Wireless power transmission devices and power transmission systems for transmitting power to airborne mobile bodies

Abstract

In wireless power transmission devices and power transmission systems for transmitting power to airborne mobile bodies, the efficiency of wireless power transmission is reduced because the radio waves cannot be radiated with high precision in the direction in which the airborne mobile body exists. The wireless power transmission device (1A) includes a power transmission antenna (30), a radiation direction determination unit (208), a pointing direction changing unit (209), and a transmission signal generation unit (23). The power transmission antenna is a phased array antenna, having multiple element antennas (27) that radiate radio waves (2) and multiple element modules (24, 26) that have a phase shifter (28) that changes the phase of the transmitted signal and an amplifier (29) that amplifies the transmitted signal. The phase offset value set in the phase shifter of each element module is obtained by using the REV method on an airborne mobile body (3J) that is stationary above the power transmission antenna, equipped with a measurement antenna (14) that receives radio waves, and a radio wave measurement unit (15) that measures the received radio wave data containing the amplitude of the radio waves received by the measurement antenna.

Description

[0001] This application is a divisional application of the application filed on April 10, 2018, with application number 201880034108.9, entitled "Radio Wave Measurement System". Technical Field

[0002] This invention relates to a wireless power transmission device that transmits electricity wirelessly via radio waves, and a power transmission system that transmits electricity to moving bodies in the air. Background Technology

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

[0004] The following scheme is proposed: As a power supply system for supplying power to a mobile body in an underwater environment, the mobile body to be powered is guided and induced to a power supply position that receives wireless power in a direction where the electromagnetic field energy is greater (see Patent Document 1). Patent Document 1 proposes a scheme that also uses an antenna for power transmission for communication. In Patent Document 1... Figure 11 The document states that a communication function 150 exists in the transmitting antenna 11-1. Figure 12 The document describes a communication function 250 in the receiving antenna 21-1. However, the specific structure of the antenna used for power transmission, which is also used 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: Katsuyuki Makino: "Development and technical verification test of high-precision microwave beam direction control device for SSPS implementation", Journal of the China Electronics and Information Communications 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 precision. Furthermore, to measure high-precision antenna radiation patterns, 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 precision. Additionally, in wireless transmission devices transmitting power to airborne mobile objects, there is a problem of reduced efficiency due to the inability to accurately radiate radio waves in the direction of the airborne mobile object.

[0012] The present invention was made to solve the problems mentioned above, and its object is to provide a wireless power transmission device and a power transmission system for transmitting power to a mobile airborne body with higher precision than before.

[0013] Technical solutions adopted to solve technical problems

[0014] The wireless power transmission device of this 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 of the power transmission object, i.e., an airborne mobile body, which is 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 that is transmitted from the power transmission antenna as a radio wave. The power transmission antenna is a phased array antenna having the following components: multiple element antennas that radiate radio waves; and multiple element modules having a phase shifter that changes the phase of the transmission signal and an amplifier that amplifies the transmission signal. The pointing direction changing unit controls the phase shift amount of the phase shifter. The phase shift value of each phase shifter is obtained using the REV method for an airborne mobile body that is stationary above the power transmission antenna and is equipped with a measurement antenna for receiving radio waves and a radio wave measurement unit that measures the received radio wave data, including the amplitude of the radio waves received by the measurement antenna.

[0015] The power transmission system for transmitting power to an airborne mobile body according to the present invention includes: a wireless power transmission device; a power transmission control device that controls the wireless power transmission device; a ground timekeeping device that is installed on the ground and outputs time data; an airborne mobile body; and a REV method analysis unit.

[0016] The wireless power transmission device 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 the power transmission target, i.e., a moving object in the air, exists, 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 as a radio wave to be transmitted from the power transmission antenna. The power transmission antenna is a phased array antenna having the following components: multiple element antennas that radiate radio waves; and multiple element modules having a phase shifter configured for each of the determined number of element antennas to change the phase of the transmission signal and an amplifier to amplify the transmission signal. The pointing direction changing unit changes the pointing direction of the power transmission antenna by controlling the phase shift amount of the phase shifter.

[0017] The airborne mobile vehicle is equipped with a measuring antenna, a radio wave measurement unit, a mobile vehicle timing device, a radio wave data receiving and timing appending unit, and a mobile vehicle communication unit. The measuring antenna receives radio waves radiated by the wireless power transmission device. The radio wave measurement unit measures the received radio wave data, including the amplitude (electric field strength) of the radio waves received by the measuring antenna. The mobile vehicle timing device outputs time data synchronized with the ground timing device. The radio wave data receiving and timing appending unit adds the time data from the mobile vehicle timing device to the received radio wave data at the time the received radio wave data was measured, generating time-inclusive received radio wave data. The mobile vehicle communication unit communicates with the power transmission control device.

[0018] The REV method analysis unit calculates the element electric field phase for each element module based on the radio wave data during REV method execution and the REV method scheme. The radio wave data during REV method execution refers to the received radio wave data measured by the radio wave measurement unit during the execution of the REV method scheme. The REV method scheme specifies a phase operation mode in which the phase shift of a portion of the phase shifters, i.e., the phase shift amount of the phase shifters, is changed repeatedly while at least a portion of the element antennas are radiating radio waves in order to execute the REV method. The REV method calculates the phase of the element electric field vector generated at the position of the measuring antenna by the radio wave radiated by the element antenna that outputs the transmitting signal provided by the element module, i.e., the element electric field phase.

[0019] The power transmission control device includes: a power transmission control communication unit that communicates with a mobile communication unit; and a REV method execution unit that controls the wireless power transmission device based on the REV method scheme.

[0020] The pointing direction changing unit adjusts the pointing direction of the transmission antenna towards the radiation direction by aligning the phase references of the component modules with the component electric field phase of each component module.

[0021] Invention Effects

[0022] The wireless power transmission device according to the present invention can radiate radio waves in the direction of a moving object in the air with higher precision than ever before, and can also improve the efficiency of wireless power transmission more than ever before.

[0023] The power transmission system for transmitting power to airborne mobile bodies according to the present invention can perform the REV method when actually transmitting power to airborne mobile bodies, can radiate radio waves in the direction where airborne mobile bodies exist with higher precision than before, and can further improve the efficiency of wireless power transmission than before. Attached Figure Description

[0024] 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.

[0025] Figure 2 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 1.

[0026] 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.

[0027] Figure 4 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 according to Embodiment 1.

[0028] Figure 5 This is a flowchart illustrating other steps in measuring the radiation pattern of radio waves in the radio wave measurement system using an airborne mobile body according to Embodiment 1.

[0029] Figure 6 This is a schematic diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2 of the present invention.

[0030] Figure 7 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2.

[0031] Figure 8This is a block diagram illustrating the structure of the power system of an airborne mobile body that receives power from a wireless power transmission device according to Embodiment 2.

[0032] Figure 9 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2.

[0033] Figure 10 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 3 of the present invention.

[0034] Figure 11 This is a flowchart illustrating the power transmission steps in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 3.

[0035] Figure 12 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that uses a wireless power transmission device to transmit power to the airborne mobile body, according to Embodiment 4 of the present invention.

[0036] Figure 13 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves in a power transmission system that uses a wireless power transmission device to transmit power to a mobile body, as described in Embodiment 4.

[0037] 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.

[0038] Figure 15 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 5.

[0039] Figure 16 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 6 of the present invention.

[0040] 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 via a wireless power transmission device, according to Embodiment 6.

[0041] Figure 18 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 7 of the present invention.

[0042] 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.

[0043] Figure 20 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 8.

[0044] Figure 21 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 8.

[0045] Figure 22 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 9 of the present invention.

[0046] Figure 23 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 9.

[0047] Figure 24 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 9.

[0048] Figure 25 This is a flowchart illustrating other steps in measuring the radiation pattern of radio waves in the radio wave measurement system using an airborne mobile body according to Embodiment 9.

[0049] Figure 26 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 10 of the present invention.

[0050] Figure 27 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 10.

[0051] Figure 28 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 10.

[0052] Figure 29 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in a power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 10.

[0053] Figure 30This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 11 of the present invention.

[0054] Figure 31 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 11.

[0055] Figure 32 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 11.

[0056] Figure 33 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 12 of the present invention.

[0057] Figure 34 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves in a power transmission system that transmits power to a mobile airborne body using a wireless power transmission device, as described in Embodiment 12.

[0058] Figure 35 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 13 of the present invention.

[0059] Figure 36 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 13.

[0060] Figure 37 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 13.

[0061] Figure 38 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 14 of the present invention.

[0062] Figure 39 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 14.

[0063] Figure 40This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 14.

[0064] Figure 41 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 15 of the present invention.

[0065] Figure 42 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 15.

[0066] Figure 43 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 16 of the present invention.

[0067] Figure 44 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 16.

[0068] Figure 45 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 16.

[0069] Figure 46 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 17.

[0070] Figure 47 This is a flowchart illustrating the power transmission steps in the power transmission system according to Embodiment 17, which uses a wireless power transmission device to transmit power to a mobile body in the air.

[0071] Figure 48 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 18.

[0072] Figure 49 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 18.

[0073] Figure 50 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in the power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 18.

[0074] Figure 51 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 19.

[0075] Figure 52 This is a flowchart illustrating the power transmission steps in the power transmission system according to Embodiment 19, which uses a wireless power transmission device to transmit power to a mobile body in the air.

[0076] Figure 53 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in the power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 19.

[0077] Figure 54 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 20.

[0078] Figure 55 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 20. Detailed Implementation

[0079] Implementation Method 1.

[0080] use Figure 1 and Figure 2 The structure of the radio wave measurement system according to Embodiment 1 will be described. 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. 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 is performed in locations with good radio wave environments, such as outdoors, using the radio wave measurement system employing an airborne mobile body.

