject which this invention tends to solve is providing the electric power feeding system for unmanned aerial vehicles which a several unmanned aerial vehicle can carry out a conveyance work continuously.

In order to solve the above problems, an unmanned air vehicle power feeding system according to the present invention,
A plurality of unmanned aerial vehicles for carrying work, and an unmanned power feeding vehicle for supplying power by wirelessly transmitting power to the unmanned aerial vehicles,
The plurality of unmanned air vehicles are
A flight control unit that controls the flight of the aircraft,
A position detecting section for detecting the position of the own device,
A load holding unit for holding a load related to the transportation work,
A power receiving unit that receives the wirelessly transmitted power,
A storage battery that stores the electric power received by the power receiving unit,
An electric vehicle information transmitting unit that transmits the amount of electricity stored in the storage battery and the position of the own device to the unmanned power supply vehicle,
The unmanned power supply vehicle,
Comparing the amount of electricity stored in the storage batteries of each of the unmanned aerial vehicles received, a flying body identifying unit that identifies the unmanned aerial vehicle with the least amount of electricity stored from the plurality of unmanned aerial vehicles,
A traveling device for following the specified unmanned air vehicle, based on the position of the unmanned air vehicle received,
A power transmission unit that wirelessly transmits power to the specified unmanned air vehicle based on the received position of the unmanned air vehicle;
The wireless power transmission is performed while following the specified unmanned air vehicle.

The power supply system is preferably
The unmanned power supply vehicle,
The vehicle further includes a vehicle position detection unit that detects the position of the vehicle,
Based on the received position of the unmanned aerial vehicle and the position of the own vehicle detected by the own vehicle position detection unit, the traveling device follows the specified unmanned aerial vehicle.

The power supply system is preferably
When the unmanned aerial vehicle flies while wirelessly transmitting power by the unmanned power supply vehicle, further has an altitude comparison unit that compares the flight altitude of the own aircraft and a predetermined flight altitude at the time of power supply,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power feeding vehicle, based on the result of the comparison by the altitude comparison unit, the flight altitude of the unmanned aerial vehicle to the predetermined flight altitude. The flight altitude of the unmanned aerial vehicle is controlled so that

The power supply system is preferably
The unmanned aerial vehicle further has a storage unit that stores a predetermined flight path in which 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 power-transmitted by the unmanned power supply vehicle, further has a speed comparison unit that compares the flight speed of the own aircraft and a predetermined flight speed at the time of power supply,
The flight control unit, when the unmanned aerial vehicle flies while being wirelessly transmitted by the unmanned power supply vehicle, based on the result of the comparison by the speed comparison unit, the flight speed of the unmanned aerial vehicle to the predetermined flight speed. To control the flight speed of the unmanned aerial vehicle.

The power supply system is preferably
The unmanned power feeding vehicle compares the received storage amount of the storage battery with a predetermined storage amount, and when the storage amount of the storage battery is equal to or larger than a predetermined storage amount, stop power supply by stopping wireless power transmission of the power transmission unit. Further has a section,
When the wireless power transmission of the power transmission unit is stopped by the power supply stop unit, the aircraft identifying unit again identifies the unmanned aircraft having the smallest amount of electricity stored from the plurality of unmanned aircraft.

The power supply system according to the present invention can cause a plurality of unmanned air vehicles to carry out transportation work continuously. Further, in the power feeding system according to the present invention, the unmanned power feeding vehicle wirelessly transmits power to the unmanned aerial vehicle having the least amount of power storage, and thus it is possible to more reliably prevent the unmanned aerial vehicle from becoming insufficient in power.

It is a schematic side view which shows the electric power feeding system which concerns on one 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 portion. It is a block diagram which shows the electric power feeding system of FIG. It is a flowchart which shows the procedure of the electric power feeding which the unmanned electric power feeding vehicle of FIG. 1 performs. FIG. 2 is a schematic top view showing the operation of the unmanned aerial vehicle and the unmanned power feeding vehicle of FIG. 1 in the warehouse, where A shows the operation of the unmanned aerial vehicle when unpowered, and B shows the unmanned air vehicle and the unmanned power feeding vehicle at the time of power feeding. It shows the operation.

Hereinafter, an embodiment of an unmanned air vehicle power feeding system according to the present invention will be described with reference to the drawings.

