Patent Description:
<CIT> describes a technique for performing optical power transmission by irradiating a flight vehicle mounted with a solar cell panel with laser light from the ground. <CIT> describes a secondary UAV that flies over the solar-powered UAV at night and illuminates the solar-powered UAV's solar panels to help supplement the solar-powered UAV's battery charge mid-flight. The secondary UAV could be equipped with a directional light source for providing light of a color and intensity selected for optimal absorption by the solar cells of the solar-powered UAV. As the secondary UAV flies over the solar-powered UAV, the secondary UAV could thus direct its light source at the solar-powered UAV for absorption by the solar cells, to help supplement the solar-powered UAV's battery charge. Further, the secondary UAV could potentially recharge multiple solar-powered UAVs during a single nighttime mission. <CIT> aims to achieve a wireless power supply with high power reception efficiency and a good efficiency to a flying body. A wireless power transmission apparatus transmitting a power in wireless to a flying body, comprises: a beam transmission part transmitting an energy beam for power supply to the wireless power transmission apparatus mounted in the flying body; an information acquisition part acquiring control information for increasing power reception efficiency of the wireless power transmission apparatus; and a control part that performs control of the energy beam so that the power reception efficiency of the wireless power transmission apparatus becomes high on the basis of the control information. <CIT> aims to provide a technique for improving a power generation amount by a solar battery panel included by a flight body in a situation where the flight body is known, the flight body having a solar battery panel and an antenna and fling in a stratosphere in order to provide a stratosphere platform. Provided is a control device having a double side light reception type solar battery panel arranged on a main wing and for controlling a flight body, where the control device includes: a positional relationship acquisition part for acquiring a positional relationship between the flight body and the sun; and a deflection quantity control part for adjusting a deflection amount of the main wing according to the positional relationship.

Embodiments of the invention are described in the dependent claims. According to an embodiment of the present invention, there is provided a control device which controls a power supply flight vehicle. The control device includes a control unit which controls the power supply flight vehicle so as to cause a light irradiation unit to radiate light toward a solar cell panel while flying following flight of a power supply target flight vehicle on which the solar cell panel is mounted.

The power supply target flight vehicle may function as a stratospheric platform, and the control unit may control the power supply flight vehicle so as to cause the light irradiation unit to radiate light toward the solar cell panel while flying following the flight of the power supply target flight vehicle in stratosphere. The control device may include an information acquisition unit which acquires posture information of the power supply target flight vehicle, the posture information being transmitted by the power supply target flight vehicle, and on the basis of the posture information, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The control unit may specify a relative angle of the solar cell panel by using the posture information, and control the flight of the power supply flight vehicle and a light irradiation direction of the light irradiation unit such that an inclination of an incident angle of light on the solar cell panel becomes small. The information acquisition unit may acquire moving direction information of the power supply target flight vehicle, and on the basis of the moving direction information, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The information acquisition unit may acquire moving speed information of the power supply target flight vehicle, and on the basis of the moving speed information, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The information acquisition unit may acquire area information indicating a status of a flight area in which the power supply target flight vehicle is flying, the area information being transmitted by the power supply target flight vehicle, and on the basis of the area information, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The information acquisition unit may acquire power generation status information indicating a status of power generation by the solar cell panel of the power supply target flight vehicle, the power generation status information being transmitted by the power supply target flight vehicle, and on the basis of the power generation status information, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The control unit may monitor a change in an amount of power generation by the solar cell panel while changing a direction of light radiated by the light irradiation unit, and specify a direction of light with the highest amount of power generation. On the basis of the power generation status information, the control unit may check whether power generation is being performed, and when power generation is not being performed, may adjust at least one of a flight method of the power supply flight vehicle or the light irradiation direction of the light irradiation unit until power generation is performed.

According to claim <NUM> the control device includes an image acquisition unit which acquires a captured image of the power supply target flight vehicle captured by a camera included in the power supply flight vehicle, and on the basis of the captured image, the control unit controsl the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit. The control unit determines a status of the solar cell panel of the power supply target flight vehicle on the basis of the captured image, and control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit according to the determination result. The control device may include a distance acquisition unit which acquires a distance between the power supply flight vehicle and the power supply target flight vehicle, the distance being measured by a radar included in the power supply flight vehicle, and on the basis of the distance, the control unit may control the power supply flight vehicle so as to adjust a direction of light radiated by the light irradiation unit.

The control unit may control the power supply flight vehicle so as to cause the light irradiation unit to radiate light toward the solar cell panel while flying on a larger circular flight route with respect to the power supply target flight vehicle circulating on a circular flight route. According to claim <NUM> the power supply target flight vehicle has the solar cell panel on an upper surface of a wing portion, and the control unit controls the power supply flight vehicle so as to cause the light irradiation unit to radiate light toward the solar cell panel while flying above the power supply target flight vehicle. The control unit controls the power supply flight vehicle so as to adjust a positional relationship with the power supply target flight vehicle such that an irradiation direction of the light deviates from a predetermined area on the ground. The power supply target flight vehicle may have the solar cell panel on a lower surface of a wing portion, and the control unit may control the power supply flight vehicle so as to cause the light irradiation unit to emit light toward the solar cell panel while flying under the power supply target flight vehicle. The control unit may control the power supply flight vehicle so as to cause the light irradiation unit to radiate light to a plurality of the power supply target flight vehicles in order. The control device may be mounted on the power supply flight vehicle.

According to an embodiment of the present invention, a program for causing a computer to function as the control device is provided.

According to an embodiment of the present invention, there is provided a system including the control device and the power supply flight vehicle. The control device may be arranged on the ground, and the control unit may control the power supply flight vehicle by transmitting instruction data to the power supply flight vehicle.