[0081] Utilize 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 through the radiated waves. A drone 3 is used to measure the two-dimensional and three-dimensional intensity distribution (called radiation pattern, wave shape, or beam shape) of the electric and magnetic fields of the power transmission waves 2 formed in the space above power transmission device 1. Furthermore, a drone is a general term for unmanned aerial vehicles capable of flight (aerial movement) through remote operation and automatic control. The drone 3 is controlled by a person or computer via a mobile command device 4.

[0082] 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 mechanisms of the drone 3 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. A drive motor 9, serving as the power source, is shown as a representative of the mechanisms for the drone 3 to move or remain stationary in the air. The mobile command device 4 has a wireless modem 10 and a communication antenna 11, enabling communication with the drone 3. 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, along with 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.

[0083] Furthermore, the UAV 3 is equipped with 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 monitor antenna 14, a detector 15, an onboard control unit 16, and a data storage device 17. The monitor antenna 14 receives the transmitted radio wave 2. The monitor 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 monitor antenna 14 and measures the phase and amplitude of the radio waves. The onboard control unit 16 controls the detector 15 and manages the measured detection data 73. 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 performed by the onboard control unit included in the mounting device are mounted on the UAV.

[0084] Measurement commands 72, used by detector 15 to measure detection data 73, etc., are transmitted from mobile body command device 4 to onboard control device 16 via mobile body communication system 12 and flight control device 5. Onboard control device 16 controls detector 15 according to the instructions of measurement command 72.

[0085] 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 the received radio wave data, including the amplitude and phase of the transmitted radio wave 2 received by the monitor antenna 14. The detector 15 is a radio wave measurement unit that measures the received radio wave data.

[0086] 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 is equipped with positioning sensors 18, such as a GPS (Global Positioning System) receiver, to determine its location. The 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, including position detection data 70, is stored in the data storage device 17. The position detection data 70 is obtained by pairing detection data 73 with position data 74, which represents the location of the UAV 3 at the time the detection data 73 was measured (i.e., the time the radio waves were received). Position data 74 is the location of the UAV 3 at the time the detection data 73 was measured (i.e., the measurement point data). Position detection data 70 is also called radio wave measurement data. After the UAV 3 lands, the measurement data 77 stored in the data storage device 17 is input to the measurement system control unit 21.

[0087] The measurement data 77 can also be sent 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.

[0088] The mobile unit command device 4 sends measurement command 72 and flight command 75 to the UAV 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 UAV 3. A command is an instruction that directs how a device should operate. Upon receiving the command, the device or control unit generates a control signal based on the command and uses the control signal to control the device.

[0089] Reference Figure 3 The structure of the UAV power system 8 is described. Figure 3This 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 mounted 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 mounted 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, when the devices included in the mounted device 13 require multiple power supply voltages, multiple load-side converters are provided for each voltage. When 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, 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 also be provided.

[0090] The electromagnetic wave measurement system for measuring the electromagnetic waves 2 radiated by the power transmission device 1 is configured as having 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.

[0091] 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 disposed in 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 transmission signal of a predetermined frequency 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 distribution circuit 25 distributes the transmission signal, which has been amplified and phase-adjusted by the primary module 24, and inputs it to the secondary modules 26. The transmission signal, which has been 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. Primary module 24 or secondary module 26 are referred to as component modules.

[0092] 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. Phase shifter 28 changes the phase of the transmitted signal by a command value. Phase shifter 28 causes discrete phase changes using a phase rotation step size determined by the number of bits that determine the phase resolution. For example, in the case of a 5-bit phase shifter, a step size of 360° / 25 = 11.25° is used to rotate the phase. Phase shifter 28 can also be a device that causes continuous phase changes. The phase shifter 28 of primary module 24 can simultaneously change the phase of multiple element antennas 27 belonging to the transmission device 1. Amplifier 29 amplifies the transmitted signal.

[0093] 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, adjacent to each other. Therefore, all the element antennas 27 are arranged in a matrix.

[0094] A 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 which the beamform is measured, i.e., the measured antenna. A single power transmission device 1 can also be considered as a power transmission unit, and an assembly of multiple power transmission devices 1 can be considered as a power transmission device. A power transmission device 1 corresponds to one group when the multiple element antennas 27 are divided into multiple groups.

[0095] Explain the actions. Figure 4 This is a flowchart illustrating the steps for measuring the radiation pattern of radio waves in the radio wave measurement system using an airborne mobile body according to Embodiment 1. In step S01, the movement mode of the UAV 3 is determined. As the movement mode, it is set to a mode that scans in a two-dimensional manner 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 in a three-dimensional manner.

[0096] In step S02, flight command 75 is transmitted to UAV 3 via mobile communication system 12, causing UAV 3 to move and then remain stationary at its initial position in the movement mode. In step S03, power transmission device 1 begins power transmission. S02 and S03 can be interchanged.

[0097] 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 transmitted radio wave 2 received by the monitor antenna 14, is measured. Simultaneously, the positioning sensor 18 measures the position of the UAV 3. In step S05, the data storage device 17 stores the set of measured detection data 73 and position data 74, i.e., position-based detection data 70. In step S06, it is checked whether there are any measurement positions where detection data 73 has not yet been measured. If there are measurement positions where 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, causing the UAV 3 to move and remain stationary at the next measurement position. Then, the process returns to step S04.

[0098] If there is no measurement position for which unmeasured detection data 73 is not available (No in S06), the UAV 3 is brought to 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 and its drive motor 9 to stop. In step S09, position detection data 70 is acquired 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 by correlating the detection data 73 with the relative position data 78. Figure 4 The actions of the drone 3 in the flowchart shown are performed using the electricity stored in the power storage unit 19. Furthermore, the term "ground" includes not only the surface of the ground but also structures such as buildings and towers situated on the ground.

[0099] The UAV 3 scans the cross-section in a two-dimensional manner, thus enabling high-precision measurement of the two-dimensional radiation pattern (beam shape) of the transmission wave 2. Furthermore, by changing the height of the UAV 3 in the vertical direction to measure the transmission wave 2, it is possible to measure the three-dimensional radiation pattern of the transmission wave 2.

[0100] 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, representing the position data 74 as a relative position 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.

[0101] To calculate the relative position of the power transmission device 1 to the UAV 3, the position of the power transmission device 1 in the coordinate system of longitude, latitude, and altitude located by the positioning sensor 18 is measured and stored in advance. Relative position data 78 is generated by subtracting the stored position of the power transmission device 1 from the position data 74 of the UAV 3. The power transmission device 1 may also be equipped with a positioning sensor, and the relative position can be calculated by subtracting the measurement value from the positioning sensor.

[0102] The location of the power transmission device can also 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 in the onboard control device or other processing device. Alternatively, radiated radio wave data, including detection data and relative location data, can be generated in 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 measured 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 corresponding to the detection data 73 and the relative location data 78. Beamform data 71A can also be location-based detection data 70A obtained by combining the detection data 73 and the relative location data 78 at the same time. Location-based detection data 70A is also called radio wave measurement data.

[0103] In the radio wave measurement system, a transmission radio wave 2 is radiated upwards from the power transmission device 1. 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. As a result, the effects of reflection can be reduced, thereby enabling high-precision measurement of the beam shape data 71 of the transmission radio wave 2 from the power transmission device 1.

[0104] Figure 4 The drone 3 can be stationary to measure the detection data 73, but it can also be moved while measuring the detection data 73. Flight commands 75 are sent from the movement command device 4 to control how the drone 3 flies or remains stationary, but it can also fly or remain stationary autonomously by following a program stored in the drone 3. The program stored in the drone 3 is a program that causes the drone 3 to fly or remain stationary along a predetermined flight path.

[0105] The measurement data 77, which includes position detection data 70, can also be transmitted to the measurement system control device 21 via communication during the flight of the UAV 3. Figure 5 The flowchart below illustrates the steps involved in this situation.

[0106] for Figure 5 , to Figure 4 The differences are explained below. In step S05A, measurement data 77, including the measured position detection data 70, is sent from the onboard control device 16 to the flight control device 5. The measurement data 77 is then sent 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 of steps S05A and S12, step S09, which involves obtaining the position detection data 70 from the data storage device 17 of the UAV 3, is eliminated from the flowchart. Therefore, after executing step S08, the process proceeds to step S10.

[0107] by Figure 5 The steps shown can also measure the beam shape data 71 of the power transmission device 1 with high precision.

[0108] The measurement system control device 21 can also send detection data 73 from the UAV 3 instead of position detection data 70, and combine the position data 74 of the UAV 3 measured from the ground and the detection data 73 to generate position detection data 70. The UAV 3 only needs to send detection data 73 to the measurement system control device 21.

[0109] The radio wave measurement system can also measure the beam shape of radio waves radiated by antennas for other purposes, rather than the beam shape of radio waves radiated by wireless transmission devices. The wireless transmission device can be different from the device shown in this specification. When measuring the beam shape of radio waves radiated by other wireless transmission devices or antennas for other purposes, radio waves are radiated upwards from the antenna to be measured, i.e., the antenna whose beam shape is being measured. An aerial mobile object, such as a drone, is stationary and then moves 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 determination unit. The aerial mobile object is equipped with a measurement antenna for receiving radio waves and a detector for measuring received radio wave data, including the amplitude and phase of the radio waves received by the measurement antenna. Beam shape 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 was measured, i.e., measurement point data. Furthermore, in the beam shape data, the measurement point data is represented as a relative position with respect to the antenna being measured.

[0110] Alternatively, the monitor antenna can be fixed at a position determined above the power transmission device 1, instead of using the drone 3. However, since the radio waves will be reflected or shielded by the structural components used to fix the monitor antenna, there is a possibility that the accuracy of the measured radio wave phase and amplitude will deteriorate.

[0111] 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, a mobile communication system designed for controlling drones is used to transmit various data and commands. Therefore, no new hardware needs to be added to the drone for the communication required for beamform measurement and wireless power transmission. This allows for a lightweight mounting device and enables low-power radio wave measurement.

