Wireless power transmission device and power transmission system for air mobile body

Abstract

In a wireless power transmission device that transmits power to an air mobile body, it is not possible to radiate an electric wave with high accuracy in the direction in which the air mobile body exists, and the efficiency of wireless power transmission decreases. The wireless power transmission device of the present invention includes: a plurality of element antennas (27) that transmit power using a radiated electric wave and are capable of changing a pointing direction and radiating an electric wave; a phased array antenna, i.e., a power transmission antenna (1A), having a plurality of element modules (24, 26) including a phase shifter (29) that changes the phase of a transmission signal and an amplifier (28) that amplifies the transmission signal; a radiation direction determination unit (38) that determines the direction in which an air mobile body (3A) that is a power transmission target exists, i.e., a radiation direction; a pointing direction changing unit (22A) that changes the pointing direction of the power transmission antenna toward the radiation direction; and a transmission signal generation unit (23) that generates a transmission signal that is transmitted as an electric wave from the power transmission antenna (1A). The phase shift value of the phase shifter (29) is found using a REV method that uses an air mobile body that is stationary above the power transmission antenna (1A) and that is equipped with a wave measurement unit (15).

Description

[0001] This invention application is a divisional application of the invention patent application entitled "Radio Wave Measurement System", with an international filing date of April 3, 2018, and application number 201880033711.5 (international application number PCT / JP2018 / 014265). Technical Field

[0002] This invention relates to a wireless power transmission device that uses radio waves to transmit electricity wirelessly, and a power transmission system for airborne mobile bodies. Background Technology

[0003] A system for transmitting electricity by controlling the direction of a transmission microwave beam through the control of microwaves radiated by multiple element antennas has been developed (see Non-Patent Document 1). This system was developed with the aim of transmitting electricity over long distances using radio waves in the microwave frequency band. The system utilizes the amplitude monopulse method and the Rotating Element Electric Field Vector (REV) method for beam control. By using the amplitude monopulse method and the REV method, highly efficient wireless power transmission using microwaves is achieved. A pilot signal guiding the transmission direction of the transmission microwave is transmitted from the receiving side. The arrival direction of the pilot signal is detected using each transmission pulse according to the amplitude monopulse method, and microwaves are radiated in that direction. According to the REV method, the optical path length corresponding to the height difference between each transmission pulse is detected and corrected. The beam direction and radiation pattern of the transmitted microwave are determined by scanning the radiated area using a monitoring antenna mounted on a two-dimensional movable XY scanner.

[0004] A power supply system for supplying power to a mobile body in an underwater environment is proposed, which guides the mobile body to a direction where the electromagnetic field energy is increased, thereby guiding it to a power supply location to receive wireless power (see Patent Document 1). Patent Document 1 proposes using an antenna intended for power transmission also for communication. (Patent Document 1 is mentioned.) Figure 11 The transmitting antenna 11-1 has a communication function 150. Figure 12 The receiving antenna 21-1 has a communication function 250. However, the specific structure of using the antenna used for power transmission for communication is not described in Patent Document 1.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2016-127678

[0008] Non-patent literature

[0009] Non-patent literature 1: Makino Katsutoshi: "Development and technical verification test of high-precision microwave beam direction control device for realizing SSPS", Journal of the China Electronics and Information Communication Society, SANE 2015-22, pp.37-42, June 2015. Summary of the Invention

[0010] The technical problem that the invention aims to solve

[0011] In environments where radio waves are reflected, multipath effects exist. Therefore, it is difficult to measure the antenna radiation pattern with high accuracy. Furthermore, to measure a high-precision antenna radiation pattern, measurements are typically performed in an anechoic chamber where radio waves are difficult to reflect. However, even in an anechoic chamber, multipath effects, though less severe, still occur. Therefore, measurements sometimes cannot achieve the required accuracy. Additionally, in wireless power transmission devices transmitting power to airborne mobile objects, there is a problem of being unable to radiate radio waves with high precision in the direction of the airborne mobile object, leading to reduced efficiency in wireless power transmission.

[0012] The present invention was made to solve the problems mentioned above, and its object is to provide a radio wave measurement system for measuring the radio waves radiated by an antenna with high precision using an aerial mobile body such as a drone, and a wireless power transmission device for controlling the radio waves radiated by an antenna that supplies power to an aerial mobile body with higher precision than ever before.

[0013] Technical solutions adopted to solve technical problems

[0014] The wireless power transmission device of the present invention includes: a power transmission antenna that transmits power using radiated radio waves and is capable of changing its pointing direction; a radiation direction determining unit that determines the direction in which an airborne moving body, which is the object of power transmission, exists, i.e., the radiation direction; a pointing direction changing unit that directs the pointing direction of the power transmission antenna toward the radiation direction; and a transmission signal generating unit that generates a transmission signal transmitted from the power transmission antenna as a radio wave.

[0015] The transmission antenna is a phased array antenna, which includes: multiple element antennas for radiating radio waves; and multiple element modules, each of which has a phase shifter for changing the phase of the transmitted signal and an amplifier for amplifying the transmitted signal, and is disposed in each of a determined number of element antennas. A pointing direction changing unit controls the phase command value of the phase shifter. The phase offset value of each phase shifter is determined using the REV method of an airborne mobile body stationary above the transmission antenna, which is equipped with a measuring antenna for receiving radio waves and a radio wave measuring unit for measuring the received radio wave data, including the amplitude of the radio waves received by the measuring antenna.

[0016] Invention Effects

[0017] The wireless power transmission device according to the present invention can radiate radio waves with high precision in the direction of the airborne moving body compared with the past, and can also improve the efficiency of wireless power transmission compared with the past. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an electromagnetic wave measurement system using an airborne moving body according to Embodiment 1 of the present invention.

[0019] Figure 2 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 1.

[0020] Figure 3 This is a block diagram illustrating the structure of the power system of the airborne mobile body constituting the radio wave measurement system according to Embodiment 1.

[0021] Figure 4 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body as described in Embodiment 1.

[0022] Figure 5 This is a flowchart illustrating other steps in measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body as described in Embodiment 1.

[0023] Figure 6 This is a schematic diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 2 of the present invention.

[0024] Figure 7 This is a structural diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device involved in Embodiment 2.

[0025] Figure 8 This is a block diagram illustrating the structure of a power system for an airborne mobile body that receives power transmitted through the wireless power transmission device according to Embodiment 2.

[0026] Figure 9 This is a flowchart illustrating the power transmission steps in a power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 2.

[0027] Figure 10 This is a structural diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device involved in Embodiment 3 of the present invention.

[0028] Figure 11 This is a flowchart illustrating the power transmission steps in a power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 3.

[0029] Figure 12This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 4 of the present invention.

[0030] Figure 13 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves in the radio wave measurement system using an airborne mobile body and the radio wave transmission system for an airborne mobile body based on a radio transmission device, as described in Embodiment 4.

[0031] Figure 14 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 5 of the present invention.

[0032] Figure 15 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body as described in Embodiment 5.

[0033] Figure 16 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 6 of the present invention.

[0034] Figure 17 This is a block diagram illustrating the structure of the radio wave measurement system of the airborne mobile body and the power supply system of the airborne mobile body that receives power transmitted through a wireless power transmission device, according to Embodiment 6.

[0035] Figure 18 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 7 of the present invention.

[0036] Figure 19 This is a schematic diagram of an electromagnetic wave measurement system using an airborne moving body according to Embodiment 8 of the present invention.

[0037] Figure 20 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 8.

[0038] Figure 21 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body, as described in Embodiment 8. Detailed Implementation

[0039] Implementation Method 1.

[0040] use Figure 1 and Figure 2 The structure of the radio wave measurement system according to Embodiment 1 will be described. Figure 1This is a schematic diagram of an electromagnetic wave measurement system using an airborne moving body according to Embodiment 1 of the present invention. Figure 2 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 1. The measurement of radio waves radiated by the wireless transmission device using the radio wave measurement system using an airborne mobile body is carried out in a location with good radio wave environment, such as outdoors.

[0041] Multiple ( Figure 1 In the example, four power transmission devices 1 radiate power transmission waves 2 upwards from an outdoor location. Power transmission device 1 is a wireless power transmission device with a power transmission antenna that transmits power by radiating the power waves. The two-dimensional and three-dimensional intensity distributions of the electric and magnetic fields of the power transmission waves 2 formed in the space above power transmission device 1 (called radiation pattern, wave shape, or beam shape) are measured using a drone 3. Furthermore, a drone is a general term for unmanned aerial vehicles capable of flight (aerial movement) through remote operation and automatic control. Drone 3 is controlled by a person or computer via a mobile command device 4.