According to an embodiment of the present invention, there is provided a control method to control a power supply flight vehicle, which is executed by a computer. The control method may include controlling the power supply flight vehicle so as to cause a light irradiation unit to radiate light toward a solar cell panel while flying following flight of a power supply target flight vehicle on which the solar cell panel is mounted.

The invention may also include a sub-combination of the features described as long as this is covered by the appended claims.

When optical power transmission is performed by irradiating a flight vehicle, that is, a power supply target with light from the ground, an irradiation technique by high-precision tracking is required. For example, when the power supply target is a high altitude platform station (HAPS) that functions as a stratospheric platform, light is radiated from a place <NUM> or more away, and thus high accuracy is required. In addition, there is a problem that efficiency depends on weather conditions such as clouds between the flight vehicle, that is, the power supply target and the ground. A system <NUM> according to the present embodiment achieves efficient power transmission, for example, by causing the power supply flight vehicle <NUM> to stay in the vicinity of a power supply target flight vehicle instead of on the ground and irradiating the power supply target flight vehicle with light from the power supply flight vehicle <NUM>. Since a flight speed, an altitude, a flight performance, and the like may be different between the power supply flight vehicle <NUM> and the power supply target flight vehicle, the system <NUM> may select an optimal following method in consideration of the flight characteristics of the power supply flight vehicle <NUM>, the flight state of the power supply target flight vehicle, a flight pattern, a power transmission efficiency based on an irradiation angle and an irradiation continuity to a solar cell panel, and the like, and perform following control (including predictive control using AI or the like).

Hereinafter, the present invention will be described through embodiments of the present invention, but the following embodiments do not limit the present invention according to claims. In addition, not all of the combinations of features described in the embodiments are essential to the solving means of the invention.

<FIG> schematically illustrates an example of the system <NUM>. The system <NUM> includes the power supply flight vehicle <NUM>. The system <NUM> may include a HAPS <NUM>. The HAPS <NUM> may be an example of the power supply target flight vehicle. The system <NUM> may include a management device <NUM>.

The power supply flight vehicle <NUM> has a function of wirelessly supplying power to the power supply target flight vehicle. The power supply flight vehicle <NUM> may be any flight vehicle as long as it can fly following the flight of the power supply target flight vehicle and radiate light toward the power supply target flight vehicle. The power supply flight vehicle <NUM> may be, for example, an airplane. The motive power of the power supply flight vehicle <NUM> may be from a propeller or a jet engine, or may be other motive power. The power supply flight vehicle <NUM> may be loaded with fuel and may fly or radiate light <NUM> by using the fuel. In addition, the power supply flight vehicle <NUM> may be mounted with a large battery and may fly or use the light <NUM> by using the power of the battery.

The power supply flight vehicle <NUM> includes a mounting unit <NUM> on which various devices are mounted. The mounting unit <NUM> is mounted with a light irradiation unit <NUM> (not illustrated). The mounting unit <NUM> may be mounted with a camera <NUM> (not illustrated). The mounting unit <NUM> may be mounted with a radar <NUM> (not illustrated).

The power supply flight vehicle <NUM> supplies power to the power supply target flight vehicle by the light irradiation unit <NUM> radiating the light <NUM> toward the solar cell panel of the power supply target flight vehicle on which the solar cell panel is mounted.

Examples of the light <NUM> radiated by the light irradiation unit <NUM> include laser light, visible light, ultraviolet light, and infrared light. The light irradiation unit <NUM> is, for example, a search light. The light irradiation unit <NUM> may be a laser emission facility. The light irradiation unit <NUM> may be a floodlight, a spotlight, or the like.

The irradiation direction of the light <NUM> radiated by the light irradiation unit <NUM> may be adjustable. The power supply flight vehicle <NUM> includes, for example, an adjustment mechanism that adjusts the direction of the light irradiation unit <NUM>. In addition, the light irradiation unit <NUM> itself may have an adjustment function of adjusting the irradiation direction of the light <NUM>.

The power supply flight vehicle <NUM> may include a gimbal that holds the light irradiation unit <NUM>. The gimbal reduces the shaking or the like of the light <NUM>, which is radiated by the light irradiation unit <NUM>, due to vibration or the like applied to the power supply flight vehicle <NUM>.

The power supply flight vehicle <NUM> has a control device <NUM>. The control device <NUM> controls the flight of the power supply flight vehicle <NUM>. The control device <NUM> may manage various sensors included in the power supply flight vehicle <NUM>. Examples of the sensor include a positioning sensor such as a global positioning system (GPS) sensor, a gyro sensor, an acceleration sensor, a wind sensor, and an air pressure sensor. The control device <NUM> may manage the position, the posture, the moving direction, the moving speed, and the like of the power supply flight vehicle <NUM> according to the outputs of various sensors. In addition, the control device <NUM> may manage the air flow, the air pressure, and the like of a flight area, in which the power supply flight vehicle <NUM> is flying, according to the outputs of the various sensors.

In addition, the control device <NUM> controls the light irradiation unit <NUM>. The control device <NUM> may adjust the irradiation direction of the light <NUM> by controlling the adjustment mechanism of the light irradiation unit <NUM>. The control device <NUM> may adjust the irradiation direction of the light <NUM> by controlling the adjustment function of the light irradiation unit <NUM>.

The control device <NUM> may control the camera <NUM>. For example, the control device <NUM> causes the camera <NUM> to capture an image of the HAPS <NUM> and acquires the captured image of the HAPS <NUM>.

The control device <NUM> may control the radar <NUM>. The control device <NUM> may measure a distance to the HAPS <NUM> by the radar <NUM>, for example.

The HAPS <NUM> may function as a stratospheric platform. While flying in the stratosphere, the HAPS <NUM> forms a feeder link <NUM> with a gateway <NUM> on the ground and forms a wireless communication area <NUM> on the ground.

The HAPS <NUM> includes a main body portion <NUM>, a wing portion <NUM>, and a solar cell panel <NUM>. In the example illustrated in <FIG>, the solar cell panel <NUM> is arranged on the upper surface of the wing portion <NUM>.