[0112] The measurement system control device 21, power transmission control device 22, onboard control device 16, and flight control device 5 are implemented by executing dedicated programs using 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 executing programs and a storage unit. The storage unit is a volatile or non-volatile memory and / or a hard disk. 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 also be used as a data storage device 17. The measurement system control device 21 and power transmission control device 22 can also be implemented by a single computer. Furthermore, the onboard control device 16 and flight control device 5 can also be implemented by a single computer.

[0113] The above content can also be applied to other implementation methods.

[0114] Implementation Method 2.

[0115] use Figure 6 and Figure 7 The structure of a power transmission system that uses the wireless power transmission device according to Embodiment 2 to transmit power to a mobile body in the air will be described. Figure 6 This is a schematic diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2 of the present invention. Figure 7 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2.

[0116] about Figure 6 and Figure 7 to and Figure 1 and Figure 2The differences will be explained below. The UAV 3A includes 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 to the power transmission device 1A. The UAV power system 8A stores and utilizes the power obtained from the radio waves received from the receiving antennas 34.

[0117] The UAV 3A, namely the flight control device 5A and the movement command device 4A, does not send measurement data 77 to the measurement system control device 21A. Figure 7 The diagram shows that the UAV 3A has a monitor antenna 14 and a detector 15, but it may also be without a monitor antenna 14 and a 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.

[0118] Similar to Embodiment 1, the monitor antenna 14 receives the transmitted radio wave 2, and the detector 15 can measure the phase and amplitude of the radio wave. In the case of measuring the radio wave using the monitor antenna 14 and the detector 15, Embodiment 2 is both a power transmission system for an airborne mobile body and a radio wave measurement system. The data storage device and onboard control device of the UAV, when constituting a radio wave measurement system, also have the same structure as in Embodiment 1.

[0119] The navigation transmitter 32 is controlled by the measurement system control device 21A according to the navigation transmitter control command 79. The pilot transmitter control command 79 is sent from the measurement system control device 21A to the onboard control device 16A via the mobile body command device 4 and the mobile body communication system 12.

[0120] In order to send the pilot transmitter control command 79, the Rotating Element Electric Field Vector (REV) method is performed before the power transmission begins. Therefore, the measurement system control device 21A and the power transmission control device 22A can communicate and transmit and receive data with each other. In addition, Figure 7 Although not shown by reference numerals, commands for executing the REV method are transmitted from the transmission control unit 22A to the onboard control unit 16A via the measurement system control unit 21A. The measured received power data is transmitted from the onboard control unit 16A 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.

[0121] Reference Figure 8The structure of the 8A power supply system for unmanned aerial vehicles is described. Figure 8 This is a block diagram illustrating the structure of the power system for an airborne mobile body that receives power from a wireless power transmission device according to Embodiment 2. Compared with 3, 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.

[0122] 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 being able to move or remain stationary in the air. For example, when UAV 3A is used for radio wave measurement, the time for measuring radio waves can be extended. 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.

[0123] Alternatively, the drone can be configured to have multiple power storage units, with some of the power received during flight from the receiving antenna 34 stored in these units. Alternatively, at least one of the drone or detector can utilize the power stored in the power storage units that receive power during flight.

[0124] The power transmission unit 1A has a pilot receiving antenna 37 for receiving pilot signals 31. For example, Figure 6 As shown, in the power transmission unit 1A, the pilot receiving antenna 37 is positioned at the center of the matrix-arranged element antennas 27. 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 multiple power transmission units 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 unit 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 unit 1A to radiate the transmitted radio wave 2 in the direction indicated by the arrival direction data 80. That is, the direction of radiation of the transmitted radio wave 2 is the direction that reverses the arrival direction by 180 degrees.

[0125] Pilot signal 31 is a directional signal emitted by UAV 3A to notify of the direction of arrival or the direction of presence. The direction of presence is the direction in which UAV 3A is observed from 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 of 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.

[0126] In this second embodiment, the phased array antenna 30 functions as a power transmission antenna that uses radiated radio waves to transmit power and can change its pointing direction. The UAV 3A is the aerial mobile object to which 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.

[0127] Explain the actions. Figure 9 This is a flowchart illustrating the power transmission steps in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 2. First, in step S21, the drone 3A is brought to a stationary position above the power transmission device 1A.

[0128] In step S22, the element antennas 27 corresponding to the multiple secondary modules 26 radiate radio waves to each power transmission device 1A. The radio waves radiated by the element antennas 27 are received by the monitor antenna 14 of the UAV 3A. The phase difference between the element electric field vectors generated at the position of the monitor antenna 14 by the radio waves radiated by each element antenna 27 is measured by the REV method. The REV method causes a change in the phase of the 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 monitor 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 wave radiated by the element antenna 27 corresponding to each secondary module 26, and the phase difference between the synthesized radio wave and the electric field vector 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 through the received detection data 73. In addition, the phase difference between the element electric field vectors generated by each element antenna 27 is generated by utilizing the difference in path length inside the power transmission device 1A, the difference in distance between each element antenna 27 and the monitor antenna 14, etc.

[0129] 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 reduces the phase change by the amount of the phase shift value minus the phase offset value. Therefore, the actual amount of phase change 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.

[0130] In step S24, the phase of the primary module 24 of each power transmission device 1A is changed, and the phase difference between the electric field vectors radiated by the multiple power transmission devices 1A and received by the monitor antenna 14 is measured using the REV method. In this REV method, the phase difference between the electric field strengths generated by each power transmission device 1A, caused by the difference in path length to the primary module 24 of each power transmission device 1A and the difference in distance from each power transmission device 1A to the monitor antenna 14, is measured. 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.

[0131] In the processes S21 to S25, the phase offset values ​​of each primary module 24 or secondary module 26, caused by differences in path lengths within each power transmission unit 1A, are measured in advance, and these are taken into account to determine the phase command values ​​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 power transmission unit 1A is initially used. Even in the case where the primary module 24 or secondary module 26, i.e., the element modules, are swapped, the phase offset values ​​of the swapped element modules are also calculated.

[0132] 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 element module of the power transmission device 1A, enabling the transmission of the power 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 element module. The element antenna 27 of each secondary module 26 radiates the phase-adjusted wave, thereby enhancing the wave radiated along the radiation direction. Furthermore, by adjusting the amplitude of the wave radiated by each element antenna 27, a more preferred beam shape can be achieved. Thus, the power transmission device 1A can efficiently transmit power in the radiation direction.

[0133] 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, which are then radiated from the corresponding element antenna 27 as power transmission waves 2.

[0134] In parallel with steps S26 to S30, in step S31, the receiving antenna 34 of the UAV 3A receives the transmission 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.

[0135] S26-S30 and S31 are executed synchronously with a predetermined cycle. After executing S30 and S31, return to the state before S26 and S31. The length of a cycle is determined so that even if the UAV 3 moves at the assumed maximum speed, the length of a cycle is within the range allowed by the difference between the previously calculated direction of arrival and the current direction of arrival.

[0136] The drone 3A sends a pilot signal 31, 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 drone 3A can efficiently receive power from the power transmission wave 2.

[0137] Able to Figure 9 The beam shape of the transmitted radio wave 2 radiated in S30 shown is verified to determine whether it actually conforms to the assumed beam shape. Thus, for example, using... Figure 1 and Figure 2The 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 power transmission system that transmits power to a mobile airborne body using the wireless power transmission device according to Embodiment 2 becomes a radio wave measurement system using a mobile airborne body.

[0138] As a radio wave measurement system, a monitor 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 can be reflected or shielded by the structural components used to fix the monitor antenna, there is a possibility that the accuracy of the phase and amplitude of the measured radio waves will deteriorate.

[0139] By controlling the transmitted radio waves in locations with good radio wave conditions, such as outdoors, and using wireless power transmission that sends radio waves to airborne mobile objects, the system is unaffected by multipath propagation factors such as ground reflections. Therefore, wireless power transmission can be implemented with higher precision than before. Furthermore, since various data and commands are transmitted using a mobile communication system designed for controlling drones, no additional hardware needs to be added to the drone for the communication required for wireless power transmission. This allows for a lighter payload and enables wireless power transmission to the drone with lower power consumption.

[0140] A wireless power transmission device with a power transmission antenna that can mechanically change its pointing direction can also be used to transmit power to a mobile object in the air without a phased array antenna. The direction of the mobile object's presence can be transmitted to the wireless power transmission device using a method other than pilot signals. If the wireless power transmission device includes: a power transmission antenna that transmits power using radiated radio waves and can change its pointing direction; a radiation direction determining unit that determines the direction of the mobile object to be 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, then regardless of the type of device, radio waves can be radiated toward the direction of the mobile object's presence with higher accuracy than before, and the efficiency of wireless power transmission can be improved more than before. In addition, there are cases where the radiation direction determining unit, i.e., the arrival direction detection device 38, is located far away from the power transmission device 1A, but this arrival direction detection device 38 is included in the wireless power transmission device.

[0141] By using aerial mobile bodies such as drones to perform the REV method, it is possible to execute the REV method while actually transmitting power to the aerial mobile body. Therefore, the REV method can be executed with high precision, and radio waves can be radiated precisely in the direction of the aerial mobile body when transmitting power. In other words, radio waves can be radiated with higher precision in the direction of the aerial mobile body than ever before, thus significantly improving the efficiency of wireless power transmission.

[0142] If not used as a radio wave measurement system, the measurement system control device 21A is unnecessary. In the absence of the measurement system control device 21A, the power transmission control device 22A transmits and receives commands for executing 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 flow of commands used to execute the REV method and the measured data of received power.

[0143] When performing the REV method, a ground-mounted antenna can be used instead of a measurement antenna mounted on the UAV. In this case, the UAV does not have the capability to perform the REV method. Alternatively, the UAV can connect a detector to a receiving antenna without a measurement antenna, and the detector measures 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.

[0144] The above content can also be applied to other implementation methods.

[0145] Implementation Method 3.