FIG. 1 is a schematic side view showing a power supply system according to this embodiment. The plurality of unmanned aerial vehicles 1 carry the load W indoors (reference numeral 1 is used as a reference numeral indicating any one or a plurality of unmanned aerial vehicles 1). The unmanned power feeding vehicle 3 specifies the unmanned aerial vehicle 1 having the smallest power storage amount Q among the plurality of unmanned aerial vehicles 1, and supplies the power by wirelessly transmitting the unmanned aerial vehicle 1 while following the specified unmanned aerial vehicle 1.

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

<Unmanned aerial vehicle>
As shown in FIGS. 3A and 3B, the unmanned aerial vehicle 1 includes a disk-shaped main body 10, four arms 12 extending horizontally from the side surface of the main body 10, and a distal end side of each of the four arms 12. The motor 13 provided, the rotor 14 provided on the motor 13, the substantially octagonal column-shaped upper unit 15 provided on the upper surface of the main body 10, the two skids 16 provided on the lower surface of the main body 10, and The load holding unit 17 is provided between the two skids 16, and the power receiving unit 18 is 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 upper part of the unmanned aerial vehicle 1, and the camera 15a images the ceiling C including the ceiling marker 4 illuminated by the illumination unit 15b to generate an upper image. Since the ceiling marker 4 is a retroreflective material, the camera 15a can properly capture the image of 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 relating to the transportation work. The load holding unit 17 has a mounting surface on which the load W is placed, but this is merely an example, and the configuration thereof is not particularly limited as long as it can hold the load W. The load holder 17 is preferably made of a conductive member that blocks microwaves. As a result, the microwave radiated from below the unmanned aerial vehicle 1 is blocked by the conductive member, so that the load W held in the load holding unit 17 is prevented from being exposed to the microwave.

As shown in FIG. 3C, the power receiving unit 18 is composed of a plurality of rectennas 18a. The rectenna 18a receives the microwave transmitted from the unmanned power feeding vehicle 3 and converts it 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), a speed sensor (not shown), and a communication unit (not shown).

The storage battery 20 is electrically connected to the power receiving unit 18. The storage battery 20 stores the direct current converted by the rectenna 18a and supplies electric power to the motor 13. The 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, an own-machine position detection unit 212, a flying body information transmission unit 213, an altitude comparison unit 215, and a speed comparison unit 216.

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

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

The own device position detection unit 212 performs template matching in which the upper image captured by the camera 15a is collated with the ceiling image, and which position in the ceiling image the upper image exists is searched for. 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-vehicle position detection unit 212 detects the horizontal position of the unmanned aerial vehicle 1 based on the result of template matching. The altitude sensor is composed of, for example, an ultrasonic sensor or a laser sensor. The own-machine position detection unit 212 detects the altitude of the unmanned aerial vehicle 1 by the altitude sensor.

The flying body information transmitting unit 213 continuously transmits the stored amount Q of the storage battery 20 and the position information of the unmanned aerial vehicle 1 to the unmanned power feeding vehicle 3 by the communication means.

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 efficiency of microwave power feeding depends on the distance between the power transmitting side and the power receiving side. Therefore, in order to keep the distance between the unmanned aerial vehicle 1 and the unmanned power feeding vehicle 3 within a certain range and to keep the microwave power feeding efficiency high, the flight altitude and the flight speed of the unmanned aerial vehicle 1 at the time of power feeding are preset. It is set. Therefore, the predetermined flight altitude is set to an altitude slightly higher than that of the power transmission unit 35 described later. Further, the predetermined flight speed is set to be equal to or slightly slower than the traveling speed of the unmanned electric vehicle 3.

The altitude comparison unit 215 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 216 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 be the predetermined flight altitude and the predetermined flight speed based on the comparison result by the altitude comparison unit 215 and the speed comparison unit 216. ..

The storage unit 211 further stores the transportation information. The transportation information includes a pickup position and a loading position. The storage unit 211 further stores a power supply flight path that is a predetermined flight path when the unmanned aerial vehicle 1 is powered. The power supply flight path is predetermined 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 air vehicle 1.

The flight control unit 210 controls the flight direction of the unmanned aerial vehicle 1 so that the unmanned aerial vehicle 1 flies along the power supply flight path during power feeding.

<Unmanned power supply vehicle>
As shown in FIGS. 1 and 4, the unmanned power feeding vehicle 3 includes a main body 30, a vehicle position detecting unit 31, a flying body identifying unit 33, a storage battery 34, a power transmitting unit 35, a traveling device 36, and power feeding. A stop unit 37 and a communication unit (not shown) are provided.