[0042] The drone 3 has a flight control unit 5, an onboard communication antenna 6, a wireless modem 7, and a drone power system 8. The flight control unit 5 controls the drone 3's mechanisms for moving or remaining stationary in the air. The onboard communication antenna 6 transmits and receives radio waves for communication. The wireless modem 7 uses the onboard communication antenna 6 for communication. The drone power system 8 manages the power used by the drone 3 for flight, communication, and measuring the beamform of radio waves. As a representative mechanism for the drone 3's movement or stationary in the air, a drive motor 9, serving as the power source, is shown in the figure. The mobile command device 4, in a manner capable of communicating with the drone 3, has a wireless modem 10 and a communication antenna 11. These devices typically include both the drone 3 and the mobile command device 4. The wireless modem 10 and communication antenna 11 of the mobile command device 4, and the onboard communication antenna 6 and wireless modem 7 of the drone 3, constitute a mobile communication system 12. The drone 3 is controlled through the mobile communication system 12.

[0043] The UAV 3 also carries a mounting device 13 for measuring beamform data 71, which represents the beamform of the transmitted radio wave 2. The mounting device 13 includes a monitoring antenna 14, a detector 15, an onboard control unit 16, and a data storage device 17. The monitoring antenna 14 receives the transmitted radio wave 2. The monitoring antenna 14 is a measuring antenna for receiving radio waves radiated by the power transmission device 1. The detector 15 detects the radio waves received by the monitoring antenna 14 and measures the phase and amplitude of the radio waves. The onboard control unit 16 manages the detection data 73 obtained by controlling the detector 15 and measuring it. The data storage device 17 is a storage device for storing the detection data 73, etc. The equipment, devices, and functional units representing the processing operated by the onboard control unit included in the mounting device are mounted on the UAV.

[0044] Measurement commands 72, used by detector 15 to measure detection data 73, etc., are transmitted from the mobile body command device 4 to the onboard control device 16 via the mobile body communication system 12 and the flight control device 5. The onboard control device 16 controls the detector 15 according to the instructions of the measurement commands 72.

[0045] The detection data 73 contains at least one or both of the amplitude and phase of the transmitted radio wave 2. The detection data 73 is received radio wave data containing the amplitude and phase of the transmitted radio wave 2 received by the monitoring antenna 14. The detector 15 is a radio wave measurement unit that measures the received radio wave data.

[0046] The onboard control unit 16 and the flight control unit 5 are connected via wired or short-range wireless means, enabling bidirectional data and command transmission and reception. The UAV 3 includes positioning sensors 18 such as a GPS (Global Positioning System) receiver to determine its location. Position data 74 measured by the positioning sensors 18 is transmitted to the onboard control unit 16 via the flight control unit 5. Measurement data 77, which includes a group of detection data 73 and position data 74 indicating the location of the UAV 3 at the moment the detection data 73 was measured (i.e., the moment the radio wave was received), is stored in the data storage device 17. Position data 74 represents the location of the UAV 3 at the moment the detection data 73 was measured, i.e., the measurement point data. The position detection data 70 is also called radio wave measurement data. The measurement data 77 stored in the data storage device 17 is input to the measurement system control unit 21 after the UAV 3 lands.

[0047] The measurement data 77 can be transmitted to the measurement system control device 21 via the mobile communication system 12. Figure 2 The flow of measurement data 77 and other data transmitted to the measurement system control device 21 via the mobile communication system 12 is also shown.

[0048] The mobile unit command device 4 sends measurement command 72 and flight command 75 to the drone 3 via the mobile unit communication system 12. Measurement command 72 is a command to control the onboard device 13. Flight command 75 is a command to control the flight of the drone 3. A command is an instruction that directs how a device should operate. The device receiving the command or its control unit generates a control signal based on the command and uses the control signal to control the device.

[0049] Reference Figure 3 The structure of the UAV power system 8 is described. Figure 3 This is a block diagram illustrating the structure of the power system of the airborne mobile body constituting the radio wave measurement system according to Embodiment 1. The UAV power system 8 includes a power storage unit 19 and load-side converters 20a, 20b, and 20c. The power storage unit 19 stores DC power supplied from an external source. The load-side converters 20a, 20b, and 20c are DC-DC converters that convert the DC power stored in the power storage unit 19 into the voltage required by the load devices and supply power to them. The load devices include the mounting device 13, the flight control device 5, the wireless modem 7, and the drive motor 9, etc. The load-side converter 20a supplies the converted DC power to the mounting device 13. The load-side converter 20b supplies the converted DC power to the flight control device 5 and the wireless modem 7. The load-side converter 20c supplies power to the drive motor 9. Furthermore, if the devices included in the mounting device 13 require multiple power supply voltages, multiple load-side converters are provided for each voltage. If the flight control device 5 and the wireless modem 7 require different power supply voltages, they are supplied with power from other load-side converters respectively. Alternatively, for example, if the mounting device 13 and the wireless modem 7 use the same power supply voltage, they can be powered from the same load-side converter. To reduce the probability of the drone 3 failing to fly, multiple drive motors 9 and multiple load-side converters 20c can be provided.

[0050] The electromagnetic wave measurement system for measuring the electromagnetic waves 2 radiated by the power transmission device 1 is configured as follows: a drone 3 equipped with a mounting device 13, a movement command device 4 for controlling the drone 3, and a measurement system control device 21 for controlling the electromagnetic wave measurement equipment included in the mounting device 13.

[0051] The power transmission device 1 includes a signal generation unit 23, a primary module 24, a distribution circuit 25, multiple secondary modules 26, and element antennas 27 arranged for each secondary module 26. A power transmission control device 22 sends a power transmission control signal 76 to the power transmission device 1. The power transmission control signal 76 is used to control whether the power transmission device 1 transmits power, and with what beam shape and direction. The signal generation unit 23 generates a predetermined frequency transmission signal that is radiated as a radio wave by each element antenna 27. The transmission signal output from the signal generation unit 23 is input to the primary module 24. The transmission signal, amplified and phase-adjusted by the primary module 24, is distributed in the distribution circuit 25 and input to the secondary modules 26. The transmission signal, amplified and phase-adjusted by the secondary modules 26, is radiated into space as a power transmission radio wave 2 from the element antennas 27. The signal generation unit 23, the primary module 24, and the secondary modules 26 are controlled by the power transmission control signal 76. The primary module 24 or the secondary module 26 is referred to as an element module.

[0052] Primary module 24 and secondary module 26 have the same structure. Primary module 24 and secondary module 26 each have a phase shifter 28 and an amplifier 29, respectively. The phase shifter 28 causes the phase of the transmitted signal to change only by an indicated value. The phase shifter 28 uses the number of bits that determine the phase resolution to determine the step size of the phase rotation, thus making the phase change discretely. For example, in the case of a 5-bit phase shifter, 360° / 2... 5 The phase is rotated in steps of 11.25°. The phase shifter 28 can be a device that allows the phase to change continuously. The phase shifter 28 of the primary module 24 can simultaneously change the phase of multiple element antennas 27 belonging to the transmission device 1. The amplifier 29 amplifies the transmitted signal.

[0053] In one power transmission unit 1, the element antennas 27 are arranged in a matrix. Furthermore, four power transmission units 1 are arranged in a matrix in an adjacent manner. Therefore, all the element antennas 27 are arranged in a matrix.

[0054] A single power transmission device 1 is a phased array antenna having multiple element antennas 27 capable of controlling the phase of the radiated radio waves. Alternatively, an assembly of four power transmission devices 1 can be considered as a single phased array antenna 30. In the radio wave measurement system of this embodiment 1, the beamform of the radio waves radiated by the phased array antenna 30 is measured. That is, the phased array antenna 30 is the antenna to be measured, i.e., the measured antenna, which is the object of the beamform measurement. It is also possible to consider a single power transmission device 1 as a power transmission unit, and an assembly of multiple power transmission devices 1 as a power transmission device. The power transmission device 1 corresponds to one group in the case where the multiple element antennas 27 are divided into multiple groups.

[0055] Explain the actions. Figure 4This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body according to Embodiment 1. In step S01, the movement pattern of the UAV 3 is determined. The movement pattern is set as a pattern that can be scanned two-dimensionally on a cut surface perpendicular to the direction of radiation of the transmitted radio wave 2. The cut surface is set at multiple positions at different distances from the transmission device 1, and the radio waves are measured three-dimensionally.

[0056] In step S02, flight command 75 is sent to UAV 3 via mobile communication system 12, causing UAV 3 to move to the initial position in the movement pattern and remain stationary. In step S03, power transmission device 1 starts transmitting power. S02 and S03 can be substituted.