[0146] Implementation 3 modifies Implementation 2 by sending the position data of the airborne mobile body to the power transmission device instead of the pilot signal, thereby allowing the power transmission device to transmit power towards the airborne mobile body. Figure 10 The structure of the power transmission system for an airborne mobile body 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 that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 3 of the present invention.

[0147] about Figure 10 Regarding the case of implementation method 2 Figure 7 The differences will be 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.

[0148] Position 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 the command values ​​(power transmission control signal 76) for the phase and amplitude of primary module 24 and secondary module 26 respectively, enabling 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 signal 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.

[0149] Explain the actions. Figure 11 This is a flowchart illustrating the power transmission steps in the power transmission system according to Embodiment 3, which uses a wireless power transmission device to transmit power to a mobile body in the air. Regarding... Figure 11 Regarding the case of implementation method 2 Figure 9 The differences 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 to determine the radiation direction. In addition, in step S29A, the power transmission control device 22B calculates the power transmission control signal 76, which commands the power transmission control device 22B to issue commands for the phase and amplitude of the primary module 24 and secondary module 26 of each power transmission device 1A. The power transmission control signal 76 is calculated so that the power transmission device 1 can transmit the power transmission wave 2 in the radiation direction determined by the relative position of the UAV 3B with respect to the power transmission device 1.

[0150] 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. Thus, the receiving antenna 34 of the drone 3B can efficiently receive power from the power transmission wave 2. In addition to radiating the power transmission wave 2 in the direction in which the drone 3B is located, it can also be configured to generate a power transmission control signal 76, such as reducing the beamwidth of the power transmission wave 2 at the location where the drone 3B is located.

[0151] The above content can also be applied to other implementation methods.

[0152] Implementation Method 4.

[0153] Implementation method 4 involves the following scenario: the airborne mobile body, i.e., the UAV, receives power from a wireless power transmission device while simultaneously measuring the beamform data of the transmitted electromagnetic waves radiated by the wireless power transmission device. Since the UAV receives power from the wireless power transmission device, the electromagnetic wave measurement system for the airborne mobile body described in Implementation method 4 is also a power transmission system that transmits power from the wireless power transmission device to the airborne mobile body. Utilizing... Figure 12 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for transmitting power to the airborne mobile body using a wireless power transmission device, according to Embodiment 4 of the present invention, will be described. Figure 12 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that uses a wireless power transmission device to transmit power to the airborne mobile body, according to Embodiment 4 of the present invention.

[0154] about Figure 12 In the case of implementation method 1 Figure 2 The differences will be explained. The UAV 3C modifies the UAV 3 of Embodiment 1, making it have the same receiving antenna 34 and UAV power system 8A as in Embodiment 2. The power transmission device 1 is the same as in Embodiment 1.

[0155] Explain the actions. Figure 13 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves in a power transmission system that transmits power to a mobile airborne body using a wireless power transmission device, as described in Embodiment 4. (Regarding...) Figure 13 In the case of implementation method 1 Figure 4 The differences will be explained. 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.

[0156] The beam shape of the power transmission device 1 is measured, so unlike embodiment 2, the power transmission control device 22A does not change the beam direction based on the location of the UAV 3C.

[0157] 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.

[0158] Implementation Method 5.

[0159] Implementation 5 is as follows: Implementation 1 has been modified so that, in addition to the mobile body communication system, a communication system for communicating measurement commands and detection data related to radio wave measurement is provided between the onboard control device and the measurement system control device. 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 transmission system for transmitting power to the airborne mobile body can be modified according to Embodiment 4 or other structures.

[0160] 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 a measurement command 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 have been used.

[0161] The power transmission communication system 39 is configured to include a primary module 24A, a secondary module 26A, and an element antenna 27, which are present in the power transmission device 1B, as well as a monitor antenna 14 and a detector 15A mounted on the UAV 3D. 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 based on a signal train of 0 or 1 representing the measurement command 72. That is, the measurement command 72 is transmitted by pulse modulation of the transmission wave 2A using the detected data 73. The detector 15A demodulates the measurement command 72 based on whether the received transmission wave 2A is received or not. Alternatively, the measurement command 72 can be modulated or demodulated using amplitude modulation (not pulse modulation) or phase modulation such as BPSK (Binary Phase Shift Keying).

[0162] 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.

[0163] 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.

[0164] The pulse modulation switch 43 switches between radiated and non-radiated pilot signals 31 based on a signal train of 0s or 1s representing the detection data 73 provided by the onboard control device 16D. That is, the detection data 73 is transmitted by pulse-modulating the pilot signal 31 with the detection data 73. The pilot signal 31 received by the pilot receiving antenna 73 is split into two parts and input to the direction of arrival 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, modulation or demodulation can be performed using a measurement command 73, such as amplitude modulation or phase modulation (e.g., BPSK), instead of pulse modulation.

[0165] 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.

[0166] Explain the actions. Figure 15 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 5. Regarding... Figure 15 In the case of implementation method 1 Figure 5The differences are explained below. Here, the communication system that communicates the measurement command 72 is called the command communication system. The communication system that communicates the measurement data 77 is called 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 in the command communication system determined in S15, the detection data 73, including the amplitude and phase of the power transmission wave 2 received by the monitor 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.

[0167] The command communication system can be determined every few times, instead of every time the measurement command 72 is communicated. The flight command 75 can be communicated via the power transmission communication system 39. The data communication system can be determined every few times, instead of every time the measurement data 77 is communicated. If communication is attempted via the mobile communication system 12, and communication fails 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.

[0168] By setting up the 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 transmission communication system 39 and the pilot communication system 40 can be used in cases such as a malfunction of the mobile communication system 12. Therefore, the transmission communication system 39 and the pilot communication system 40 greatly contribute to the stable operation of the radio wave measurement system. Furthermore, the transmission radio 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 transmission radio wave and exchange of data can be achieved without adding large hardware, and without increasing the load and power consumption of the mobile communication system 12.

[0169] Implementation Method 6.

[0170] Embodiment 6 is a modification of Embodiment 2, which is also a radio wave measurement system, to include 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 of a radio wave measurement system using an airborne mobile body and a power transmission system that uses a wireless power transmission device to transmit power to the airborne mobile body. Figure 16 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for transmitting power to the airborne mobile body using a wireless power transmission device, as described in Embodiment 6, will be explained. Figure 16 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 6 of the present invention.

[0171] Figure 16 In the structure shown, towards Figure 7 The 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-based communication antenna 48 and a ground-based communicator 49. 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 data required by the radio wave measurement system, such as the measurement data 77, which differs from the data storage device 17A in Embodiment 2.

[0172] It is assumed that there is no communication 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 on the UAV 3E. Furthermore, the positioning sensor 18 is connected to the onboard control unit 16E, enabling the use of position data 74 in the power transmission system.

[0173] The mobile command device 4D sends flight commands 75 through the mobile communication system 12 and controls the flight of the UAV 3E.

[0174] 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 via 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 for the power system between the drone 3E and the mounting device 13E can be limited to just one part: 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.

[0175] The power transmission system for supplying power to the airborne mobile body in Embodiment 6 operates in the same manner as in Embodiment 2. The difference from the power transmission system in Embodiment 2 is 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 executing 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 lies in the use of the measurement communication system 45.

[0176] 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 fact that a mobile communication system is not used for communicating commands used for radio wave measurement or for communicating the measured data also applies to other implementation methods.

[0177] Implementation Method 7.

[0178] Implementation 7 is a modification of Implementation 6, in which the same power transmission communication system and pilot communication system as in Implementation 5 are added. Utilizing... Figure 18 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for transmitting power to the airborne mobile body using a wireless power transmission device, as described in Embodiment 7, will be explained. Figure 18 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 7 of the present invention.

[0179] Figure 18 Having the same characteristics as in embodiment 5 Figure 14 Almost identical structure. Figure 18 The structure shown is similar to Figure 14The structural differences are as follows. The communication system switching switch 42A, located in the measurement system control unit 21E, switches which of the ground communication unit 49 and the power transmission control unit 22D the measurement command 72 is sent to; that is, the communication system switching switch 42A switches which of the mobile communication system 45 and the power transmission communication system 39 is used. 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 which of the measurement communication system 45 and the pilot communication system 40 is used to send the detection data 73.

[0180] The power transmission system for supplying power to the airborne mobile body in Embodiment 7 operates in the same manner as in Embodiment 2. However, unlike Embodiment 2, it uses a measurement communication system 45 instead of the mobile body communication system 12. Furthermore, Embodiment 7, as the radio wave measurement system, operates in the same manner as the radio wave measurement system in Embodiment 5. The difference between Embodiment 7 and Embodiment 5 lies in the use of the measurement communication system 45.

[0181] 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 aerial moving objects without modification. Furthermore, the power transmission communication system 39 and pilot communication system 40 can be used in the event of a failure 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.

[0182] The mobile communication system can be configured to be used for communication between the onboard control device and the measurement system control device. In this case, a triple communication system exists between the onboard control device and the measurement system control device, thus improving the reliability of the communication system. The same applies to Embodiment 6.

[0183] Implementation Method 8.

[0184] Implementation method 8 is a modification of implementation method 5, in which the position of the airborne moving body is located using a positioning device installed on the ground. 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.

[0185] about Figure 20 Regarding the case of implementation method 5 Figure 14 The differences will be 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, representing the position of the drone 3G located by the laser positioning device 51, is input to the measurement system control device 21F at a period determined by the radio wave measurement system. 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 were used.

[0186] 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 from emitting the laser 82 to receiving the reflected laser 83. The measured direction and distance are 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.

[0187] 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 involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 8.

[0188] about Figure 21 Regarding the case of implementation method 5 Figure 15 The differences will be 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 sent from the onboard control device 16G to the flight control device 5, and then via the mobile body communication system 12 and the mobile body command device 4C to the measurement system control device 21F. 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 position-detected data 70.

[0189] 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.

[0190] The drone 3G does not have a positioning sensor, so it does not need to use power to measure its own position. 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.

[0191] Implementation Method 9.