The vehicle position detection unit 31 detects the position of the unmanned power feeding vehicle 3 by a known laser guidance method. The vehicle position detection unit 31 has a laser scanner 311 and an analysis unit (not shown). The laser scanner 311 is provided on the upper portion of the main body 30. The laser scanner 311 transmits a laser while rotating 360 degrees in the horizontal direction, and receives the laser reflected by a plurality of reflectors arranged at a predetermined indoor location. The analysis unit specifies the positional relationship between the plurality of reflectors and the unmanned power feeding vehicle 3 by analyzing the transmission/reception direction of the laser scanner 311, and detects the current position of the unmanned power feeding vehicle 3 based on this positional relationship.

The flying body identifying unit 33 compares the power storage amounts Q of the storage batteries 20 received by the communication means from each of the plurality of unmanned air vehicles 1, and identifies the unmanned air vehicle 1 having the smallest power storage amount Q.

The storage battery 34 supplies electric power to the power transmission unit 35. The storage battery 34 may be a lead storage battery or an alkaline storage battery.

The power transmission unit 35 is provided above the unmanned power feeding vehicle 3. The power transmission unit 35 wirelessly transmits power to the unmanned aerial vehicle 1 by transmitting microwaves to the unmanned aerial vehicle 1 identified by the aircraft specific unit 33 based on the received position of the unmanned aerial vehicle 1. The power transmission unit 35 may be configured by a phased array antenna, but this is merely an example and the present invention is not limited to this.

The traveling device 36 includes a power unit (not shown), wheels 360, and a steering unit 361. The unmanned power feeding vehicle 3 runs by rotating the wheels 360 by the power of the power unit. The steering unit 361 follows the unmanned air vehicle 1 in which the unmanned power feeding vehicle 3 is specified, based on the position of the unmanned power feeding vehicle 3 detected by the vehicle position detection unit 31 and the position of the unmanned air vehicle 1 received. The wheels 360 are steered so that they can. The power unit may be carried by, for example, the storage battery 34, or may be configured by another storage battery.

The power feed stopping unit 37 compares the power storage amount Q1 of the unmanned air vehicle 1 being fed with a predetermined power storage amount RQ, and when the power storage amount Q1 is equal to or more than the predetermined power storage amount RQ, wireless power transmission of the power transmission unit 35 is performed. Stop. Further, when the power storage amount Q1 of the storage battery 20 is equal to or greater than the predetermined power storage amount RQ, the power feeding stop unit 37 also stops the traveling device 36 from following the unmanned aerial vehicle 1. As a result, the power feeding stop unit 37 prevents the unmanned power feeding vehicle 3 from feeding power to the unmanned air vehicle 1 more than necessary. The predetermined storage amount RQ may be 80% of the storage capacity of the storage battery 20, for example.

When the power supply stopping unit 37 stops the power supply by the unmanned power supply vehicle 3, the aircraft identifying unit 33 compares the power storage amounts Q of the plurality of unmanned air vehicle 1 and the unmanned air vehicle 1 having the smallest power storage amount Q. Specify again. Next, the power transmission unit 35 wirelessly transmits power to the specified unmanned aerial vehicle 1, and the traveling device 36 causes the unmanned power feeding vehicle 3 to follow the specified unmanned aerial vehicle 1.

Next, the procedure of power feeding of the unmanned power feeding vehicle 3 will be described with reference to the flowchart of FIG.

First, the unmanned power feeding vehicle 3 receives the power storage amount Q and the position of each of the plurality of unmanned air vehicles 1 (S1).

Next, the unmanned power feeding vehicle 3 specifies the unmanned air vehicle 1 with the lowest stored power Q by the air vehicle specifying unit 33 (S2).

Next, the unmanned power feeding vehicle 3 wirelessly transmits power by the power transmission unit 35 while following the specified unmanned aerial vehicle 1 by the traveling device 36 (S3). As described above, in the power feeding system, since the unmanned power feeding vehicle 3 feeds power to the unmanned air vehicle 1 having the lowest power storage amount Q, the unmanned air vehicle 1 feeds power to the unmanned air vehicle 1 selected at random. It is possible to more reliably prevent the flying vehicle 1 from running out of power.

The unmanned power feeding vehicle 3 wirelessly transmits power while following the specified unmanned aerial vehicle 1 until the amount of stored power Q1 of the specified unmanned aerial vehicle 1 becomes equal to or greater than a predetermined amount of power storage RQ (No in S4) ( S3).