[0057] In step S04, according to the measurement command 72 transmitted via the mobile communication system 12, detection data 73, including the amplitude and phase of the transmission wave 2 received by the monitoring antenna 14, is detected. Simultaneously, the positioning sensor 18 determines the position of the UAV 3. In step S05, the data storage device 17 stores the set of the measured detection data 73 and position data 74, i.e., position detection data 70. In step S06, it is checked whether there are any measurement positions for which detection data 73 has not yet been measured. If there are measurement positions for which detection data 73 has not been measured (in S06), in step S07, a flight command 75 is sent to the UAV 3 via the mobile communication system 12, and the UAV 3 moves to the next measurement position and comes to a stop. Then, the process returns to step S04.

[0058] If there is no measurement position for which the unmeasured detection data 73 is not available (No in S06), the UAV 3 is brought to land on the ground. Specifically, in step S08, a flight command 75 is sent to the UAV 3 via the mobile communication system 12, causing the UAV 3 to stop on the ground, thereby stopping its drive motor 9. In step S09, the location detection data 70 is retrieved from the data storage device 17 and input to the measurement system control device 21. In step S10, the measurement system control device 21 converts the position data 74 into relative position data 78 based on the power transmission device 1. In step S11, beamform data 71 is generated that correlates the detection data 73 with the relative position data 78. The UAV 3 in Figure 4 The actions in the flowchart shown are performed using the electricity stored in the energy storage unit 19. Furthermore, "on the ground" not only refers to the ground surface but also includes structures such as buildings and towers located on the ground.

[0059] The UAV 3 scans the cut surface in two dimensions, thus enabling high-precision measurement of the two-dimensional radiation pattern (beam shape) of the transmission wave 2. Furthermore, by changing its height in the vertical direction, the UAV 3 can measure the three-dimensional radiation pattern of the transmission wave 2.

[0060] The position data 74 converted into a relative position with reference to the power transmission device 1 is called relative position data 78. Relative position data 78 is the relative position data of the radio wave source, expressed as the position data 74 relative to the power transmission device 1. Beamform data 71 is radiated radio wave data that includes detection data 73 and the relative position data of the radio wave source. The measurement system control device 21 is a radiated radio wave data generation unit that generates the radiated radio wave data. The measurement system control device 21 may also have a radiated radio wave data generation unit. If other devices are radiated radio wave data generation units, it is also possible for other devices to have radiated radio wave data generation units.

[0061] To calculate the relative position of UAV 3 with respect to power transmission device 1, the position of power transmission device 1 in a coordinate system including latitude, longitude, and altitude, as determined by positioning sensor 18, is pre-determined and stored. Relative position data 78 is generated by subtracting the stored position of power transmission device 1 from the position data 74 of UAV 3. Positioning sensors are also installed in power transmission device 1, and the relative position can be calculated by subtracting the measurements from these sensors.

[0062] The location of the power transmission device can be pre-stored in the onboard control device, data storage device, or other processing device, and the location data can be converted into relative location data using the onboard control device or other processing device. Additionally, radiated radio wave data containing detection data and relative location data can be generated using the onboard control device or other processing device. In this case, the onboard control device or other processing device becomes a radiated radio wave data generation unit. The onboard control device generates radiated radio wave data as follows: The pre-determined location of the power transmission device 1 is pre-stored in the storage device of the UAV 3. The onboard control device converts the location data 74 into relative location data 78, generating beamform data 71A that correlates the detection data 73 with the relative location data 78. The beamform data 71A can also be supplementary location detection data 70A, which combines the detection data 73 and the relative location data 78 at the same time. The supplementary location detection data 70A is also referred to as radio wave measurement data.

[0063] In the radio wave measurement system, a transmission radio wave 2 is radiated from the power transmission device 1 towards the upper atmosphere. The system uses a drone 3, which acts as an aerial mobile body, to measure the beam shape data 71 of the transmission radio wave 2 above the power transmission device 1. This reduces the impact of reflection, thereby enabling high-precision measurement of the beam shape data 71 of the transmission radio wave 2 from the power transmission device 1.

[0064] Figure 4 In the process, the drone 3 is brought to a standstill while the detection data 73 is measured, but the drone 3 can be moved while measuring the detection data 73. Flight commands 75 are sent from the moving body command device 4 to control how the drone 3 flies or remains stationary, but it can also fly or remain stationary autonomously by following actions stored in the drone 3. The program stored in the drone 3 serves as the procedure for the drone 3 to fly or remain stationary along a predetermined flight path.

[0065] Measurement data 77, including position detection data 70, can be transmitted to the measurement system control device 21 via communication while the UAV 3 is in flight. Figure 5 The flowchart below illustrates the steps involved in this situation.

[0066] for Figure 5 Explanation and Figure 4 The difference lies in the steps. In step S05A, measurement data 77, including the measured position detection data 70, is transmitted from the onboard control device 16 to the flight control device 5. Measurement data 77 is also transmitted to the measurement system control device 21 via the mobile body communication system 12 and the mobile body command device 4. In step S12, the measurement system control device 21 stores the position detection data 70 contained in the measurement data 77 in its internal non-volatile storage device. Because steps S05A and S12 exist, step S09, which involves obtaining the position detection data 70 from the data storage device 17 of the UAV 3, is removed from the flowchart. Therefore, after step S08 is executed, the process proceeds to step S10.

[0067] Figure 5 The steps shown can also measure the beam shape data 71 of the power transmission device 1 with high precision.

[0068] Instead of sending position-attached detection data 70, the UAV 3 sends detection data 73. The measurement system control device 21 can combine the position data 74 and detection data 73 measured from the ground to generate the position-attached detection data 70. The UAV 3 only needs to send at least detection data 73 to the measurement system control device 21.

[0069] The radio wave measurement system can also measure the beamform of radio waves radiated by antennas for other purposes without the need for a wireless transmission device. This wireless transmission device can be different from the device described in this specification. In the case of measuring the beamform of radio waves radiated by other wireless transmission devices or antennas for other purposes, the antenna being measured, which is the object of the beamform measurement, radiates radio waves upwards. An aerial mobile object, such as a drone, is stationary or moving above the antenna radiating the radio waves. The position of the aerial mobile object is determined by a positioning sensor, such as GPS, i.e., a position measuring unit. The aerial mobile object is equipped with a measuring antenna for receiving radio waves and a detector that measures the received radio wave data, including the amplitude and phase of the radio waves received by the measuring antenna. Beamform data is generated based on the received radio wave data and the position of the aerial mobile object at the time the received radio wave data is measured, i.e., the measurement point data. Furthermore, in the beamform data, the measurement point data is represented as a relative position with respect to the antenna being measured.

[0070] A monitoring antenna is fixed at a predetermined position above the power transmission device 1 instead of using a drone 3. However, because the radio waves are reflected and blocked by the structural components used to fix the monitoring antenna, the accuracy of the phase and amplitude of the measured radio waves may deteriorate.

[0071] By conducting radio wave measurements in locations with favorable radio wave environments, such as outdoors, the beamform of the antenna under test can be measured without being affected by ground reflections or other multipath propagation. Furthermore, "unaffected" means that the impact is minimal. Additionally, various data and commands are transmitted using a mobile communication system designed to control the UAV. Therefore, since the communication required for beamform measurement and wireless power transmission is based on this system, no additional hardware needs to be added to the UAV. This allows for a lightweight mounting device and enables radio wave measurement with low power consumption.

[0072] The measurement system control device 21, power transmission control device 22, onboard control device 16, and flight control device 5 are implemented by running dedicated programs on a general-purpose computer or a special-purpose computer. The general-purpose computer or special-purpose computer has an arithmetic processing unit such as a CPU (Central Processing Unit) for running programs and a memory unit. The memory unit is volatile or non-volatile memory and / or hardware. The memory unit stores programs for causing any one of the measurement system control device 21, power transmission control device 22, onboard control device 16, and flight control device 5 to operate. Additionally, the memory unit stores data of the processing procedure and / or processing results. The memory unit of the onboard control device 16 can be combined with the data storage device 17. The measurement system control device 21 and power transmission control device 22 can be implemented by a single computer. Similarly, the onboard control device 16 and flight control device 5 can be implemented by a single computer.

[0073] The above content can also be applied to other implementation methods.

[0074] Implementation Method 2.

[0075] use Figure 6 and Figure 7 The structure of the power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 2 will be described. Figure 6 This is a schematic diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 2 of the present invention. Figure 7 This is a structural diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device involved in Embodiment 2.

[0076] about Figure 6 and Figure 7 Explanation and Figure 1 and Figure 2 The differences are as follows: The UAV 3A has a pilot transmitter 32, a pilot transmitting antenna 33, one or more receiving antennas 34 for receiving the transmitted radio waves 2, and a UAV power system 8A. The pilot transmitter 32 generates a pilot signal 31 indicating the direction of power transmission to the power transmission device 1A. The pilot transmitting antenna 33 radiates the pilot signal 31 toward the power transmission device 1A. The UAV power system 8A stores and utilizes power obtained from the radio waves received by the receiving antennas 34.