[0192] Implementation 9 is a modification of Implementation 1, in which the airborne mobile body and the ground-side device have a timing device for synchronization. Utilizing Figure 22 and Figure 23 The structure of the radio wave measurement system using an airborne mobile body according to Embodiment 9 will be described. Figure 22 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 9 of the present invention. Figure 23 This diagram illustrates the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 9. Figure 23 In this diagram, less related parts of the measurement system control device and the onboard control device are omitted. The same applies to subsequent figures showing the internal structure of the onboard control device, etc.

[0193] like Figure 22 As shown, the mounting device 13H on the UAV 3H includes a monitor antenna 14, a detector 15, an onboard control device 16H, and a data storage device 17H. Additionally, the UAV 3H has a timekeeping device 52 that generates time synchronized with ground-side equipment. The timekeeping device 52 utilizes the time management function of a positioning sensor 18H, i.e., a GPS receiver, to determine its own position. In GPS (Global Positioning System), the GPS receiver receives radio waves from four or more GPS satellites to detect its position and measures their arrival times. Therefore, time synchronization is achieved between the GPS satellites and the GPS receiver with the required accuracy. It is claimed that the time error of the GPS receiver is less than 50 nanoseconds. The measurement system control device 21H also has a timekeeping device 53 that generates time synchronized with the timekeeping device 52. The timekeeping device 53 also uses a GPS receiver. The timekeeping device 52 is a mobile timekeeping device mounted on an airborne mobile body. The timekeeping device 53 is located on the ground and is a ground-based timekeeping device that outputs time data synchronized with the timekeeping device 52.

[0194] The timing device 53 of the measurement system control device 21H, i.e., the GPS receiver, has a positioning function, but the positioning function is not activated. Therefore, it is also possible to use a timing device 53 that has the function of receiving GPS signals from GPS satellites and synchronizing time, instead of using a GPS receiver.

[0195] Timekeeping devices 52 and 53 can output synchronized time data, and devices different from GPS receivers can also be used. A positioning system other than GPS can also be used, such as a positioning system equipped with a device that determines its location by receiving radio waves from multiple satellites. The positioning device that also functions as a timekeeping device can be a positioning device used in such a positioning system. In this embodiment, timekeeping devices 52 and 53 use radio waves from satellites to correct the time. Timekeeping devices mounted on drones and those set on the ground can also use methods different from those using radio waves from satellites to maintain time synchronization.

[0196] The power transmission control device 22 and the mobile body command device 4 may also adopt a structure with a timing device that generates synchronization time. Assume that the timing device of the power transmission control device 22 and the mobile body command device 4 is the same as the timing device 53.

[0197] Position sensor 18H generates position data 74H, which includes time data managed by timing device 52. Position data 74H is time measurement point data with time measurement point data attached to the time at which position data 74 was generated. Position sensor 18H is a time-attached unit that generates measurement point data with time measurement point data. Position data 74H is sent to flight control device 5, and then to onboard control device 16H. Time data 85 output by timing device 52 is input to onboard control device 16H.

[0198] like Figure 23 As shown, the onboard control unit 16H includes a mobile body communication unit 301, a detector control unit 302, a detector data timing addition unit 303, and a position-based detector data generation unit 304. The mobile body communication unit 301 receives a measurement command 72 and sends the received measurement command 72 to the detector control unit 302. If the measurement command 72 issues an instruction to start measuring detector data 73, the detector control unit 302 controls the detector 15 to send the detector data 73 to the onboard control unit 16H.

[0199] The onboard control device 16H's detection data timing appender 303 appends timing data 85 to the detection data 73 output by the detector 15 to generate detection data 73H. The detector 15 outputs the detection data 73 immediately after measurement, and the distance between the detector 15 and the onboard control device 16H is at most a few tens of centimeters. Therefore, the time from when the detector 15 measures the detection data 73 to when the monitoring device 16H receives the detection data 73 is set to be very small and can be disregarded. The moment when the onboard control device 16H receives the detection data 73 is defined as the moment when the detector 15 measures the detection data 73.

[0200] The detection data 73H is the received radio wave data (i.e., the detection data 73) with the time data output by the timing device 52 at the time point when the detection data 73 was measured added. The detection data timing addition unit 303 is the received radio wave data timing addition unit that generates the received radio wave data with the timing.

[0201] The position detection data generation unit 304 combines detection data 73H with the same time data 85 and position data 74H into a set to generate position detection data 70H. The position detection data 70H is stored in the data storage device 17. Alternatively, the position detection data 70H can be transmitted to the measurement system control device 21H via the mobile communication system 12. Furthermore, "same time data 85" means that the difference between the time data 85 is less than or equal to a predetermined allowable difference.

[0202] The data storage device 17H ​​stores detection data 73H, position data 74H, and position-based detection data 70H.

[0203] The measurement system control unit 21H includes a timing device 53, a measurement control communication unit 101, a data storage unit 102, a measurement control unit 103, a relative position conversion unit 104, and a beamform data generation unit 105. The measurement control communication unit 101 sends measurement commands 72 to the onboard control unit 16H. When the UAV 3H sends position detection data 70, the measurement control communication unit 101 receives measurement data 77H containing the position detection data 70H. The data storage unit 102 stores the power transmission device position 86, the position detection data 70H, and beamform data 71. The power transmission device position 86 is data indicating the location of the power transmission device 1. Subtracting the power transmission device position 86 from the position data 74 in the position detection data 70H yields relative position data 78.

[0204] The measurement control unit 103 generates measurement command 72 and flight command 75 to be sent to the UAV 3H. If the measurement command 72 measures position detection data 70H, the beamform data generation unit 105 is activated to generate beamform data 71. The relative position conversion unit 104 subtracts the power transmission device position 86 from the position data 74 in the position detection data 70H to obtain relative position data 78. The beamform data generation unit 105 generates beamform data 71 by correspondingly associating detection data 73 with the relative position data 78 converted from position data 74. The beamform data generation unit 105 is a radiation wave data generation unit that generates radiation wave data including relative position data 78 and detection data 73.

[0205] Explain the actions. Figure 24 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 9. (Regarding...) Figure 24 In the case of implementation method 1 Figure 4 The differences will be explained below. In step S04H, the detector data timing addition unit 303 of the onboard control device 16H adds the detection data 73 output by the detector 15 to the detection data 73, and adds the timing data 85 of the time point input to the detector data timing addition unit 303 to generate detection data 73H (including timing data 85). In addition, the position data 74H (including timing data 85) measured by the positioning sensor 18H is sent to the onboard control device 16H.

[0206] In step S05H, the position detection data generation unit 304 of the onboard control device 16H groups position data 74H containing the same time data 85 as the detection data 73H to generate position detection data 70H. The position detection data 70H is stored in the data storage device 17. Furthermore, both the detection data 73H and the position data 74H are appended with the time data 85 output by the timing device 52. Therefore, even if the timing device 52 and the timing device 53 are not synchronized, the measurement system control device 21H can still generate position detection data 70H by combining the detection data 73H with the position data 74H, which have the same time data 85.

[0207] In step S09H, position detection data 70H is acquired from data storage device 17 and input to measurement system control device 21H. The beamform data generation unit 105 of measurement system control device 21H generates beamform data 71 based on the position detection data 70H.

[0208] In the radio wave measurement system of embodiment 9, position detection data 70H is generated based on time data 85. Therefore, position detection data 70H and beam shape data 71 can be generated with higher accuracy than before.

[0209] It can also transmit the position detection data 70H to the measurement system control device 21H during the UAV's 3H flight. Figure 25 Explain the actions to be taken in this situation. Figure 25 This is a flowchart illustrating the other steps involved in measuring the radiation pattern of radio waves in the radio wave measurement system using an airborne mobile body according to Embodiment 9. Compared to Embodiment 1... Figure 5 The differences between steps S04H and... Figure 24 The same applies. In step S05J, the mobile body communication unit 301 of the onboard control device 16H sends the generated position detection data 70H to the measurement system control device 21H. In step S12J, the measurement system control device 21H stores the received position detection data 70H in the data storage unit 102.

[0210] exist Figure 25 The processing shown can also generate position detection data 70H and beamform data 71 with higher accuracy than before.

[0211] In this embodiment 9, the same effects as in embodiment 1 are achieved. Since the detection data and position data are combined using synchronized time data, the beam shape can be measured with higher accuracy.

[0212] Implementation Method 10.

[0213] Implementation 10 is a modification of Implementation 2, in which the airborne mobile body and the ground-side device have a timing device for synchronization. Utilizing... Figure 26 and Figure 27 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 10 to a mobile airborne body will be described. Figure 26 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 10 of the present invention. Figure 27 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 10.

[0214] like Figure 26As shown, the UAV 3J has a GPS receiver that functions as a timing device 52 and a positioning sensor 18H. The measurement system control unit 21J also has a GPS receiver that functions as a timing device 53. The power transmission control unit 22J also has a GPS receiver that functions as a timing device 54. Therefore, the onboard control unit 16J, the measurement system control unit 21J, and the power transmission control unit 22J mounted on the UAV 3J can use synchronized time. Figure 26 and Figure 27 The diagram also illustrates the commands used to execute the REV method and the flow of data.

[0215] The power transmission control device 22J generates a data acquisition command 87 to be sent to the UAV 3J. The data acquisition command 87 is a command to instruct the onboard control device 16J to acquire electric field change data. The electric field change data represents the change in the electric field vector measured by the monitor antenna 14 during the REV method. The data acquisition command 87 is sent from the power transmission control device 22J to the onboard control device 16J mounted on the UAV 3J via the measurement system control device 21J, the mobile body command device 4A, the mobile body communication system 12, and the flight control device 5A. Upon receiving the data acquisition command 87, the onboard control device 16J sets the measurement period specified in the data acquisition command 87. The measurement period is set to the predetermined period during which the REV method scheme 88 (described later) is to be executed. The measurement period can be a single period or divided into multiple periods. During the period that includes at least the measurement period, the detector 15 measures the electric field vector of the radio waves received by the monitor antenna 14. The electric field vector can be measured as a vector representing both amplitude and phase, or only the amplitude of the electric field vector can be measured. The amplitude of the electric field vector is called the electric field strength. For example, a data acquisition command 87 can also be sent during each measurement.