The power generated by the solar cell panel <NUM> is accumulated in one or more batteries arranged in at least one of the main body portion <NUM> or the wing portion <NUM>. The power accumulated in the battery is used by each component included in the HAPS <NUM>.

A control device <NUM> is arranged in the main body portion <NUM>. The control device <NUM> controls the flight and communication of the HAPS <NUM>.

The control device <NUM> controls the flight of the HAPS <NUM>, for example, by controlling the rotation of a propeller, the angle of a flap or an elevator, and the like. The control device <NUM> may manage various sensors included in the HAPS <NUM>. Examples of the sensor include a positioning sensor such as a GPS sensor, a gyro sensor, an acceleration sensor, a wind sensor, and an air pressure sensor. The control device <NUM> may manage the position, the posture, the moving direction, and the moving speed of the HAPS <NUM> according to the outputs of various sensors. In addition, the control device <NUM> may manage the air flow, the air pressure, and the like in a flight area, in which the HAPS <NUM> is flying, according to the outputs of various sensors. In addition, the control device <NUM> may manage the status of the power generation by the solar cell panel <NUM>.

The control device <NUM> may form the feeder link <NUM> with the gateway <NUM> by using, for example, a feeder link (FL) antenna. The control device <NUM> may access a network <NUM> via the gateway <NUM>.

The control device <NUM> may transmit various types of information to the management device <NUM> connected to the network <NUM>. The control device <NUM> transmits, for example, telemetry information to the management device <NUM>.

The telemetry information may include the position information of the HAPS <NUM>. The position information may indicate the three-dimensional position of the HAPS <NUM>. The telemetry information may include the posture information of the HAPS <NUM>. The posture information may indicate the pitch, the roll, and the yaw of the HAPS <NUM>. The telemetry information may include moving direction information indicating the moving direction of the HAPS <NUM>. The telemetry information may include moving speed information indicating the moving speed of the HAPS <NUM>.

The telemetry information may include area information indicating the status of the flight area in which the HAPS <NUM> is flying. The area information may include the air flow information of the flight area in which the HAPS <NUM> is flying. The area information may include the air pressure information of the flight area in which the HAPS <NUM> is flying.

The telemetry information may include power generation status information indicating the status of the power generation by the solar cell panel <NUM>. The power generation status information may indicate whether power is being generated by the solar cell panel <NUM>. The power generation status information may include information regarding the amount of the power generation by the solar cell panel <NUM>. The information regarding the power generation amount includes, for example, a power generation amount per unit time.

In addition, the control device <NUM> forms the wireless communication area <NUM> on the ground by using, for example, a service link (SL) antenna. The wireless communication area <NUM> forms a service link with a user terminal <NUM> on the ground by using the SL antenna.

The user terminal <NUM> may be any communication terminal as long as it can communicate with the HAPS <NUM>. For example, the user terminal <NUM> is a cellular phone such as a smartphone. The user terminal <NUM> may also be a tablet terminal, a PC (Personal Computer), and the like. The user terminal <NUM> may also be, a so-called IoT (Internet of Thing) device. The user terminal <NUM> can include anything that corresponds to, a so-called IoE (Internet of Everything).

The HAPS <NUM> relays communication between the network <NUM> and the user terminal <NUM>, for example, via the feeder link <NUM> and the service link. The HAPS <NUM> may provide a wireless communication service to the user terminal <NUM> by relaying the communication between the user terminal <NUM> and the network <NUM>.

The network <NUM> includes a mobile communication network. The mobile communication network may conform to any of the <NUM> (3rd Generation) communication system, the LTE (Long Term Evolution) communication system, the <NUM> (5th Generation) communication system, and the <NUM> (6th Generation) communication system and the communication system of the subsequent generation. The network <NUM> may include the Internet.

For example, the HAPS <NUM> transmits the data received from the user terminal <NUM> in the wireless communication area <NUM> to the network <NUM>. In addition, when the data addressed to the user terminal <NUM> in the wireless communication area <NUM> is received via the network <NUM>, for example, the HAPS <NUM> transmits the data to the user terminal <NUM>.

The management device <NUM> manages the HAPS <NUM>. The management device <NUM> may communicate with the HAPS <NUM> via the network <NUM> and the gateway <NUM>. Note that the management device <NUM> may communicate with the HAPS <NUM> via a communication satellite. The management device <NUM> may control the HAPS <NUM> by transmitting various instructions.

The management device <NUM> may cause the HAPS <NUM> to hover in the sky above a target area so that the wireless communication area <NUM> covers the target area on the ground. For example, while flying in a circular orbit in the sky above the target area, the HAPS <NUM> maintains the feeder link with the gateway <NUM> by adjusting the orientation direction of the FL antenna, and maintains the wireless communication area <NUM> covering the target area by adjusting the orientation direction of the SL antenna.

The management device <NUM> manages the power supply flight vehicle <NUM>. The management device <NUM> may communicate with the power supply flight vehicle <NUM> via the network <NUM> and the gateway <NUM>. Note that the management device <NUM> may communicate with the power supply flight vehicle <NUM> via a communication satellite. The management device <NUM> may control the power supply flight vehicle <NUM> by transmitting various instructions.

The management device <NUM> instructs the power supply flight vehicle <NUM> to supply power to the HAPS <NUM>, for example, when an abnormality occurs in the power supply system of the HAPS <NUM> or the amount of power generated by the solar cell panel <NUM> alone is insufficient for the power.

Although <FIG> illustrates the HAPS <NUM> as an example of the power supply target flight vehicle, the present invention is not limited thereto. The power supply target flight vehicle may be any flight vehicle as long as it is a flight vehicle mounted with a solar cell panel. In addition, the power supply flight vehicle <NUM> may supply power to other than the flight vehicle. For example, the power supply flight vehicle <NUM> may radiate the light <NUM> toward the solar cell panel of a solar power plant or the like fixed on the ground.