[0077] The UAV 3A, namely the flight control device 5A and the moving body command device 4A, does not send measurement data 77 to the measurement system control device 21A. Figure 7The illustration shows that the UAV 3A has a monitoring antenna 14 and a detector 15, but it may also be without the monitoring antenna 14 and detector 15. The data storage device 17A differs from the data storage device 17 in Embodiment 1; it stores data related to the pilot transmitter, etc., but does not store data required by the radio wave measurement system.

[0078] Similar to Embodiment 1, the transmission radio wave 2 is received by the monitoring antenna 14, and the detector 15 can measure the phase and amplitude of the radio wave. In the case where the radio wave is measured by the monitoring antenna 14 and the detector 15, Embodiment 2 is a power transmission system and radio wave measurement system for an airborne moving body. The data storage device and onboard control device of the UAV also have the same structure as in Embodiment 1 when constituting the radio wave measurement system.

[0079] Pilot transmitter 32 is controlled by measurement system control device 21A according to pilot transmitter control command 79. Pilot transmitter control command 79 is transmitted from measurement system control device 21A to onboard control device 16A via mobile body command device 4 and mobile body communication system 12.

[0080] In order to send the pilot transmitter control command 79, the Rotating Element Electric Field Vector (REV) method is run before power transmission begins, thus enabling the measurement system control device 21A and the power transmission control device 22A to communicate and transmit data to each other. Furthermore, Figure 7 Although not shown by reference numerals, commands for operating the REV method are sent from the transmission control unit 22A to the onboard control unit 16A via the measurement system control unit 21A. The onboard control unit 16A then sends the measured received power data back to the transmission control unit 22A. Alternatively, the transmission control unit 22A and the onboard control unit 16A can communicate without going through the measurement system control unit 21A.

[0081] Reference Figure 8 The structure of the 8A power supply system for unmanned aerial vehicles is described. Figure 8 This is a block diagram illustrating the structure of a power system for an airborne mobile body that receives power transmitted via the wireless power transmission device according to Embodiment 2. Figure 3 Compare, Figure 8 The UAV power system 8A shown includes an additional rectifier 35 and a rectifier-side converter 36. The rectifier 35 rectifies the received signal generated from the radio waves received by the receiving antenna 34 and converts it into DC. The rectifier-side converter 36 changes the voltage of the DC power rectified by the rectifier 35. The energy storage unit 19 stores the DC power output by the rectifier-side converter 36.

[0082] In the UAV power system 8A of Embodiment 2, a receiving antenna 34, a rectifier 35, and a rectifier-side converter 36 are added. Therefore, in addition to the power stored in the energy storage unit 19 before flight, power received by the receiving antenna 34 can be used during flight. Thus, compared to UAV 3, UAV 3A can have a longer time of movement or stillness in the air. For example, when UAV 3A is used for radio wave measurement, the time for measuring radio waves is longer. By increasing the time, for example, the spatial density of measurement points in the beamform data 71 of the transmitted radio wave 2 can be increased.

[0083] The drone can be configured to have multiple power storage units, with the power received by the receiving antenna 34 during flight stored in a portion of these units. Alternatively, at least one of the drone or detector can utilize the power stored in the power storage units that receive the power during flight.

[0084] The power transmission unit 1A has a pilot receiving antenna 37 for receiving pilot signals 31. For example, Figure 6 As shown, the pilot receiving antenna 37 is positioned at the center of the matrix-arranged element antennas 27 in the power transmission device 1A. Furthermore, an arrival direction detection device 38 is added. The arrival direction detection device 38 receives pilot signals 31 received by the pilot receiving antennas 37 of the power transmission device 1A, and determines the arrival direction of the pilot signals 31, for example, using a single-pulse method. The arrival direction is the direction from which the pilot signals 31 arrive as observed from the power transmission device 1A. The arrival direction data 80 detected by the arrival direction detection device 38 is input to the power transmission control device 22A. The power transmission control device 22A controls the power transmission device 1A to radiate the transmitted radio wave 2 in the direction indicated by the arrival direction data 80. That is, the direction in which the transmitted radio wave 2 is radiated, i.e., the radiation direction, is the direction after reversing the arrival direction by 180 degrees.

[0085] Pilot signal 31 is a directional signal emitted by UAV 3A to indicate the direction of arrival or the direction of presence. The direction of presence is the direction in which UAV 3A is observed by power transmission device 1A. The direction of presence and the direction of arrival are opposite to each other. Pilot transmitter 32 and pilot transmitting antenna 33 mounted on UAV 3A are directional signal transmitting units that transmit directional signals. Pilot receiving antenna 37 on power transmission device 1A located on the ground is a directional signal receiving unit that receives directional signals. Pilot transmitter 32, pilot transmitting antenna 33, and pilot receiving antenna 37 are directional signal transceivers that transmit and receive directional signals.

[0086] In this second embodiment, the phased array antenna 30 functions as a power transmission antenna that utilizes radiated radio waves for power transmission and can change its pointing direction. The UAV 3A is an aerial mobile object to which the power is transmitted. The arrival direction detection device 38 is a radiation direction determination unit that determines the direction in which the UAV 3A exists, i.e., the radiation direction, as observed from the power transmission device 1A. The power transmission control device 22A is a pointing direction changing unit that directs the pointing direction of the phased array antenna 30 toward the radiation direction.

[0087] Explain the actions. Figure 9 This is a flowchart illustrating the power transmission steps of a power transmission system for an airborne mobile body based on the wireless power transmission device according to Embodiment 2. First, in step S21, the drone 3A is brought to a stationary position above the power transmission device 1A.

[0088] In step S22, the element antennas 27 corresponding to the multiple secondary modules 26 radiate radio waves for each power transmission device 1A. The radio waves radiated by the element antennas 27 are received by the monitoring antenna 14 of the UAV 3A. The phase difference between the element electric field vectors generated at the position of the monitoring antenna 14 by the radio waves radiated by each element antenna 27 is measured by the REV method. The REV method changes the phase of a radio wave radiated by a certain secondary module 26 and measures the change in the amplitude (electric field strength) of the electric field vector of the radio wave received by the monitoring antenna 14. The measured electric field strength, i.e., the detection data 73, is transmitted to the power transmission control device 22 via the mobile communication system 12 and the measurement system control device 21. The power transmission control device 22 calculates the element electric field vector of the radio waves radiated by the element antennas 27 corresponding to each secondary module 26, and the phase difference between the electric field vectors of the radio waves obtained by combining the radio waves radiated by all element antennas 27, based on the change in the amplitude of the electric field vector transmitted by the received detection data 73. In addition, the phase difference between the element electric field vectors generated by each element antenna 27 is generated based on the path length difference inside the power transmission device 1A, the distance difference between each element antenna 27 and the monitoring antenna 14, etc.

[0089] In step S23, taking into account the measured phase difference between the multiple secondary modules 26 of each transmission device 1A, a phase offset value is set in the phase shifter 28 of each secondary module 26. The phase offset value is the value subtracted from the phase command value provided externally. The phase shifter 28 causes the phase to change only by the amount after subtracting the phase offset value from the phase command value. Therefore, the actual change in phase in the transmitted signal output by the phase shifter 28 is the value after subtracting the phase offset value from the phase command value. By subtracting the phase offset value from the phase command value, each secondary module 26 can radiate radio waves of the same phase when the same phase command value is provided to each secondary module 26.

[0090] In step S24, the phase change of the primary module 24 of each power transmission device 1A is measured by the REV method to determine the phase difference between the electric field vectors radiated by the multiple power transmission devices 1A and received by the monitoring antenna 14. In this REV method, the phase difference between the electric field strengths generated by each power transmission device 1A is measured based on the difference in path length to the primary module 24 in each power transmission device 1A, the difference in distance from each power transmission device 1A to the monitoring antenna 14, and the phase difference between the paths. In step S25, the phase shift value of the phase shifter 28 of the primary module 24 of each power transmission device 1A is set, taking into account the measured phase difference between the radio waves radiated by each power transmission device 1A.

[0091] In the processes S21 to S25, the phase offset value of each primary module 24 or secondary module 26 is measured in advance based on the difference in path length within each transmission device 1A, and these values ​​are taken into account to determine the phase command value of each phase shifter 28. This allows the radio waves radiated from each element antenna 27 to be set to values ​​consistent with the phase reference. Furthermore, S21 to S25 are performed before the transmission device 1A is first used. Even if the primary module 24 or secondary module 26 (i.e., the element module) is replaced, the phase offset value of the replaced element module is also calculated.