When the power storage amount Q1 of the unmanned aerial vehicle 1 becomes equal to or more than the predetermined power storage amount RQ (Yes in S4), the unmanned power feeding vehicle 3 stops the tracking and wireless power transmission to the specified unmanned aerial vehicle 1 (S5).

Next, the unmanned power feeding vehicle 3 again identifies the unmanned aerial vehicle 1 having the smallest power storage amount Q from the plurality of unmanned aerial vehicles 1 by the aircraft body identification unit 33 (S2), and follows the identified unmanned aerial vehicle 1. Wireless power transmission is performed (S3). In this way, the power feeding system prevents the unmanned aerial vehicle 1 from becoming insufficient in electric power by successively feeding the unmanned aerial vehicle 1 with the reduced storage amount Q.

<Power supply method>
Next, a power feeding method of the power feeding system in the warehouse will be described with reference to FIG. FIG. 6A is a schematic top view showing an example of a transportation work of the unmanned aerial vehicle 1 when the power is not supplied. In the warehouse, a plurality of shelves 5 each having a loading section are installed. Further, a plurality (three in the present embodiment) of unmanned aerial vehicles 1a, 1b, 1c are arranged in the warehouse. The unmanned aerial vehicles 1a, 1b, and 1c carry out carrying work based on the carrying information, respectively.

For example, the unmanned aerial vehicle 1a receives the load W at the loading position P1 and moves to the loading position P2. When the unmanned aerial vehicle 1a is not supplied with electric power, the unmanned aerial vehicle 1a flies along the flight path D1 which is the shortest flight path and moves from the unloading position P1 to the loading position P2. Specifically, when the unmanned aerial vehicle 1a holds the load W, the flight controller 210 raises the load control position P1 to a position above the shelf 5 and moves horizontally from above the load position P1 to above the load position P2. After descending to the loading position P2. As a result, the unmanned aerial vehicle 1a can move faster than the flight by bypassing the shelf 5, so that the moving time can be shortened.

FIG. 6B is a top view showing an example of operations of unmanned air vehicle 1 and unmanned power feeding vehicle 3 at the time of power feeding. The unmanned power feeding vehicle 3 receives the power storage amount Q and the position of each of the three unmanned air vehicles 1a to 1c. When the unmanned power feeding vehicle 3 specifies the unmanned aerial vehicle 1a as the unmanned aerial vehicle 1 having the smallest stored amount Q by the flying body identifying unit 33, the power transmitting unit 35 follows the unmanned aerial vehicle 1a by the traveling device 36 while the unmanned aerial vehicle 1a is tracked by the traveling device 36. Wirelessly transmits power to the unmanned aerial vehicle 1a.

At the time of power feeding, the unmanned aerial vehicle 1a controls the flight altitude and flight speed to a predetermined flight altitude and flight speed by the flight control unit 210 while detouring the shelf 5 along the power feeding flight path D2 and taking the pick-up position P1. To the loading position P2. As a result, the unmanned power feeding vehicle 3 can follow up without being separated from the unmanned aerial vehicle 1a. The unmanned power feeding vehicle 3 preferably follows the unmanned aerial vehicle 1a so as to be located directly below the unmanned aerial vehicle 1a. According to this positional relationship, the power reception unit 18 and the power transmission unit 35 are in the direct facing state, and the transmitted microwaves are efficiently absorbed by the power reception unit 18, so that the power feeding efficiency can be improved. Further, according to this positional relationship, the transmitted microwaves are 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 microwaves.

When the storage amount Qa of the unmanned aerial vehicle 1a becomes equal to or greater than the predetermined storage amount RQ, the unmanned power feeding vehicle 3 stops following the unmanned aerial vehicle 1a and wireless power transmission, and re-identifies the unmanned aerial vehicle 1 having the smallest storage amount Q. To do. For example, when the unmanned air vehicle 1c is specified, the unmanned power feeding vehicle 3 wirelessly transmits power while following the unmanned air vehicle 1c.

In the unmanned aerial vehicle 1a, for example, when the power feeding by the unmanned power feeding vehicle 3 is stopped at the position P3 on the power feeding flight path D2, the flight path which is the shortest flight path from the power feeding flight path D2 in order to shorten the traveling time. The flight route is changed to D3, and the aircraft flies from the position P3 to the loading position P2.