In addition, the power supply flight vehicle <NUM> may use the light <NUM> for purposes other than power supply. For example, when the light irradiation unit <NUM> radiates laser light, the state of a typhoon or the like may be measured from above or the undulation of a land may be measured by the laser light. In addition, for example, the power supply flight vehicle <NUM> may use the light <NUM> for purpose of rescue. As a specific example, when finding a rescue boat, the power supply flight vehicle <NUM> uses the light <NUM> for the purpose of illuminating the rescue boat with the light <NUM>.

<FIG> schematically illustrates an example of a flow of processing in the system <NUM>. The processing illustrated in <FIG> is started in response to occurrence of an abnormality in the power supply system of the HAPS <NUM>.

In step <NUM> (the step may be abbreviated as S), the management device <NUM> determines whether it is possible to switch the HAPS <NUM>, in which an abnormality occurs in the power supply system, to another aircraft. For example, the management device <NUM> determines that the switching is possible when there is an available spare aircraft, and determines that the switching is impossible when there is no available spare aircraft. When it is determined that the switching is possible, the process proceeds to S104, and when it is determined that the switching is impossible, the process proceeds to S106.

In S104, the management device <NUM> switches the HAPS <NUM>, in which an abnormality occurs in the power supply system, to the spare aircraft. For example, the management device <NUM> moves to the flight area of the HAPS <NUM> in which an abnormality occurs in the power supply system, and transmits, to the backup HAPS <NUM>, an instruction to form a wireless communication area similar to the wireless communication area formed by the HAPS <NUM>. In addition, the management device <NUM> transmits an instruction to return to the ground after the replacement with the spare HAPS <NUM> to the HAPS <NUM> in which an abnormality occurs in the power supply system.

In S106, the management device <NUM> determines whether a temporary power supply can be handled. For example, the management device <NUM> determines that the handling is possible when there is the power supply flight vehicle <NUM> capable of supplying power to the HAPS <NUM> in which an abnormality has occurred in the power supply system, and determines that the handling is not possible when there is no power supply flight vehicle <NUM> capable of supplying power. When it is determined that the handling is possible, the process proceeds to S108, and when it is determined that the handling is not possible, the process proceeds to S110.

In S108, the management device <NUM> transmits, to the power supply flight vehicle <NUM>, a power supply instruction to the HAPS <NUM>. The power supply flight vehicle <NUM> that has received the power supply instruction moves to the flight area of the HAPS <NUM> in the stratosphere, and starts power supply to the HAPS <NUM> while flying following the flight of the HAPS <NUM>. The power supply flight vehicle <NUM> returns to the ground after the power supply is completed.

In S110, the management device <NUM> instructs the HAPS <NUM>, in which an abnormality occurs in the power supply system, so as to return to the ground. The HAPS <NUM> returns to the ground in response to the instruction.

<FIG> schematically illustrates an example of a functional configuration of the control device <NUM>. The control device <NUM> includes an information acquisition unit <NUM>, an image acquisition unit <NUM>, a distance acquisition unit <NUM>, an instruction reception unit <NUM>, and a control unit <NUM>.

The information acquisition unit <NUM> acquires various types of information. The information acquisition unit <NUM> may acquire information related to the power supply flight vehicle <NUM>. The information acquisition unit <NUM> may acquire information output by various sensors included in the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the position information of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the posture information of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the moving direction of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the moving speed of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires area information indicating the air flow, the air pressure, and the like of the flight area where the power supply flight vehicle <NUM> is flying.

The information acquisition unit <NUM> may acquire the information transmitted by the HAPS <NUM>. For example, the information acquisition unit <NUM> receives, from the management device <NUM>, the information transmitted from the HAPS <NUM> to the management device <NUM>. The information acquisition unit <NUM> may receive, via the gateway <NUM>, the information transmitted from the HAPS <NUM> to the management device <NUM> via the feeder link <NUM> and the gateway <NUM>.

For example, the information acquisition unit <NUM> acquires the telemetry information transmitted by the HAPS <NUM>. The information acquisition unit <NUM> may acquire the position information of the HAPS <NUM>. The information acquisition unit <NUM> may acquire the posture information of the HAPS <NUM>. The information acquisition unit <NUM> may acquire the moving direction information of the HAPS <NUM>. The information acquisition unit <NUM> may acquire the moving speed information of the HAPS <NUM>. The information acquisition unit <NUM> may acquire area information indicating the status of the flight area in which the HAPS <NUM> is flying. The information acquisition unit <NUM> may acquire the power generation status information of the HAPS <NUM>.

The image acquisition unit <NUM> acquires the captured image captured by the camera <NUM>. For example, the image acquisition unit <NUM> causes the camera <NUM> to capture an image of the HAPS <NUM> and acquires the captured image of the HAPS <NUM>.

The distance acquisition unit <NUM> acquires a distance between the power supply flight vehicle <NUM> and the HAPS <NUM>. The distance acquisition unit <NUM> may cause the radar <NUM> to measure the distance between the power supply flight vehicle <NUM> and the HAPS <NUM>. The distance acquisition unit <NUM> may acquire the distance between the power supply flight vehicle <NUM> and the HAPS <NUM> measured by the radar <NUM>.

The instruction reception unit <NUM> receives various instructions from the management device <NUM>. The instruction reception unit <NUM> may receive an instruction from the management device <NUM> via the network <NUM> and the gateway <NUM>.

The management device <NUM> may transmit, to the power supply flight vehicle <NUM>, an instruction including control-related information. The control-related information may be information used for the power supply flight vehicle <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> of the HAPS <NUM> while flying following the flight of the HAPS <NUM>. The control-related information includes, for example, information indicating the flight area of the HAPS <NUM>. The control-related information includes, for example, information indicating the flight pattern of the HAPS <NUM>. The control-related information includes, for example, information indicating the flight speed of the HAPS <NUM>.