[0092] In step S26, the pilot transmitting antenna 33 of the UAV 3A transmits a pilot signal 31. In step S27, the pilot receiving antenna 37 of the power transmission device 1A receives the pilot signal 31. In step S28, the arrival direction detection device 38 determines the arrival direction data 80 of the pilot signal 31. In step S29, the power transmission control device 22A calculates command values ​​for the phase and amplitude of each component module of the power transmission device 1A, in a manner that allows the transmission of the power transmission wave 2 to be transmitted in the direction of arrival as indicated by the arrival direction data 80. The power transmission control signal 76 is the command value for the phase and amplitude of each component module. The component antenna 27 of each secondary module 26 radiates a phase-adjusted wave, thereby enhancing the wave radiated in the radiation direction. In addition, by adjusting the amplitude of the wave radiated by each component antenna 27, a more preferred beam shape can be achieved. As a result, the power transmission device 1A can efficiently transmit power in the radiation direction.

[0093] In step S30, the primary module 24 and the secondary module 26 of each power transmission device 1A generate transmission signals with adjusted phase and amplitude according to the power transmission control signal 76, and radiate them from their respective element antennas 27 as power transmission waves 2.

[0094] In parallel with steps S26 to S30, in step S31, the receiving antenna 34 of the UAV 3A receives the transmitted electrical wave 2, and the rectifier 35 and the rectifier-side converter 36 store the rectified and converted DC power in the energy storage unit 19.

[0095] S26 to S30 and S31 are executed periodically according to a predetermined cycle. After executing S30 and S31, the process returns to the state before S26 and S31. The length of one cycle is determined to be within the allowable range of the difference between the previously calculated direction of arrival and the current direction of arrival, even if the UAV 3 moves at the assumed maximum speed.

[0096] The pilot signal 31 is sent from the UAV 3A, and the power transmission device 1A radiates the power transmission wave 2 in the direction from which the pilot signal 31 arrives. Therefore, the receiving antenna 34 of the UAV 3A can receive the power transmission wave 2 with high efficiency.

[0097] It can be verified in Figure 9 Does the beam shape of the transmitted radio wave 2 radiated in S30 actually become the assumed beam shape? Thus, for example, using... Figure 1 and Figure 2 The illustrated radio wave measurement system is capable of measuring the beamform of a radio wave beam radiated under conditions where the phase command values ​​and amplitude command values ​​for each element antenna 27 are fixed. In this case, the radio wave measurement system for airborne mobile bodies in the wireless power transmission device according to Embodiment 2 also uses an airborne mobile body's radio wave measurement system.

[0098] As a radio wave measurement system, a monitoring antenna can be fixed at a predetermined location above the power transmission device 1A, instead of using the UAV 3A. However, since the radio waves may be reflected or blocked by the structural components used to fix the monitoring antenna, the accuracy of the phase and amplitude of the measured radio waves may deteriorate.

[0099] By controlling the transmission waves in locations with good radio wave conditions, such as outdoors, and by using wireless transmission of radio waves to airborne mobile objects, the system is unaffected by multipath propagation factors such as ground reflections. Therefore, radio wave-based wireless transmission can be implemented with higher precision than before. Furthermore, since various data and commands are transmitted using a mobile object communication system designed for controlling the UAV, no new hardware needs to be added to the UAV for the communication required to implement wireless transmission. This allows for a lightweight mounting device and enables wireless transmission of power to the UAV with low power consumption.

[0100] A wireless power transmission device can be used to transmit power to a mobile object in the air, without using a phased array antenna, but instead using a power transmission antenna with a mechanically adjustable pointing direction. The direction of the mobile object's presence can be transmitted to the wireless power transmission device in a manner other than pilot signals. Any wireless power transmission device that includes a power transmission antenna capable of adjusting the pointing direction using radiated radio waves, a radiation direction determining unit that determines the direction of the mobile object being transmitted (i.e., the radiation direction), a pointing direction changing unit that orients the power transmission antenna toward the radiation direction, and a transmission signal generating unit that generates a transmission signal transmitted from the power transmission antenna as a radio wave, can radiate radio waves toward the direction of the mobile object's presence with higher accuracy than before, and can further improve the efficiency of wireless power transmission. Furthermore, the radiation direction determining unit, i.e., the arrival direction detection device 38, may be located at a position far from the power transmission device 1A, but is included within the wireless power transmission device.

[0101] By using aerial mobile bodies such as drones to operate the REV method, it is possible to run the REV method in actual situations where power is being transmitted to aerial mobile bodies. Therefore, the REV method can be operated with high precision, and radio waves can be radiated with high precision in the direction in which the aerial mobile body exists when power is being transmitted to it. That is, radio waves can be radiated with higher precision in the direction in which the aerial mobile body exists than before, and the efficiency of wireless power transmission can be improved more than before.

[0102] If not used as a radio wave measurement system, the measurement system control device 21A is not required. Without the measurement system control device 21A, the transmission control device 22A transmits and receives commands for operating the REV method and measured received power data via the mobile unit command device 4A and the mobile unit communication system 12. Furthermore, Figure 7 The diagram does not show the commands used to run the REV method and the flow of the measured received power data.

[0103] When performing the REV method, an antenna fixed to the ground can be used instead of a measurement antenna mounted on the UAV. In this case, the UAV does not have the functionality to perform the REV method. Instead of a measurement antenna, the UAV connects a detector to a receiving antenna, allowing the detector to measure the electric field strength of the radio waves received by the receiving antenna. That is, the receiving antenna can also be used as a measurement antenna.

[0104] The above content can also be applied to other implementation methods.

[0105] Implementation Method 3.

[0106] Implementation method 3 is a modification of implementation method 2, in which the power transmission device transmits power toward the airborne mobile body by sending the position data of the airborne mobile body to the power transmission device instead of the pilot signal. Utilizing... Figure 10The structure of the power transmission system for airborne mobile bodies based on the wireless power transmission device according to Embodiment 3 of the present invention will be described. Figure 10 This is a structural diagram of a power transmission system for airborne mobile bodies based on the wireless power transmission device involved in Embodiment 3 of the present invention.

[0107] right Figure 10 Compared with implementation method 2 Figure 7 The differences are explained below. The power transmission device 1 is the same as in Embodiment 1. The power transmission device 1 does not have a pilot receiving antenna 37. Furthermore, the arrival direction detection device 38 is also absent. The UAV 3B does not have a pilot transmitter 31 and a pilot transmitting antenna 33. The UAV 3B has a positioning sensor 18. The position data 74 measured by the positioning sensor 18 is transmitted to the measurement system control device 21B via the onboard control device 16B, the flight control device 5B, the mobile body communication system 12, and the mobile body command device 44. The position data 74 is also stored in the data storage device 17B. Additionally, the positioning sensor 18 can be connected to the flight control device 5B. In this case, the position data 74 is transmitted to the power transmission control device 22B via the flight control device 5B, the mobile body communication system 12, the mobile body command device 4B, and the measurement system control device 21B.

[0108] Positioning sensor 18 is a position measuring unit that determines the position of the UAV 3B, i.e., the position of the moving body. Power transmission control device 22B is a radiation direction determining unit that determines the direction of radiation, with power transmission device 1 as a reference and towards the position of the UAV 3B, based on position data 74. The determined radiation direction is stored as radiation direction data 81. Power transmission control device 22B determines command values ​​(power transmission control signals 76) for the phase and amplitude of the primary module 24 and the secondary module 26 respectively, in a manner that allows power transmission towards the radiation direction indicated by radiation direction data 81. Power transmission control device 22B controls power transmission device 1 using power transmission control signals 76. Furthermore, the device combining at least a part of the power transmission control device and the power transmission device can also be considered as a wireless power transmission device.

[0109] Explain the actions. Figure 11 This is a flowchart illustrating the power transmission steps of a power transmission system for a mobile airborne body based on the wireless power transmission device according to Embodiment 3. Figure 11 Compared with implementation method 2 Figure 9The different points are explained below. Steps S26 to S28 are changed to steps S32 to S35. In step S32, the three-dimensional position of the UAV 3B is located using the positioning sensor 18. In step S33, the located position data 74 is transmitted to the mobile command device 4B via the mobile communication system 12. In step S34, the power transmission control device 22B obtains the position data 74 from the mobile command device 4B via the measurement system control device 21B. In step S35, the power transmission control device 22B converts the position data 74 into a relative position with respect to the power transmission device 1 and calculates the radiation direction. In addition, in step S29A, the power transmission control device 22B calculates the power transmission control signal 76, which commands the primary module 24 and secondary module 26 of each power transmission device 1A to issue a phase and amplitude command. The power transmission control signal 76 is calculated to enable the power transmission device 1 to transmit the power transmission wave 2 in a radiation direction determined by the relative position of the UAV 3B with respect to the power transmission device 1.