[0216] The onboard control unit 16J adds time data 85, representing the time point of measurement, to the electric field vector measured by the detector 15J to generate detection data 73J. The detection data 73J measured by the detector 15 during the execution of the REV method scheme 88 is referred to as REV method execution radio wave data. Detection data 73J represents the change in the electric field vector measured by the monitor antenna 14. The detection data 73J measured at least during the measurement period is stored in the data storage device 17J. The detection data 73J measured during the execution of the REV method scheme 88 is transmitted from the onboard control unit 16J to the power transmission control unit 22J along the path opposite to the data acquisition command 87. The data transmitted from the UAV to determine the element electric field vector in the power transmission control unit 22J is electric field change data. In this embodiment 10, the detection data 73J is electric field change data.

[0217] In the REV method, to ensure that the phase references of each component module are aligned (correction is performed), the phase shift of a portion of the phase shifters 28 is changed while at least a portion of the component antennas 28 are radiating radio waves. The monitor antenna 14 measures the change in the electric field vector and repeats the above operation. The phase shift is the amount by which the phase of the signal output by the phase shifter 28 changes from the phase of the input signal. The component electric field vector is calculated for each component antenna 27 based on the change in the electric field vector. The component electric field vector is the electric field vector generated at the position of the monitor antenna 14 by the radio waves radiated by the component antenna 27 that transmits the signal output by a component module. A phase shift offset value 88 is calculated based on the phase of the component electric field vector of each component antenna 27 to ensure that the phase references of each phase shifter 28 are aligned. The calculated phase shift offset value 88 is set for each phase shifter 28. Additionally, the amplification of each amplifier 29 can be adjusted based on the amplitude ratio of the component electric field vector of each component antenna 27 to ensure that the amplitudes of the component electric field vectors are also aligned. Alternatively, one can determine only the phase of the element's electric field vector, i.e., the phase of the element's electric field, rather than the element's electric field vector itself.

[0218] Reference Figure 27 The structure of the power transmission control device 22J, the onboard control device 16J, and the data storage device 17J is described. Figure 27 The diagram only shows the structure necessary for operation as a power transmission system supplying electricity to an airborne moving body. Furthermore, the vehicle control unit 21J only relays power between the power transmission control unit 22J and the onboard control unit 16J; therefore, Figure 27 Not shown in the diagram. When the power transmission control unit communicates directly with the onboard control unit, no vehicle control unit is required.

[0219] The power transmission control device 22J includes a timing device 54, a data storage unit 201, a REV method execution unit 202, a data acquisition command generation unit 203, a power transmission control communication unit 204, a component electric field calculation unit 205, a phase offset value calculation unit 206, a phase offset value setting unit 207, a radiation direction determination unit 208, and a radio wave radiation control unit 209. The component electric field calculation unit 205 includes a measurement data analysis unit 210, a phase shift acquisition unit 211, a component electric field phase calculation unit 212, and a component electric field amplitude calculation unit 213.

[0220] The data storage unit 201 stores the data necessary for power transmission from the power transmission control device 1A to the UAV 3J in order to perform the REV method. The data storage unit 201 stores the REV method scheme 88, the REV method reference state 89, the detection data 73J, the phase operation data 90, the element electric field vector 91, the phase offset value 92, the arrival direction data 80, the radiation direction data 81, and the radiation command value 93.

[0221] REV method scheme 88 specifies the pattern of the amount (phase shift amount) by which the phase of each phase shifter 28 changes in order to perform the REV method. Furthermore, REV method scheme 88 can change the phase shift amount of each phase shifter 28 individually, or it can change the phase of multiple phase shifters 28 by the same amount. In REV method scheme 88, radio waves can be radiated from all the element antennas 27, or from a portion of the element antennas 27. REV method scheme 88 only needs to specify the pattern of repeatedly changing the phase shift amount of a portion of the phase shifters 28 while at least a portion of the element antennas 27 are radiating radio waves. The phase shifter 28 that changes the phase shift amount is called the operating phase shifter.

[0222] The REV method reference state 89 is data that specifies the phase of the phase shifters 28 other than the phase shifter 28 that changes the phase shift amount. The REV method reference state 89 is, for example, set to the phase offset value obtained through the most recently implemented REV method. In the initial execution of the REV method, it is, for example, set to zero. The REV method scheme 88 specifies the order in which the phase shifters 28 change the phase shift amount from the reference state and the pattern of time variation of the phase shift amount in each phase shifter 28, i.e., the phase operation mode. A transmission control signal 76 is generated according to the REV method scheme 88 and sent to the transmission unit 1A. The transmission control unit 22J uses the transmission control signal 76 to transmit command values ​​to each primary module 24 and each secondary module 26, i.e., each phase shifter 28 and each amplifier 29.

[0223] The phase operation mode specifies the process by which the phase shift amount of each phase shifter 28 changes within a relative time period starting from the beginning of the REV method scheme 88. Alternatively, the change in phase shift amount of each phase shifter 28 can be represented by a relative time period starting from the beginning of the period during which the phase shift amount changes using that phase shifter 28. In a general representation, the REV method scheme 88 uses one or more reference phenomena at a specified time, and non-reference phenomena representing the time period with a relative time period starting from any reference phenomenon, to represent the phase operation mode. The REV method scheme can also specify only the order of phenomena as the phase operation mode, etc., allowing for a high degree of freedom in representing the phase operation mode. In the REV method scheme 88 used in this embodiment, the initial phenomenon is a reference phenomenon, and all other phenomena are non-reference phenomena.

[0224] Data acquisition command 87 is a command used to send an indication to the onboard control unit 16J of the period during which the detector 15, mounted on the UAV 3J, measures the detected data 73J. Data acquisition command 87 may, for example, use a start time and the elapsed time from the start time to represent the measurement period. Alternatively, it may use a start time and an end time to represent the measurement period. Data acquisition command 87 can also be a command sent at the beginning and end of the measurement period.

[0225] Detection data 73J is the time-band data of the electric field vector generated by detector 15. Detection data 73J is measured for each determined time step. Phase operation data 90 is the data of the phase shift amount of phase shifter 28 at each time step, varying according to the REV method scheme 88.

[0226] The element electric field vector 91 represents data indicating the electric field vector generated by the element antenna 27 at the location where the monitor antenna 14 is located. Although this will be explained later, the element electric field calculation unit 205 calculates the phase of the element electric field vector, i.e., the element electric field phase, and the amplitude of the element electric field vector, i.e., the element electric field amplitude. The element electric field calculation unit can also calculate the element electric field phase.

[0227] The phase offset value 92 is the value subtracted from the phase command value, i.e., the phase shift amount. A phase offset value 92 is set for each phase shifter 28. Each phase shifter 28 causes the phase change to be the offset obtained by subtracting the phase offset value 92 from the phase command value. Thus, when the same phase command value is provided to each phase shifter 28, the phase of the element electric field vector 27 generated by each element antenna 27 is the same. The phase offset value 92 is calculated as the difference in the element electric field phase of each element module. The phase offset value 92 is data used to align the phase of the element modules based on the element electric field phase of each element module.

[0228] To ensure that the phase references of the component modules are aligned, a method different from the method of setting the phase offset value for phase shifter 28 can be used. This also applies to other implementations of power transmission systems that transmit power to airborne moving bodies.

[0229] Arrival direction data 80 indicates the direction of arrival of pilot signal 31. Arrival direction detection device 38 determines arrival direction data 80. Radiation direction data 81 specifies the direction of radio waves radiated from phased array antenna 30. Radiation command value 93 indicates the command value for issuing commands to each phase shifter 28 and each amplifier 29 to radiate radio waves in the direction shown by radiation direction data 81. Radiation command value 93 is sent to transmission device 1A as transmission control signal 76.

[0230] The REV method execution unit 202 changes the phase shift amount of the phase shifter 28 specified in the REV method scheme 88, and generates a record of the result of the change, namely phase operation data 90. The REV method execution unit 202 is also a phase operation recording unit that generates phase operation data 90 that records the time change of the phase shift amount of the phase shifter 28 that changes based on the REV scheme. The REV method scheme 88 may not be stored in the data storage unit 201, but may be expressed in the program that implements the REV method execution unit 202.

[0231] The data acquisition command generation unit 203 generates a data acquisition command 87. The power transmission control communication unit 204 sends the data acquisition command 87 to the onboard control device 16J and receives the detection data 73J sent from the onboard control device 16J. The power transmission control communication unit 204 also performs other communications between the power transmission control device 22J and other devices.

[0232] The component electric field calculation unit 205 calculates the component electric field vector 91 of each phase shifter 28 based on the REV method scheme 88, phase operation data 90, and detection data 73J. The method for calculating the component electric field vector 91 is prior art. For example, it is described in Japanese Patent No. 1-37882. For example, the phase of the component electric field vector is calculated based on the phase shift amount recorded in the phase operation data 90 at the time point when the amplitude of the electric field vector recorded in the detection data 73J reaches its maximum. Furthermore, the amplitude of the component electric field vector is calculated based on the ratio of the maximum to the minimum amplitude of the electric field vector. The component electric field calculation unit 205 is a REV method analysis unit that calculates the component electric field phase for each component module. The internal structure of the component electric field calculation unit 205 will be described later. Furthermore, the phase operation data 90 is generated based on the REV method scheme 88. Therefore, the component electric field calculation unit 205 calculates the component electric field vector 91 of each phase shifter 28 based on the REV method scheme 88 and the detection data 73J.

[0233] The phase offset calculation unit 206 calculates the phase offset value 92 of each phase shifter 28 based on the element electric field vector 91 of each phase shifter 28. The phase offset value setting unit 207 sets the phase offset value 92 for each phase shifter 28.