The control unit <NUM> controls the flight of the power supply flight vehicle <NUM> and the irradiation of the light <NUM> according to the instruction received by the instruction reception unit <NUM>. By using the control-related information included in the instruction, the control unit <NUM> controls the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> of the HAPS <NUM> while flying following the flight of the HAPS <NUM>. The control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> of the HAPS <NUM> while flying following the flight of the HAPS <NUM> in the stratosphere.

On the basis of the information acquired by the information acquisition unit <NUM>, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. For example, on the basis of the information acquired by the information acquisition unit <NUM>, the control unit <NUM> controls the flight of the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. In addition, for example, on the basis of the information acquired by the information acquisition unit <NUM>, the control unit <NUM> controls the irradiation direction of the light <NUM> radiated by the light irradiation unit <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. On the basis of the information acquired by the information acquisition unit <NUM>, the control unit <NUM> may adjust both the flight of the power supply flight vehicle <NUM> and the irradiation direction of the light <NUM> radiated by the light irradiation unit <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>.

For example, on the basis of the position information of the HAPS <NUM>, the control unit <NUM> controls the power supply flight vehicle <NUM> so as to adjust the direction of the light <NUM> radiated by the light irradiation unit <NUM>. The control unit <NUM> may specify a positional relationship between the power supply flight vehicle <NUM> and the HAPS <NUM> by using the position information of the HAPS <NUM>, and control the flight of the power supply flight vehicle <NUM> and the irradiation direction of the light <NUM> radiated by the light irradiation unit <NUM>, such that the light <NUM> is radiated toward the HAPS <NUM>.

For example, on the basis of the posture information of the HAPS <NUM>, the control unit <NUM> controls the power supply flight vehicle <NUM> so as to adjust the direction of the light <NUM> radiated by the light irradiation unit <NUM>. The control unit <NUM> may specify the relative angle or the like of the solar cell panel <NUM> by using the posture information of the HAPS <NUM>, and control the flight of the power supply flight vehicle <NUM> and the irradiation direction of the light <NUM> radiated by the light irradiation unit <NUM>, such that the inclination of the incident angle of the light <NUM> on the solar cell panel <NUM> becomes small.

For example, on the basis of the area information indicating the status of the flight area in which the HAPS <NUM> is flying, the control unit <NUM> controls the power supply flight vehicle <NUM> so as to adjust the direction of the light <NUM> radiated by the light irradiation unit <NUM>. For example, while the power supply flight vehicle <NUM> is flying in accordance with the flight pattern of the HAPS <NUM>, the control unit <NUM> simulates an optimal flight method in real time according to changes in air flow, air pressure, or the like in the flight area where the HAPS <NUM> is flying. The control unit <NUM> may control the power supply flight vehicle <NUM> to adjust at least one of the flight speed or a flight route such that the power supply flight vehicle can fly following the flight of the HAPS <NUM> even when the air flow, the air pressure, and the like change.

For example, on the basis of the power generation status information of the HAPS <NUM>, the control unit <NUM> controls the power supply flight vehicle <NUM> so as to adjust the direction of the light <NUM> radiated by the light irradiation unit <NUM>. For example, the control unit <NUM> monitors a change in the amount of the power generation by the solar cell panel <NUM> while changing the direction of the light <NUM> radiated by the light irradiation unit <NUM>, and specifies the direction of the light <NUM> having the highest amount of power generation. In addition, the control unit <NUM> checks, on the basis of the power generation status information, whether power generation is being performed, and when power generation is not being performed, adjusts at least one of the flight method of the power supply flight vehicle <NUM> or the irradiation direction of the light <NUM> by the light irradiation unit <NUM> until power generation is performed.

On the basis of the captured image acquired by the image acquisition unit <NUM>, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. For example, the control unit <NUM> determines the status of the solar cell panel <NUM> of the HAPS <NUM> on the basis of the captured image obtained by imaging the HAPS <NUM>, and controls the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM> according to the determination result. For example, on the basis of the captured image, the control unit <NUM> discerns the angle, the size, and the shape (the warp of the aircraft or the like) of the solar cell panel <NUM> when viewed from the power supply flight vehicle <NUM>.

On the basis of the distance between the power supply flight vehicle <NUM> and the HAPS <NUM> acquired by the distance acquisition unit <NUM>, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. For example, by controlling the flight of the power supply flight vehicle <NUM>, the control unit <NUM> adjusts the direction of the light radiated by the light irradiation unit <NUM> while adjusting the distance between the power supply flight vehicle <NUM> and the HAPS <NUM>.

By using a plurality of pieces of information among the position information, the posture information, the moving direction information, and the moving speed information of the HAPS <NUM>, the area information indicating the status of the flight area where the HAPS <NUM> is flying, the power generation status information of the HAPS <NUM>, the captured image captured by the camera <NUM>, and the distance between the power supply flight vehicle <NUM> and the HAPS <NUM>, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to adjust the direction of the light radiated by the light irradiation unit <NUM>. By using a plurality of pieces of information among them, the control unit <NUM> may adjust the position of the power supply flight vehicle <NUM>, the irradiation position of the light <NUM>, the irradiation angle of the light <NUM>, and the like so as to further increase the light receiving efficiency of the solar cell panel <NUM> of the HAPS <NUM> receiving the light <NUM> from the light irradiation unit <NUM>.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. The control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> while flying on the larger circular flight route <NUM> with respect to the HAPS <NUM> circulating on the circular flight route <NUM>.