[0110] The drone 3B transmits its position data 74 and radiates a power transmission wave 2 in the direction in which the drone 3B is located, as determined by the position data 74. This allows the drone 3B's receiving antenna 34 to efficiently receive the power transmission wave 2. In addition to radiating the power transmission wave 2 in the direction in which the drone 3B is located, the system can also generate a power transmission control signal 76 that reduces the beamwidth of the power transmission wave 2 at the location where the drone 3B is located.

[0111] The above content can also be applied to other implementation methods.

[0112] Implementation Method 4.

[0113] Implementation method 4 describes a scenario where an aerial mobile body, i.e., a drone, receives power from a wireless power transmission device while simultaneously measuring the beamform data of the transmitted radio waves radiated by the wireless power transmission device. Since the drone receives power from the wireless power transmission device, the radio wave measurement system using an aerial mobile body described in implementation method 4 is also a power transmission system for an aerial mobile body based on a wireless power transmission device. Figure 12 This invention describes the structure of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, as described in Embodiment 4 of the present invention. Figure 12 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 4 of the present invention.

[0114] right Figure 12 Compared with the case of implementation method 1 Figure 2The differences will be explained below. The UAV 3C modifies the UAV 3 of Embodiment 1 by having the same receiving antenna 34 and UAV power system 8A as Embodiment 2. The power transmission device 1 is the same as in Embodiment 1.

[0115] Explain the actions. Figure 13 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body and the radio transmission system for the airborne mobile body based on a wireless transmission device, as described in Embodiment 4. Figure 13 Compared with the case of implementation method 1 Figure 4 The different points are explained below. In parallel with S04 to S07, in steps S13 and S14, the receiving antenna 34 receives the transmission wave 2, and the rectifier 35 rectifies the received transmission wave 2 to store the resulting power in the energy storage unit 19. S13 operates in parallel with S04 and S05. S14 operates in parallel with S07.

[0116] Because the beam shape of the power transmission device 1 is measured, unlike embodiment 2, the power transmission control device 22A does not change the beam direction based on the location of the UAV 3C.

[0117] The drone 3C receives power through the power transmission wave 2 while moving or remaining stationary above the power transmission device 1. Therefore, even if measuring the beam shape 71 requires a longer time than in Embodiment 1, the drone 3C can still measure the beam shape data 71 of the power transmission wave 2.

[0118] Implementation Method 5.

[0119] Embodiment 5 modifies Embodiment 1 by providing a communication system, in addition to the mobile communication system, that allows communication between the onboard control device and the measurement system control device for measurement commands and detection data related to radio wave measurement. Utilizing Figure 14 The structure of the radio wave measurement system using an airborne moving body according to Embodiment 5 of the present invention will be described. Figure 14 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 5 of the present invention. Furthermore, the radio wave measurement system and the power supply system to the airborne mobile body can be modified according to Embodiment 4 or other structures.

[0120] A power transmission communication system 39 and a pilot communication system 40 are added to the UAV 3D in Embodiment 5. The measurement system control device 21C sends measurement commands 72 to the mounting device 13D mounted on the UAV 3D via the power transmission communication system 39. The mounting device 13D sends detection data 73 to the measurement system control device 21C via the pilot communication system 40. The positioning sensor 18 sends position data 74 to the onboard control device 16D. The data storage device 17D stores data indicating whether the power transmission communication system 39 and the pilot communication system 40 are in use.

[0121] The power transmission communication system 39 is configured to include a primary module 24A, a secondary module 26A, and an element antenna 27, all present in the power transmission device 1B, as well as a monitoring antenna 14 mounted on a UAV 3D and a detector 15A. Based on a signal sequence of 0s or 1s representing the measurement command 72, a pulse modulation switch 41 is added to the primary module 24A and the secondary module 26A to switch between radiating and not radiating the transmission wave 2A. That is, the transmission wave 2A is pulse-modulated by the detected data 73 to transmit the measurement command 72. The detector 15A demodulates the measurement command 72 based on whether the transmission wave 2A to be received is received or not. Alternatively, instead of pulse modulation, the measurement command 72 can be modulated or demodulated using amplitude modulation or phase modulation such as BPSK (Binary Phase Shift Keying).

[0122] A communication system switching switch 42 is added to the measurement system control device 21C. The communication system switching switch 42 switches which of the mobile command device 4C and the power transmission control device 22C the measurement command 72 is sent to. That is, the communication system switching switch 42 switches which of the mobile communication system 12 and the power transmission communication system 39 is used. Furthermore, the target of the measurement command 72 can be switched by software.

[0123] The pilot communication system 40 comprises a pilot transmitter 32, a pilot transmitting antenna 33, a pulse modulation switch 43, a pilot receiving antenna 37, and a detector 44. The pulse modulation switch 43 is positioned between the pilot transmitter 32 and the pilot transmitting antenna 33. The detector 44 detects the pilot signal 31 received by the pilot receiving antenna 37. The pilot transmitter 32, pilot transmitting antenna 33, and pulse modulation switch 43 are mounted on a UAV 3D. The pilot receiving antenna 37 and detector 44 are located on the ground.

[0124] Based on the 0 or 1 signal train of the detection data 73 provided by the onboard control device 16D, the pulse modulation switch 43 switches between radiating and non-radiating pilot signals 31. That is, the detection data 73 pulse-modulates the pilot signal 31, thereby transmitting the detection data 73. The pilot signal 31 received by the pilot receiving antenna 73 is split in two and input to the arrival direction detection device 38 and the detector 44. The detector 44 demodulates the detection data 73 based on whether the pilot signal 31 has been received or not. Alternatively, the detection data 73 can be modulated or demodulated using amplitude modulation or phase modulation such as BPSK, instead of pulse modulation.

[0125] The onboard control unit 16D uses software to switch whether the detection data 73 is sent to the flight control unit 5 or whether the detection data 73 controls the pulse modulation switch 43. This switches which system, the pilot communication system 40 or the mobile body communication system 12, will be used to send the detection data 73.

[0126] Explain the actions. Figure 15 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body, as described in Embodiment 5. Figure 15 Compared with the case of implementation method 1 Figure 5 The different points are explained below. Here, the communication system that communicates the measurement command 72 is referred to as the command communication system. The communication system that communicates the measurement data 77 is referred to as the data communication system. Step S15 is added between S03 and S04A. In S15, the command communication system is determined to be either the mobile communication system 12 or the power transmission communication system 39. In S04A, according to the measurement command 72 communicated under the command communication system determined in S15, detection data 73, including the amplitude and phase of the power transmission wave 2 received by the monitoring antenna 14, is measured. At the same time, the position of the UAV 3D is measured. Step S16 is added between S04A and S05B. In S16, the data communication system is determined to be either the mobile communication system 12 or the pilot communication system 40. In step S05B, the measured position detection data 70 is transmitted from the onboard control device 16D to the measurement system control device 21C via the data communication system determined in S16.

[0127] The command communication system can be determined not at every moment of communication for measurement command 72, but rather every few times. Flight command 75 communication can be performed in the power transmission communication system 39. The data communication system can be determined not at every moment of communication for measurement data 77, but rather every few times. If communication is not possible in the mobile communication system 12, the power transmission communication system 39 can be designated as the command communication system, or the pilot communication system 40 can be designated as the data communication system.

[0128] By setting up the power transmission communication system 39 and the pilot communication system 40, the required data can be communicated at the required speed even when the communication load of the mobile communication system 12 is large and communication slows down. Alternatively, the power transmission communication system 39 and the pilot communication system 40 can be used in case of a malfunction in the mobile communication system 12. Therefore, the power transmission communication system 39 and the pilot communication system 40 greatly contribute to the stable operation of the radio wave measurement system. Furthermore, the power transmission wave 2 and the pilot signal 31 can be modulated and communicated using simple devices such as pulse modulation (transmission on / off control), amplitude modulation, and phase modulation. Therefore, control of the power transmission wave and exchange of data can be achieved without adding large hardware or increasing the load and power consumption of the mobile communication system 12.

[0129] Implementation Method 6.

[0130] Embodiment 6 is a modification of Embodiment 2, which is also a radio wave measurement system, by providing a measurement communication system for communicating measurement commands and detection data between the onboard control device and the measurement system control device. In Embodiment 6, a mobile body communication system is not used for communicating measurement commands and detection data between the onboard control device and the measurement system control device. Embodiment 6 is an embodiment that utilizes a radio wave measurement system for airborne mobile bodies and a power transmission system for airborne mobile bodies based on a wireless power transmission device. Figure 16 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on the wireless power transmission device involved in Embodiment 6 are explained. Figure 16 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 6 of the present invention.