[0234] The radiation direction determination unit 208 determines the radiation direction based on the arrival direction data 80 and sets the determined radiation direction to the radiation direction data 81. The radio wave radiation control unit 209 generates a radiation command value 93 based on the radiation direction data 81. If the radiation direction is not determined, i.e., the radiation direction data 81 is not set, the radio wave radiation control unit 209 does not generate a radiation command value 93. The radio wave radiation control unit 209 is a direction changing unit that directs the pointing direction of the phased array antenna 30 toward the radiation direction.

[0235] like Figure 27 As shown, the data storage device 17J mounted on the UAV 3G stores measurement period data 94 and detection data 73J. Measurement period data 94 represents the period during which detection data 73J is recorded. Measurement period data 94 is indicated using a data acquisition command 87 sent from the power transmission control device 22J. Detection data 73J is data obtained by correlating the time data 85 of the time point for measuring the electric field vector with the electric field vector measured by the monitor antenna 14 during the measurement period specified by measurement period data 94.

[0236] The onboard control unit 16J includes a timing device 52, a mobile body communication unit 301, a detector control unit 302, a detection data timing appender 303, a data acquisition command interpretation unit 305, a transmission data generation unit 306, and a pilot transmitter control unit 307. The mobile body communication unit 301 receives a data acquisition command 87 sent by the power transmission control unit 22A and transmits the detection data 73J to the power transmission control unit 22A. The detection data timing appender 303 appends timing data 85 (the time at which the onboard control unit 16J receives the detection data 73) to the detection data 73 output by the detector 15. The onboard control unit 16J differs from the onboard control unit 16H in that it includes a data acquisition command interpretation unit 305, a transmission data generation unit 306, and a pilot transmitter control unit 307; and it lacks a position-integrated detection data generation unit 304.

[0237] The data acquisition command interpretation unit 305 extracts the measurement period data 94 from the data acquisition command 87 and stores it in the data storage device 17J. The detector control unit 302 controls the detector 15 to generate detection data 73 within the measurement period specified by the measurement period data 94. The detection data timing appending unit 303 appends timing data 85 to the detection data 73 to generate detection data 73J. The detection data 73J is then stored in the data storage device 17J.

[0238] The data generation unit 306 generates and transmits compressed detection data 73J for the measurement period specified by the measurement period data 94. The mobile communication unit 301 receives the data acquisition command 87 and transmits the detection data 73J generated by the data generation unit 306 to the power transmission control device 22J. The data generation unit 306 also generates and transmits compressed detection data 70H with position data 74H obtained by corresponding the detection data 73J and position data 74H.

[0239] The pilot transmitter control unit 307 controls whether the pilot transmitter 32 transmits the pilot signal 31.

[0240] The component electric field calculation unit 205 includes a measurement data analysis unit 210, a phase shift acquisition unit 211, a component electric field phase calculation unit 212, and a component electric field amplitude calculation unit 213. The measurement data analysis unit 210 analyzes the detection data 73J sent by the slave control device 16J, detecting the maximum and minimum values ​​of the electric field strength at the moments when the electric field strength is at its maximum and minimum during each measurement period. The phase shift acquisition unit 211 calculates the phase shift of the operating phase shifter, i.e., the operating phase shift, by referring to the phase operation data 90 at the moments when the electric field strength is at its maximum and minimum. The moments when the electric field strength is at its maximum and minimum are the moments when the phase shift is calculated, also known as the phase shift detection moments.

[0241] The element electric field phase calculation unit 212 calculates the element electric field phase of each element module based on the operational phase shift of each phase shifter 28. In the REV method scheme 88, when the phase shift of each phase shifter 28 is changed separately, the element electric field phase can be calculated by subtracting a constant from the operational phase shift of each phase shifter 28. The constant subtracted is appropriately determined according to the phase reference. When there are operational phase shifts measured by changing the phase shift of multiple phase shifters 28 simultaneously, the element electric field phase of each element module can be calculated by solving simultaneous equations.

[0242] The component electric field amplitude calculation unit 213 calculates the amplitude of the component electric field vector based on the ratio of the maximum to the minimum electric field strength during each measurement period.

[0243] To determine the phase shift of phase shifter 28 based on the phase shift detection time, although referring to the phase operation data 90 is more accurate, the REV method scheme 88 can also be used. In this case, the phase shift of phase shifter 28 at the phase shift detection time is determined by referring to the change pattern of phase shift of each phase shifter 28 defined by the relative time from the phase shift detection time to the start time of REV method scheme 88, based on the relative time from the start of REV method scheme 88. Alternatively, the relative time of REV method scheme 88 can be converted to absolute time (moment), and at the phase shift detection time, the REV method scheme converted to absolute time can be referred to.

[0244] Explain the actions. Figure 28 This is a flowchart illustrating the power transmission steps in the power transmission system according to Embodiment 10, which uses a wireless power transmission device to transmit power to a mobile body in the air. Regarding... Figure 28 Regarding the case of implementation method 2 Figure 9 The differences will be explained. In step S22J, the phase shift of the secondary module 29 and the electric field vector (at least the amplitude value) measured by the monitor antenna 14 at that phase shift time are correlated with the time data 85 to perform the REV method. The specific steps for performing the REV method are as follows: Figure 29 As shown. In S22J, the phase shifter 28 of the secondary module 26 is used as the target for implementation. Figure 29 The processing is performed using phase shifter 28 of primary module 25 in S24J. Figure 29 The processing.

[0245] Reference Figure 29 The steps for performing the REV method are explained. Figure 29 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in a power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 10.

[0246] First, in step S41, the power transmission control device 22J sends the data acquisition command 87 to the onboard control device 17J.

[0247] In step S42, the data acquisition command interpretation unit 305 interprets the data acquisition command 87 and stores only a specified number of measurement period data 94 at the specified start and end times of the measurement in the data storage device 17J. The j-th measurement period is represented by the variable Tj. In step S43, setting j = 0, the REV method execution unit 202 sets the phase shift amount of each phase shifter 28 to the value under the REV method reference state.

[0248] In step S44, assuming j = j + 1, the REV method execution unit 202 selects a phase shifter 28 according to the order specified in the REV method scheme. The selected phase shifter 28 is labeled as phase shifter 28j. Phase shifter 28j is a phase shifter that changes the phase shift amount, i.e., an operating phase shifter. In step S45, the REV method execution unit 202 changes the phase shift amount of phase shifter 28j during the measurement period Tj based on the REV method scheme 88, and records the phase operation data 90. Furthermore, if the phase shift amount change process of phase shifter 28j ends, the phase shift amount of phase shifter 28j returns to the value of the REV method reference state. During the measurement period Tj, as a process executed in parallel with S45, step S46 is executed. In step S46, the monitor antenna 14 receives radio waves and measures the detection data 73J, i.e., the electric field strength Cj, during the measurement period Tj.

[0249] In step S47, the mobile communication unit 301 transmits the electric field strength Cj during the measurement period Tj from the UAV 3J to the power transmission control device 22J. To transmit the same content with less data, the data generation unit 306 compresses the electric field strength Cj before transmission. Alternatively, the transmission of the electric field strength Cj in step S47 can be performed before the measurement of Cj in step S46 is completed. The electric field strength Cj during the measurement period Tj is electric field change data representing the change in the electric field during the measurement period Tj.

[0250] In step S48, the power transmission control communication unit 204 receives the electric field strength Cj.

[0251] In step S49, the measurement data analysis unit 210 calculates the time tjmax when the electric field strength Cj reaches its maximum value Cjmax and the time tjmin when it reaches its minimum value Cjmin. S49 can be executed after all the electric field strength Cj within the measurement period Tj has been input, or the element electric field calculation unit 205 can detect the times tjmax and tjmin each time the electric field strength Cj is input. The times tjmax and tjmin are the detection times for the phase shift amount of the phase shifter, i.e., the phase shifter 28j.

[0252] In step S50, the phase shift acquisition unit 211, referring to the phase operation data 90, detects the phase shift pjmax of the phase shifter 28j at time tjmax and the phase shift pjmin of the phase shifter 28j at time tjmin. The phase shift pjmax and phase shift pjmin are the operational phase shifts of the phase shifter 28j.

[0253] In step S51, the element electric field phase calculation unit 212 calculates the phase of the element electric field vector Ej based on the phase shift amount pjmax and the phase shift amount pjmin. The average of the phase calculated based on the phase shift amount pjmax and the phase calculated based on the phase shift amount pjmin is set as the phase of the element electric field vector Ej. Alternatively, the phase calculated based solely on the phase shift amount pjmax or the phase shift amount pjmin can be set as the phase of the element electric field vector Ej.

[0254] In step S52, the element electric field amplitude calculation unit 213 calculates the amplitude of the element electric field vector Ej based on the ratio of the maximum value Cjmax to the minimum value Cjmin of the electric field intensity Cj. Alternatively, the amplitude of the element electric field vector Ej may not be calculated.

[0255] In step S53, it is checked whether there is an unprocessed phase shifter 28. If there is an unprocessed phase shifter 28 (yes in S53), the process returns to step S44.

[0256] If there are no unprocessed phase shifters 28 (S53 is no), the processing ends.

[0257] By performing the REV method, the phase shift value 92 is calculated and set for the phase shifter 28 of each component module. Using the phase shift value 92, the phase reference of each component module can be set to be the same (consistent). In S29, the radio wave radiation control unit 209 generates command values ​​for the phase and amplitude of each component module when the phase references of each component module are consistent. The command values ​​are sent to the power transmission device 1A as a power transmission control signal 76. Furthermore, the command values ​​for the phase and amplitude of each component module are calculated so that the pointing direction of the phased array antenna 30 is oriented towards the power transmission direction.

[0258] In S30, the power transmission device 1A transmits radio waves according to the instruction of the power transmission control signal 76. As a result, the radio wave radiation control unit 209 controls the power transmission device 1A based on the phase of the electric field of each component module, so that radio waves are radiated in the transmission direction while keeping the phase reference of the component modules in sync.