The control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> while flying on the upper side of the HAPS <NUM>. As illustrated in <FIG>, the control unit <NUM> may control the flight of the power supply flight vehicle <NUM> such that the position of the power supply flight vehicle <NUM> in the flight route <NUM> is at the same position as the position of the HAPS <NUM> in the flight route <NUM>. As a result, the distance between the power supply flight vehicle <NUM> and the HAPS <NUM> can be further shortened as compared with the case of different positions, the irradiation distance of the light <NUM> can be shortened, and the irradiation direction of the light <NUM> can be easily adjusted.

The control unit <NUM> may decide the flight route <NUM> on the basis of the information of the flight route <NUM> acquired by the information acquisition unit <NUM>. The control unit <NUM> may adjust the flight speed of the power supply flight vehicle <NUM> so as to be able to follow the HAPS <NUM> flying on the flight route <NUM> while flying on the flight route <NUM>.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. Here, differences from <FIG> will be mainly described. As illustrated in <FIG>, the control unit <NUM> may control the flight of the power supply flight vehicle <NUM> such that the position of the power supply flight vehicle <NUM> in the flight route <NUM> is positioned opposite to the position of the HAPS <NUM> in the flight route <NUM>. In the example illustrated in <FIG>, the HAPS <NUM> circulates on the circular flight route <NUM> and flies while being inclined inward, and thus when the power supply flight vehicle <NUM> flies at the opposite position, the inclination of the irradiation direction of the light <NUM> with respect to the solar cell panel <NUM> can be reduced, and the power supply efficiency can be increased.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. When the light <NUM> is radiated from the upper side of the HAPS <NUM>, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to adjust the positional relationship with the HAPS <NUM> such that the irradiation direction of the light <NUM> deviates from a predetermined area on the ground. The area may be any area that the light <NUM> of the power supply flight vehicle <NUM> does not desirably reach.

In <FIG>, an urban area <NUM> is illustrated as an example of the predetermined area. By adjusting the irradiation direction of the light <NUM> so as to deviate from the urban area <NUM>, it is possible to prevent the light <NUM> from adversely affecting the urban area <NUM>.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. Here, a case where the HAPS <NUM> has a solar cell panel on the lower surface of the wing portion <NUM> will be described.

The control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel on the lower surface of the HAPS <NUM> while flying under the HAPS <NUM>. With the configuration in which the light <NUM> is radiated from the lower side toward the upper side, it is possible to prevent the light <NUM> from adversely affecting the ground.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. The power supply flight vehicle <NUM> may function as an auxiliary function of a power supply solution from the ground, or may realize simultaneous power supply with the power supply solution from the ground.

For example, the management device <NUM> manages a ground projector <NUM>. The management device <NUM> may cause the ground projector <NUM> to supply power to the HAPS <NUM> by radiating light toward the solar cell panel on the lower surface of the HAPS <NUM>. For example, the management device <NUM> causes the power supply flight vehicle <NUM> to supply power to the HAPS <NUM> in response to generation of a cloud between the ground projector <NUM> and the HAPS <NUM> and hindrance of optical power supply.

In addition, for example, when quick charging is performed on the HAPS <NUM>, the management device <NUM> may control the ground projector <NUM> and the power supply flight vehicle <NUM> so as to execute both power supply from the ground projector <NUM> and power supply from the power supply flight vehicle <NUM>.

<FIG> schematically illustrates an example of a power supply flight vehicle <NUM>. The power supply flight vehicle <NUM> illustrated in <FIG> is an airship type. The power supply flight vehicle <NUM> stays near the center of the flight route <NUM> above the HAPS <NUM>. Then, the power supply flight vehicle radiates the light <NUM> toward the HAPS <NUM> while rotating about a central axis <NUM> corresponding to the center of the flight route <NUM> in accordance with the flight of the HAPS <NUM>.

<FIG> schematically illustrates an example of power supply by the power supply flight vehicle <NUM>. The power supply flight vehicle <NUM> may supply power to a plurality of HAPSs <NUM> in order.

The control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> to the plurality of HAPSs <NUM> in order. For example, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to supply power to a first HAPS <NUM>, then move to a position corresponding to the flight area of a second HAPS <NUM> to supply power to the second HAPS <NUM>, and then move to a position corresponding to the flight area of a third HAPS <NUM> to supply power to the third HAPS <NUM>.

The control unit <NUM> may decide the order of power supply according to the airflow in the flight area in which the power supply flight vehicle <NUM> is flying. For example, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to supply power to the HAPS <NUM> while moving from the HAPS <NUM> positioned further upwind toward the HAPS <NUM> positioned further downwind.

The control unit <NUM> may receive information related to the plurality of HAPSs <NUM> from the management device <NUM>, determine priorities of the plurality of HAPSs <NUM> on the basis of the received information, and execute power supply to the plurality of HAPSs <NUM> in order according to the priorities. For example, the control unit <NUM> acquires battery remaining amount information indicating the battery remaining amounts of the plurality of HAPSs <NUM>. Then, the control unit <NUM> may set the priority of the HAPS <NUM> having a lower battery remaining amount to be higher, and cause the power supply flight vehicle <NUM> to supply power to the plurality of HAPSs <NUM> in order according to the set priority.

A plurality of power supply flight vehicles <NUM> may supply power to one HAPS <NUM>. For example, the management device <NUM> may instruct the plurality of power supply flight vehicles <NUM> to supply power to the HAPS <NUM>, in which an abnormality occurs in the power supply system or the battery remaining amount is smaller than a predetermined threshold, among the plurality of HAPSs <NUM>.

The management device <NUM> may adjust at least one of the irradiation time by the power supply flight vehicle <NUM>, the number of the power supply flight vehicles <NUM> deployed, or the standby status of the power supply flight vehicle <NUM> according to the status. For example, the management device <NUM> performs the adjustment according to whether the flight area, in which the HAPS <NUM> is flying, is above an urban area or above a rural area. In addition, for example, the management device <NUM> performs the adjustment according to at least one of the season, an air flow status in the flight area, a southern middle altitude, or the weather on the ground.