As described above, in the power feeding system of the present embodiment, the unmanned aerial vehicle 1 is wirelessly transmitted while being followed by the unmanned power feeding vehicle 3, so that the carrying operation can be continuously performed. In addition, in the power feeding system, the unmanned power feeding vehicle 3 wirelessly transmits power to the unmanned aerial vehicle 1 having the smallest storage amount Q, so that it is possible to more reliably prevent the unmanned aerial vehicle 1 from becoming insufficient in power.

Although one embodiment of the power feeding system according to the present invention has been described above, the present invention is not limited to the above embodiment.

(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 SLAM (Simultaneous Localization And Mapping) technology.

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

(3) The power receiving unit 18 may be provided in the main body 10 as long as it can efficiently receive the microwave transmitted by the unmanned power feeding vehicle 3, and the position where it is provided is not particularly limited.

1 unmanned aerial vehicle 10 main body 12 arm 13 motor 14 rotor 15 upper unit 15a camera 15b lighting 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 Flight object information transmission section 215 Altitude comparison section 216 Speed comparison section 3 Unmanned power supply vehicle 30 Main body 31 Own vehicle position detection section 311 Laser scanner 33 Flight body identification section 34 Storage battery 35 Power transmission section 36 Traveling device 360 Wheels 37 Power supply stop section 361 Steering Part 4 Ceiling marker C Ceiling W load

Claims (6)

A power supply system for an unmanned air vehicle,
A plurality of unmanned aerial vehicles for carrying work, and an unmanned power feeding vehicle for supplying power by wirelessly transmitting power to the unmanned aerial vehicles,
The plurality of unmanned air vehicles are
A flight control unit that controls the flight of the aircraft,
A position detecting section for detecting the position of the own device,
A load holding unit for holding a load related to the transportation work,
A power receiving unit that receives the wirelessly transmitted power,
A storage battery that stores the electric power received by the power receiving unit,
An electric vehicle information transmitting unit that transmits the amount of electricity stored in the storage battery and the position of the own device to the unmanned power supply vehicle,
The unmanned power supply vehicle,
Comparing the amount of electricity stored in the storage batteries of each of the unmanned aerial vehicles received, a flying body identifying unit that identifies the unmanned aerial vehicle with the least amount of electricity stored from the plurality of unmanned aerial vehicles,
A traveling device for following the specified unmanned air vehicle, based on the position of the unmanned air vehicle received,
A power transmission unit that wirelessly transmits power to the specified unmanned air vehicle based on the received position of the unmanned air vehicle;
A power feeding system, which wirelessly transmits power while following the specified unmanned air vehicle. The unmanned power supply vehicle,
The vehicle further includes a vehicle position detection unit that detects the position of the vehicle,
The specified unmanned air vehicle is followed by the traveling device based on the received position of the unmanned air vehicle and the position of the vehicle detected by the vehicle position detection unit. The power supply system according to 1. The unmanned aerial vehicle, when flying while wirelessly transmitting power by the unmanned power supply vehicle, further has an altitude comparison unit that compares the flight altitude of the own aircraft with a predetermined flight altitude at the time of power supply,
The flight control unit, when the unmanned aerial vehicle flies while wirelessly transmitting power by the unmanned power feeding vehicle, based on the result of the comparison by the altitude comparing unit, the flight altitude of the unmanned aerial vehicle to the predetermined flight altitude. The power supply system according to claim 1 or 2, wherein the flight altitude of the unmanned aerial vehicle is controlled so that. The unmanned aerial vehicle further has a storage unit that stores a predetermined flight path in which 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 according to any one of items. The unmanned aerial vehicle, when flying while wirelessly power-transmitted by the unmanned power supply vehicle, further has a speed comparison unit that compares a flight speed of the own aircraft and a predetermined flight speed at the time of power supply,
The flight control unit, when the unmanned aerial vehicle flies while wirelessly transmitting power by the unmanned power feeding vehicle, based on the result of the comparison 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 the flight speed of the unmanned aerial vehicle is controlled so that. The unmanned power supply vehicle compares the received power storage amount of the storage battery with a predetermined power storage amount, and stops the wireless power transmission of the power transmission unit when the power storage amount of the storage battery is equal to or greater than a predetermined power storage amount. Further has a section,
When the wireless power transmission of the power transmission unit is stopped by the power supply stopping unit, the aircraft identifying unit identifies again the unmanned aircraft having the least amount of electricity stored from the plurality of unmanned aircraft. Item 5. The power supply system according to any one of Items 1 to 5.

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