[0131] Figure 16 In the structure shown, towards Figure 7The structure shown in Embodiment 2 includes an additional measurement communication system 45. The measurement communication system 45 is configured to include an onboard communicator 46 and an onboard communication antenna 47 mounted on the UAV 3E, and a ground communication antenna 48 and a ground communicator 49 mounted on the ground. Measurement commands 72 from the measurement system control device 21D are transmitted to the UAV 3E via the measurement communication system 45. Measurement data 77 measured by the UAV 3E is transmitted to the measurement system control device 21D via the measurement communication system 45. The measurement communication system 45 is a different communication system from the mobile communication system 12. The data storage device 17E also stores the required data as part of the radio wave measurement system for the measurement data 77, which differs from the data storage device 17A in Embodiment 2.

[0132] It is assumed that communication is not possible between the onboard control unit 16E and the flight control unit 5C. It is assumed that the onboard device 13E is only mounted on the UAV 3E, and there is no interface between it and the equipment of the UAV 3E. Furthermore, the positioning sensor 18 is connected to the onboard control unit 16E in a manner that allows the use of position data 74 in the power transmission system.

[0133] The mobile command device 4D sends flight commands 75 through the mobile communication system 12 and controls the flight of the UAV 3E.

[0134] Reference Figure 17 The power system 8B for the unmanned aerial vehicle is described. Figure 17 This is a block diagram illustrating the structure of the radio wave measurement system using an airborne mobile body and the power supply system of the airborne mobile body that receives power transmitted from a wireless power transmission device, according to Embodiment 6. Figure 17 and Figure 8 The difference lies in the addition of a measurement system power line 50. The measurement system power line 50 is connected to the energy storage unit 19 mounted on the drone 3E. The rectifier-side converter 36, the load-side converter 20b, and the load-side converter 20c are connected to the energy storage unit 19 via the measurement system power line 50. By providing the measurement system power line 50, the connection point of the power system between the drone 3E and the mounting device 13E can be reduced to just one part of the measurement system power line 50. Alternatively, the rectifier-side converter can be omitted, or the structure of the load-side converter can be modified.

[0135] The power transmission system for the airborne mobile body in Embodiment 6 operates in the same manner as in Embodiment 2. The difference lies in the fact that the mobile body communication system 12 is not used; instead, the measurement communication system 45 is used for communication of commands and data for running the REV method. Furthermore, Embodiment 6, as the radio wave measurement system, operates in the same manner as the radio wave measurement system in Embodiment 1. The difference between Embodiment 6 and Embodiment 1 is the use of the measurement communication system 45.

[0136] Since there is no need to transmit or receive data between the mounting device and the drone, a radio wave measurement system can usually be constructed without modifying commercially available drones. This makes it easier to mount the mounting device onto other drones. The structure that avoids using a mobile communication system for communicating commands for radio wave measurement and the measured data can also be applied to other implementation methods.

[0137] Implementation Method 7.

[0138] Implementation 7 modifies the situation in Implementation 6 by adding the same power transmission communication system and pilot communication system as in Implementation 5. Utilizing Figure 18 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on the wireless power transmission device involved in Embodiment 7 are explained. Figure 18 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system for the airborne mobile body based on a wireless power transmission device, according to Embodiment 7 of the present invention.

[0139] Figure 18 Having the same characteristics as in embodiment 5 Figure 14 Almost identical structure. Figure 18 The structure shown is Figure 14 The structural differences are as follows. The communication system switching switch 42A, located in the measurement system control unit 21E, switches which device, the ground communication unit 49 or the power transmission control unit 22D, receives the measurement command 72. That is, the communication system switching switch 42A switches between the measurement communication system 45 and the power transmission communication system 39. Furthermore, the onboard control unit 16F uses software to switch whether the detection data 73 is sent to the onboard communication unit 46 or whether the detection data 73 controls the pulse modulation switch 43. Thus, the onboard control unit 16F switches between the measurement communication system 45 and the pilot communication system 40 where the detection data 73 is sent.

[0140] The power transmission system for the airborne mobile body in Embodiment 7 operates in the same manner as in Embodiment 2. The difference from Embodiment 2 is that the mobile body communication system 12 is not used; instead, a measurement communication system 45 is used. Furthermore, Embodiment 7, as the radio wave measurement system, operates in the same manner as the radio wave measurement system in Embodiment 5. Embodiment 7 differs from Embodiment 5 in that it uses the measurement communication system 45.

[0141] Since there is no need to transmit or receive data between the onboard device and the drone, commercially available drones can typically be used to construct radio wave measurement systems and / or power transmission systems for airborne moving objects without modification. Furthermore, the power transmission communication system 39 and pilot communication system 40 can be used in cases such as malfunctions in the measurement communication system 45. Therefore, the power transmission communication system 39 and pilot communication system 40 greatly contribute to the stable operation of the radio wave measurement system and / or power transmission system.

[0142] The mobile communication system can be configured to be used for communication between the onboard control unit and the measurement system control unit. In this case, a triple communication system exists between the onboard control unit and the measurement system control unit, thus improving the reliability of the communication system. The same applies to Embodiment 6.

[0143] Implementation Method 8.

[0144] Implementation 8 modifies Implementation 5 by using a positioning device installed on the ground to locate the position of the moving object in the air. Figure 19 and Figure 20 The structure of the radio wave measurement system using an airborne mobile body according to Embodiment 8 will be described. Figure 19 This is a schematic diagram of an electromagnetic wave measurement system using an airborne moving body according to Embodiment 8 of the present invention. Figure 20 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 8. Other embodiments can also be modified to measure the position of the airborne mobile body from the ground.

[0145] right Figure 20 Compared with implementation method 5 Figure 14 The differences are explained below. The drone 3G does not have a positioning sensor 18. A laser positioning device 51 for determining the position of the drone 3G is installed near the power transmission device 1B. Position data 74, indicating the position of the drone 3G as determined by the laser positioning device 51, is input to the measurement system control device 21F at a predetermined period during the measurement of radio waves. The data storage device 17G does not store the position data 74, but stores data indicating whether the power transmission communication system 39 and the pilot communication system 40 are in use.

[0146] The laser positioning device 51 emits lasers 82 in all directions and receives reflected lasers 83 from the target object, i.e., the drone 3G. The direction of the drone 3G is determined based on the direction of the reflected laser 83, and the distance to the drone 3G is determined based on the time elapsed between emitting the laser 82 and receiving the reflected laser 83. The measured direction and distance are then converted to determine the three-dimensional position of the drone 3G. Alternatively, the positioning device for determining the position of the drone 3G can use radio waves instead of lasers.

[0147] Describe the actions. (Refer to...) Figure 21 The operation of the radio wave measurement system will be explained. Figure 21 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves using the radio wave measurement system employing an airborne mobile body, as described in Embodiment 8.

[0148] right Figure 21 Compared with implementation method 5 Figure 15 The different points are explained below. In step S04B, the UAV 3G does not measure position data 74. In step S05C, measurement data 77, including the measured detector data 73, is transmitted from the onboard control device 16G to the flight control device 5, and then transmitted to the measurement system control device 21F via the mobile body communication system 12 and the mobile body command device 4C. In step S17, the measurement system control device 21F combines the detector data 73 contained in the received measurement data 77 with the latest position data 74 to generate supplementary position detector data 70.

[0149] Similar to Embodiment 5, in the radio wave measurement system, a transmission radio wave 2 is radiated upwards from the power transmission device 1, and the beam shape data 71 of the transmission radio wave 2 above the power transmission device 1 is measured using an aerial mobile body, i.e., a UAV 3G. This reduces the impact of reflection, thereby enabling high-precision measurement of the beam shape data 71 of the transmission radio wave 2 of the power transmission device 1.

[0150] The drone 3G does not have a positioning sensor, so it can measure its own position without using power. Furthermore, the drone 3G does not transmit location data 74, thus consuming no power required for transmitting location data 74. Therefore, compared to the case of embodiment 5, it can fly for a longer period of time.

[0151] Within the scope of its inventive concept, the present invention allows for free combination of various embodiments, or modification or omission of various embodiments.

[0152] Label Explanation

[0153] 1. 1A power transmission device (wireless power transmission device),

[0154] 2. Transmission waves (radio waves)

[0155] 3. 3A, 3B, 3C, 3D, 3E, 3F, 3G drones (aerial mobile entities)

[0156] 4. 4A, 4B, 4C, 4D moving body command device,

[0157] 5. Flight control systems for 5A, 5B, and 5C.