In the above embodiment, a case has been described in which the control device <NUM> mounted on the power supply flight vehicle <NUM> mainly controls the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light toward the solar cell panel <NUM> while flying following the flight of the HAPS <NUM>, but the management device <NUM> may mainly control the power supply flight vehicle <NUM>. In this case, the management device <NUM> may be an example of the control device.

<FIG> schematically illustrates an example of a functional configuration of the management device <NUM>. The management device <NUM> includes an information acquisition unit <NUM>, an image acquisition unit <NUM>, a distance acquisition unit <NUM>, and a control unit <NUM>.

The information acquisition unit <NUM> acquires various types of information. The information acquisition unit <NUM> may acquire information related to the power supply flight vehicle <NUM>. The information acquisition unit <NUM> may receive the information related to the power supply flight vehicle <NUM> from the power supply flight vehicle <NUM> via the gateway <NUM> and the network <NUM>.

For example, the information acquisition unit <NUM> acquires the position information of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the posture information of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the moving direction of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires the moving speed of the power supply flight vehicle <NUM>. For example, the information acquisition unit <NUM> acquires area information indicating the air flow, the air pressure, and the like of the flight area where the power supply flight vehicle <NUM> is flying.

The information acquisition unit <NUM> may acquire the information transmitted by the HAPS <NUM>. The information acquisition unit <NUM> may receive the information transmitted by the HAPS <NUM> via the gateway <NUM> and the network <NUM>.

The image acquisition unit <NUM> acquires the captured image captured by the power supply flight vehicle <NUM>. The image acquisition unit <NUM> may receive the captured image captured by the camera <NUM> of the power supply flight vehicle <NUM> via the gateway <NUM> and the network <NUM>. The image acquisition unit <NUM> receives, for example, the captured image of the HAPS <NUM> captured by the camera <NUM>.

The distance acquisition unit <NUM> acquires a distance between the power supply flight vehicle <NUM> and the HAPS <NUM>. The distance acquisition unit <NUM> may receive the distance, which the power supply flight vehicle <NUM> measures by using the radar <NUM>, between the power supply flight vehicle <NUM> and the HAPS <NUM> from the power supply flight vehicle <NUM> via the gateway <NUM> and the network <NUM>.

The control unit <NUM> controls the HAPS <NUM>. The control unit <NUM> may control the HAPS <NUM> by transmitting various instructions to the HAPS <NUM> via the network <NUM> and the gateway <NUM>. The control unit <NUM> may control the HAPS <NUM> by transmitting various instructions to the HAPS <NUM> via a communication satellite. The control unit <NUM> may cause the HAPS <NUM> to hover in the sky above the target area so that the wireless communication area <NUM> covers the target area on the ground.

The control unit <NUM> controls the power supply flight vehicle <NUM>. The control unit <NUM> may control the power supply flight vehicle <NUM> by transmitting various instructions to the power supply flight vehicle <NUM> via the network <NUM> and the gateway <NUM>. The control unit <NUM> may control the power supply flight vehicle <NUM> by transmitting various instructions to the power supply flight vehicle <NUM> via a communication satellite. The control unit <NUM> instructs the power supply flight vehicle <NUM> to supply power to the HAPS <NUM>, for example, when an abnormality occurs in the power supply system of the HAPS <NUM> or the amount of power generated by the solar cell panel <NUM> alone is insufficient for the power.

Similarly to the control unit <NUM>, on the basis of the control-related information, the control unit <NUM> may control the power supply flight vehicle <NUM> so as to cause the light irradiation unit <NUM> to radiate the light <NUM> toward the solar cell panel <NUM> of the HAPS <NUM> while flying following the flight of the HAPS <NUM>.

<FIG> schematically illustrates an example of a hardware configuration of a computer <NUM> that functions as the control device <NUM> or the management device <NUM>. Programs installed in the computer <NUM> can cause the computer <NUM> to function as one or more "units" of the apparatus according to the present embodiment or can cause the computer <NUM> to execute operations associated with the apparatuses according to the present embodiment or the one or more "units", and/or can cause the computer <NUM> to execute a process according to the present embodiment or steps of the process. Such a program may be executed by a CPU <NUM> to cause the computer <NUM> to perform particular operations associated with some or all of the blocks in the flowcharts and block diagrams described in the specification.

The computer <NUM> according to the present embodiment includes the CPU <NUM>, a RAM <NUM>, and a graphics controller <NUM>, which are connected to each other via a host controller <NUM>. In addition, the computer <NUM> includes input/output units such as a communication interface <NUM>, a storage apparatus <NUM>, and a DVD driver and an IC card drive, which are connected to the host controller <NUM> through an input/output controller <NUM>. The storage apparatus <NUM> may be a hard disk drive, a solid-state drive, and the like. The computer <NUM> also includes a ROM <NUM> and a legacy input/output unit such as a keyboard, which are connected to the input/output controller <NUM> via an input/output chip <NUM>.

The CPU <NUM> operates according to the programs stored in the ROM <NUM> and the RAM <NUM>, thereby controlling each unit. The graphics controller <NUM> obtains image data which is generated by the CPU <NUM> in a frame buffer or the like provided in the RAM <NUM> or in itself so as to cause the image data to be displayed on a display device <NUM>.

The communication interface <NUM> communicates with other electronic devices via a network. The storage apparatus <NUM> stores a program and data used by the CPU <NUM> in the computer <NUM>. The IC card drive reads the program and data from an IC card, and/or writes the program and data to the IC card.

The ROM <NUM> stores therein a boot program or the like executed by the computer <NUM> at the time of activation, and/or a program depending on the hardware of the computer <NUM>. The input/output chip <NUM> may also connect various input/output units via a USB port, a parallel port, a serial port, a keyboard port, a mouse port or the like to the input/output controller <NUM>.

A program is provided by a computer readable storage medium such as the DVD-ROM or the IC card. The program is read from the computer readable storage medium, installed into the storage apparatus <NUM>, RAM <NUM>, or ROM <NUM>, which are also examples of a computer readable storage medium, and executed by the CPU <NUM>. Information processing written in these programs is read by the computer <NUM>, and provides cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constituted by realizing the operation or processing of information in accordance with the usage of the computer <NUM>.

For example, in a case where a communication is performed between the computer <NUM> and an external device, the CPU <NUM> may execute a communication program loaded in the RAM <NUM> and instruct the communication interface <NUM> to perform communication processing based on a process written in the communication program. The communication interface <NUM>, under control of the CPU <NUM>, reads transmission data stored on a transmission buffer region provided in a recording medium such as the RAM <NUM>, the storage apparatus <NUM>, the DVD-ROM, or the IC card, and transmits the read transmission data to a network or writes reception data received from a network to a reception buffer region or the like provided on the recording medium.

In addition, the CPU <NUM> may cause all or a necessary portion of a file or a database to be read into the RAM <NUM>, the file or the database having been stored in an external recording medium such as the storage apparatus <NUM>, the DVD drive (DVD-ROM), the IC card, etc., and perform various types of processing on the data on the RAM <NUM>. Then, the CPU <NUM> may write the processed data back in the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium to undergo information processing. The CPU <NUM> may execute, on the data read from the RAM <NUM>, various types of processing including various types of operations, information processing, conditional judgement, conditional branching, unconditional branching, information retrieval/replacement, or the like described throughout the present disclosure and specified by instruction sequences of the programs, to write the results back to the RAM <NUM>. In addition, the CPU <NUM> may retrieve information in a file, a database, or the like in the recording medium. For example, when a plurality of entries, each having an attribute value of a first attribute associated with an attribute value of a second attribute, are stored in the recording medium, the CPU <NUM> may search for an entry whose attribute value of the first attribute matches a designated condition, from among the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute satisfying a predetermined condition.

The program or software module described above may be stored on the computer <NUM> or in a computer readable storage medium near the computer <NUM>. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer readable storage medium, thereby providing the program to the computer <NUM> via the network.

Blocks in flowcharts and block diagrams in the present embodiments may represent steps of processes in which operations are performed or "units" of apparatuses responsible for performing operations. A particular step and "unit" may be implemented by dedicated circuitry, programmable circuitry supplied along with a computer readable instruction stored on a computer readable storage medium, and/or a processor supplied along with the computer readable instruction stored on the computer readable storage medium. The dedicated circuitry may include a digital and/or analog hardware circuit, or may include an integrated circuit (IC) and/or a discrete circuit. The programmable circuitry may include, for example, a reconfigurable hardware circuit including logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, and a flip-flop, a register, and a memory element, such as a field-programmable gate array (FPGA) and a programmable logic array (PLA).

The computer readable storage medium may include any tangible device capable of storing an instruction performed by an appropriate device, so that the computer readable storage medium having the instruction stored thereon constitutes a product including an instruction that may be performed in order to provide means for performing an operation specified by a flowchart or a block diagram. Examples of the computer readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer readable storage media may include a floppy disc (registered trademark), a diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an electrically erasable programmable read-only memory (EEPROM), a static random access memory (SRAM), a compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a BLU-RAY (registered trademark) disc, a memory stick, an integrated circuit card, etc..

The computer-readable instruction may include either of source code or object code written in any combination of one or more programming languages including: an assembler instruction, an instruction-set-architecture (ISA) instruction, a machine instruction, a machine dependent instruction, a microcode, a firmware instruction, state-setting data; or an object oriented programming language such as Smalltalk (registered trademark), JAVA (registered trademark), C++, or the like; and a conventional procedural programming language such as a "C" programming language or a similar programming language.

The computer readable instruction may be provided to a general purpose computer, a special purpose computer, or a processor or programmable circuitry of another programmable data processing apparatus locally or via a local area network (LAN), a wide area network (WAN) such as the Internet or the like in order that the general purpose computer, the special purpose computer, or the processor or the programmable circuitry of the other programmable data processing apparatus performs the computer readable instruction to provide means for performing operations specified by the flowchart or the block diagram. An example of the processor includes a computer processor, processing unit, microprocessor, digital signal processor, controller, microcontroller, or the like.

While the present invention has been described with the embodiments, the technical scope of the present invention is not limited to the above-described embodiments, but only by the appended claims.

The operations, procedures, steps, and stages of each process performed by an apparatus, system, program, and method shown in the claims, embodiments, or diagrams can be performed in any order as long as the order is not indicated by "prior to," "before," or the like and as long as the output from a previous process is not used in a later process. Even if the process flow is described using phrases such as "first" or "next" in the claims, embodiments, or diagrams, it does not necessarily mean that the process must be performed in this order.

Claim 1:
A control device which controls a power supply flight vehicle (<NUM>), comprising:
a control unit (<NUM>) configured to control the power supply flight vehicle (<NUM>) so as to cause a light irradiation unit (<NUM>) to radiate light toward a solar cell panel while flying following flight of a power supply target flight vehicle (<NUM>) on which the solar cell panel is mounted;
an image acquisition unit (<NUM>) configured to acquire a captured image of the power supply target flight vehicle (<NUM>) captured by a camera included in the power supply flight vehicle (<NUM>), wherein
on a basis of the captured image, the control unit (<NUM>) is configured to control the power supply flight vehicle (<NUM>) so as to adjust a direction of light radiated by the light irradiation unit (<NUM>), characterized in that
the control unit (<NUM>) is configured to determine a status of the solar cell panel of the power supply target flight vehicle (<NUM>) on a basis of the captured image, and control the power supply flight vehicle (<NUM>) so as to adjust a direction of light radiated by the light irradiation unit (<NUM>) according to the determination result.