[0158] 6. Onboard communication antennas

[0159] 7. Wireless modem,

[0160] 8. Power systems for UAVs 8A and 8B

[0161] 9 drive motors,

[0162] 10 wireless modems,

[0163] 11 communication antennas

[0164] 12-Mobile Communication System

[0165] Mounted devices 13, 13A, 13B, 13C, 13D, 13E, 13F, and 13G.

[0166] 14. Monitoring antenna (measuring antenna)

[0167] 15. 15A Detector (Radio Wave Measurement Section)

[0168] Onboard control devices for aircraft models 16, 16A, 16B, 16D, 16E, 16F, and 16G.

[0169] 17, 17A, 17B, 17D, 17E, 17G data storage devices (storage devices)

[0170] 18. Positioning sensors (position measuring units)

[0171] 19 energy storage units,

[0172] 20a, 20b, 20c load-side converters

[0173] 21, 21D, 21E, 21F, 21G Measurement System Control Device (Radiation Wave Data Generation Unit)

[0174] 21A and 21B Measurement System Control Device

[0175] 22. Power transmission control devices

[0176] 22A, 22B, 22C, 22D power transmission control devices (radiation direction determination unit, pointing direction changing unit),

[0177] 23. Signal generation unit.

[0178] 24. 24A Primary Module (Component Module)

[0179] 25 distribution circuit,

[0180] 26, 26A secondary modules (component modules),

[0181] 27-element antenna,

[0182] 28 phase shifters

[0183] 29 amplifiers

[0184] 30 phased array antennas (antenna under test, transmission antenna),

[0185] 31 pilot signals,

[0186] 32-pilot transmitter (direction signal transmitting unit, direction signal transceiver unit)

[0187] 33 Pilot transmitting antenna (directional signal transmitting section, directional signal transceiver section),

[0188] 34 receiving antennas,

[0189] 35 rectifier,

[0190] 36 rectifier-side converters,

[0191] 37. Pilot receiving antenna (directional signal receiving section, directional signal transceiver section),

[0192] 38. Arrival direction detection device (radiation direction determination unit)

[0193] 39. Power transmission communication system

[0194] 40 pilot communication system

[0195] 41-pulse modulation switch,

[0196] 42, 42A communication system switch

[0197] 43-pulse modulation switch,

[0198] 44 detectors,

[0199] 45. Measurement and Communication System

[0200] 46 onboard communication equipment

[0201] 47 aircraft onboard communication antenna,

[0202] 48 ground communication antennas

[0203] 49 ground communication equipment,

[0204] 50 Measurement system power cord,

[0205] 51 laser positioning device,

[0206] 70, 70A include position detection data (radio wave measurement data),

[0207] 71, 71A beamform data (radiated radio wave data),

[0208] 72 Measurement Command

[0209] 73 Detection data (received radio wave data),

[0210] 74 location data (measurement point data),

[0211] Flight 75 order.

[0212] 76. Power transmission control signals

[0213] 77 measurement data,

[0214] 78. Relative position data (relative position data of radio wave sources)

[0215] 79 Pilot transmitter control commands,

[0216] 80 arrival direction data,

[0217] 81 Radiation direction data,

[0218] 82 laser,

[0219] 83 reflected laser.

Claims

1. A wireless power transfer device, characterized by, include: A power transmission antenna that transmits electricity using radiated radio waves and can change its pointing direction; The radiation direction determination unit determines the direction in which the airborne moving body, which is the object of power transmission, exists, i.e., the radiation direction. A pointing direction changing unit that directs the pointing direction of the transmission antenna toward the radiation direction; as well as A transmission signal generation unit generates a transmission signal that is transmitted from the transmission antenna as a radio wave. The power transmission antenna is a phased array antenna, which has the following characteristics: A multi-element antenna that radiates the radio waves; as well as Multiple component modules, each having a phase shifter for changing the phase of the transmitted signal and an amplifier for amplifying the transmitted signal, are disposed in each of a determined number of component antennas. The pointing direction changing unit controls the phase command value of the phase shifter. The phase shift value of each phase shifter is determined using the REV method of an airborne mobile body stationary above the transmission antenna and equipped with a measurement antenna for receiving the radio waves and a radio wave measurement unit for measuring the received radio wave data, including the amplitude of the radio waves received by the measurement antenna.

2. The wireless power transmission device as described in claim 1, characterized in that, The power transmission antenna has multiple power transmission units, and each power transmission unit has multiple element antennas; Multiple secondary modules, which are the component modules; And a primary module, which is a component module that simultaneously modifies the phase of the transmitted signals input to the plurality of component antennas. In the phase shifter of the secondary module, a phase offset value is determined such that, given that the same phase command value is provided to each of the secondary modules, the element antenna corresponding to each of the secondary modules can radiate radio waves of the same phase.

3. The wireless power transmission device as described in claim 1, characterized in that, The power transmission antenna has multiple power transmission units, and each power transmission unit has multiple element antennas; Multiple secondary modules, which are the component modules; And a primary module, which is a component module that simultaneously modifies the phase of the transmitted signals input to the plurality of component antennas. The phase offset value of the phase shifter in the primary module is set based on the phase difference of the radio waves radiated by each of the transmission units.

4. The wireless power transmission device as described in any one of claims 1 to 3, characterized in that, It is equipped with a position measuring unit that measures the position of the airborne moving body that is the object of power transmission, i.e., the position of the moving body. The radiation direction determining unit determines the direction toward the position of the moving body as the radiation direction.

5. The wireless power transmission device as described in claim 4, characterized in that, The position measuring unit is located on the ground.

6. A power transmission system for airborne mobile bodies, characterized in that, include: The wireless power transmission device according to any one of claims 1 to 3; A stationary moving body in the air above the power transmission antenna; A measuring antenna mounted on the airborne mobile body to receive the radio waves radiated by the transmission antenna during the execution of the REV method; as well as An electromagnetic wave measurement unit mounted on the airborne mobile body that measures received electromagnetic wave data, including the amplitude of the electromagnetic waves. The radio waves are used to transmit commands for the REV method.

7. A power transmission system for an airborne vehicle, characterized by, include: The wireless power transmission device according to any one of claims 1 to 3; A stationary moving body in the air above the power transmission antenna; A measuring antenna mounted on the airborne mobile body to receive the radio waves radiated by the transmission antenna during the execution of the REV method; An electromagnetic wave measurement unit mounted on the airborne mobile body to measure received electromagnetic wave data, including the amplitude of the electromagnetic waves; Transmitting and receiving direction signals emitted by the airborne mobile body to notify the direction of existence of the airborne mobile body as observed from the transmission antenna, i.e., the direction signal transceiver unit; and A different communication system than the mobile body communication system used to control the airborne mobile body is a measurement communication system. Select one of the direction signal transceiver unit and the measurement and communication system to transmit the received radio wave data from the airborne mobile body.

8. The power transmission system for airborne mobile bodies as described in claim 7, characterized in that, The radio waves are used to transmit commands for the REV method.

9. A power transmission system for an airborne vehicle, characterized by, include: The wireless power transmission device according to any one of claims 1 to 3; A stationary moving body in the air above the power transmission antenna; A measuring antenna mounted on the airborne mobile body to receive the radio waves radiated by the transmission antenna during the execution of the REV method; An electromagnetic wave measurement unit mounted on the airborne mobile body to measure received electromagnetic wave data, including the amplitude of the electromagnetic waves; Transmitting and receiving direction signals emitted by the airborne mobile body to notify the direction of existence of the airborne mobile body as observed from the transmission antenna, i.e., the direction signal transceiver unit; and A different communication system than the mobile body communication system used to control the airborne mobile body is a measurement communication system. Select one of the direction signal transceiver unit, the mobile body communication system, and the measurement communication system to transmit the received radio wave data from the airborne mobile body.

10. The power transmission system for airborne mobile bodies as described in claim 9, characterized in that, The radio waves are used to transmit commands for the REV method.

11. A power transmission system for an airborne vehicle, characterized by, include: The wireless power transmission device according to any one of claims 1 to 3; A stationary moving body in the air above the power transmission antenna; A measuring antenna mounted on the airborne mobile body to receive the radio waves radiated by the transmission antenna during the execution of the REV method; An electromagnetic wave measurement unit mounted on the airborne mobile body to measure received electromagnetic wave data, including the amplitude of the electromagnetic waves; as well as The transceiver unit transmits and receives direction signals emitted by the airborne mobile body to notify the direction of the airborne mobile body as observed from the transmission antenna, i.e., the direction of existence. Select one of the mobile communication system for controlling the airborne mobile body and the direction signal transceiver unit to transmit the received radio wave data from the airborne mobile body.

12. The power transmission system for air mobile bodies according to claim 11, wherein, the command of the REV method is transmitted using the electric wave.

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