[0259] The drone 3J sends a pilot signal 31, 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 drone 3J can efficiently receive power from the power transmission wave 2.

[0260] Similar to Implementation Method 2, the REV method is performed using an aerial mobile body such as a drone, allowing the REV method to be performed while actually transmitting power to the aerial mobile body. Therefore, the REV method can be performed with high precision, and radio waves can be radiated in the radiation direction with high accuracy when transmitting power to the aerial mobile body. Furthermore, since the detection data 73J used in performing the REV method includes time data 85, the REV method can be performed with even higher precision.

[0261] Alternatively, instead of sending the detection data 73J generated during the REV method execution as electric field change data from the onboard control device 16J, the electric field change data can be sent based on the detection data 73J. This reduces the amount of data sent from the onboard control device to the transmission control device. Furthermore, the onboard control device can have a component electric field calculation unit to calculate the component electric field phase. In addition, the detection data 73J itself is included in the electric field change data generated based on the detection data 73J.

[0262] The above content can also be applied to other implementation methods.

[0263] Implementation Method 11.

[0264] Implementation 11 is a modification of Implementation 3, in which the airborne mobile body and the ground-side device have a synchronized timing device. Compared with Implementation 10, Implementation 11 involves sending the position data of the airborne mobile body to the power transmission control device instead of the pilot signal. Figure 30 and Figure 31 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 11 to a mobile airborne body will be described. Figure 30 This is a structural diagram of a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 11 of the present invention. Figure 31 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 11.

[0265] like Figure 30 As shown, the UAV 3K has a positioning sensor 18H, which also serves as a timing device 52. The position data 74H measured by the positioning sensor 18H is sent to the measurement system control device 21K. The measurement system control device 21K has a timing device 53. The power transmission control device 22K has a timing device 54. The onboard control device 16K, the measurement system control device 21K, and the power transmission control device 22K can use the synchronized timing.

[0266] about Figure 31 In the case of implementation method 10 Figure 27 The differences will be explained. The onboard control unit 16K has a positioning sensor 18H including a timing device 52, but does not have a pilot transmitter control unit 307. The mobile communication unit 301 transmits position data 74H to the power transmission control unit 22K at least during the process of receiving power from the power transmission unit 1A.

[0267] The power transmission control device 22K modifies the data storage unit 201K and the radiation direction determination unit 208K. The data storage unit 201K stores the position data 74H and the position 86 of the power transmission device, but does not store the incoming direction data 80. The radiation direction determination unit 208K converts the position data 74H sent from the UAV 3K into a relative position based on the position 86 of the power transmission device, and determines the radiation direction based on the relative position.

[0268] Explain the actions. Figure 32 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air, according to Embodiment 11. Regarding... Figure 32 Regarding the case of implementation method 3 Figure 11 The differences between S22J and S24J will be explained. Figure 28The same applies. In step S32K, the UAV 3K uses the positioning sensor 18H to measure its own three-dimensional position along with the time data 85 to generate position data 74H. Position data 74H is position data with time data. In steps 33K to S35K, which are processes for determining the radiation direction, the same actions as in S33 to S35 are performed on position data 74H (which also includes time data 85) but not position data 74.

[0269] The power transmission system for transmitting power to the airborne moving body in Embodiment 11 operates in the same way as in Embodiment 3, achieving the same effect. Since the detection data 73J contains time data 85, the REV method can be performed with high precision, similar to Embodiment 10.

[0270] The above content can also be applied to other implementation methods.

[0271] Implementation Method 12.

[0272] Implementation 12 is a modification of Implementation 4, in which the airborne mobile body and the ground-side device have a timing device for synchronization. Utilizing Figure 33 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for transmitting power to the airborne mobile body using a wireless power transmission device, as described in Embodiment 12, will be explained. Figure 33 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 12 of the present invention.

[0273] about Figure 33 In the case of implementation method 9 Figure 22 The differences will be explained. The UAV 3L has the same receiving antenna 34 and UAV power system 8A as in Embodiment 2. If compared with Embodiment 4... Figure 12 In contrast, similar to embodiment 9, timing devices 53 and 54 are added. The positioning sensor 18 is replaced with a positioning sensor 18H that includes the timing device 52.

[0274] Explain the actions. Figure 34 This is a flowchart illustrating the steps of measuring the radiation pattern of radio waves in a power transmission system that transmits power to a mobile airborne body using a wireless power transmission device, as described in Embodiment 12. Figure 34 In the case of implementation method 10 Figure 28The differences will be explained. Similar to Embodiment 4, S13 and S14 are added 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 and stores the resulting power in the energy storage unit 19. S13 operates in parallel with S04 and S05. S14 operates in parallel with S07.

[0275] Implementation method 12 operates in the same manner as implementation method 4 and has the same effect. Furthermore, similar to implementation method 11, the detection data 73J includes time data 85, thus enabling high-precision execution of the REV method.

[0276] Implementation Method 13.

[0277] Implementation method 13 is a modification of implementation method 5, in which the airborne mobile body and the ground-side device have a timing device for synchronization. Utilizing Figure 35 and Figure 36 The structure of the radio wave measurement system using an airborne mobile body according to Embodiment 13 will be described. Figure 35 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 13 of the present invention. Figure 36 This diagram illustrates the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 13. Compared with Embodiment 12, Embodiment 13 differs in that it includes a power transmission communication system 39 and a pilot communication system 40.

[0278] about Figure 35 Regarding the case of implementation method 5 Figure 14 The differences will be explained below. The UAV 3M has a positioning sensor 18H that also serves as a timing device 52. The measurement system control device 21M has a timing device 53. The power transmission control device 22M has a timing device 54. The onboard control device 16M, the measurement system control device 21M, and the power transmission control device 22M can use the synchronized timing.

[0279] about Figure 36 In the case of implementation method 9 Figure 27 The differences will be explained below. The data storage device 17M has command communication system data 95 and data communication system data 96. Command communication system data 95 indicates which of the mobile communication system 12 and the power transmission communication system 39 is used as the command communication system. Data communication system data 96 indicates which of the mobile communication system 12 and the pilot communication system 40 is used as the data communication system.

[0280] The onboard control unit 16M includes a power transmission signal demodulation unit 308, a pilot signal modulation unit 309, and a communication system switching unit 310. The power transmission signal demodulation unit 308 demodulates the detected data 73 to generate a measurement command 72. The pilot signal modulation unit 309 generates a control signal for the pulse modulation switch 43 to transmit the measurement data 77H. The communication system switching unit 310 switches between the mobile communication system 12 and the power transmission communication system 39 as the command communication system, and between the mobile communication system 12 and the pilot communication system 40 as the data communication system, based on instructions from the measurement system control unit 21M.

[0281] The measurement system control device 21M includes a pilot signal demodulation unit 106 and a communication system switching unit 107. The data storage unit 102M includes command communication system data 95 and data communication system data 96.

[0282] The pilot signal demodulation unit 106 demodulates the pilot detection data 97 (not shown) generated by the detector 44 detecting the pilot signal 31. The communication system switching unit 107 switches between the mobile communication system 12 and the power transmission communication system 39 as the command communication system, and between the mobile communication system 12 and the pilot communication system 40 as the data communication system. When switching communication systems, the data values ​​of the command communication system data 95 and the data communication system data 96 stored in the data storage unit 102M are changed, and the switched communication system is notified to the onboard control device 16M. After notification, the data values ​​of the command communication system data 95 and the data communication system data 96 can also be changed. The communication system used to notify the onboard control device 16M from the measurement system control device 21M is called the switching notification communication system. The switching notification communication system may, for example, use the command communication system in use. Alternatively, the mobile communication system 12 may always be used as the switching notification communication system.

[0283] Explain the actions. Figure 37 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 13. Regarding... Figure 37 In the case of implementation method 9 Figure 25 The differences will be explained. S15 and S16 are added, identical to those in Embodiment 5. In S15, a command communication system is determined. In S16, a data communication system is determined. Furthermore, in S04M, the measurement command 72 is communicated via the command communication system determined in S15. In S05M, the position detection data 70H is communicated via the data communication system determined in S16.

[0284] The power transmission system for transmitting power to an airborne moving body in Embodiment 13 operates in the same manner as in Embodiment 5, achieving the same effect. Because synchronized time data is used to combine the detection data and position data, beamform can be measured with higher accuracy.

[0285] Implementation Method 14.

[0286] Embodiment 14 is a modification of Embodiment 6, in which the airborne mobile body and the ground-side device have a synchronized timing device. The difference between Embodiment 14 and Embodiment 9 or Embodiment 10 is that a measurement communication system 45 is used instead of the mobile body communication system 12. Figure 38 , Figure 39 and Figure 40 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system for transmitting power to the airborne mobile body using a wireless power transmission device, as described in Embodiment 14, will be explained. Figure 38 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 14 of the present invention. Figure 39 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 14. Figure 40 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 14.

[0287] about Figure 38 In the case of implementation method 6 Figure 16 The differences will be explained below. The mounting device 13N, mounted on the UAV 3N, includes a positioning sensor 18H, which also functions as a timing device 52. Measurement data 77H, including position data 74H with added timing data 85, is sent to the measurement system control device 21N. The measurement system control device 21N has a timing device 53. The power transmission control device 22J has a timing device 54. The onboard control device 16N, the measurement system control device 21N, and the power transmission control device 22J can use the synchronized timing.

[0288] about Figure 39 In the case of implementation method 9 Figure 23 The differences will be explained below. The onboard control unit 16N has a mobile communication unit 301N. The measurement system control unit 21N has a measurement control communication unit 101N. The mobile communication unit 301N and the measurement control communication unit 101N do not use the mobile communication system 12, but use the measurement communication system 45.

[0289] about Figure 40 In the case of implementation method 10 Figure 27 The differences will be explained. The onboard control unit 16N has a mobile communication unit 301N. The power transmission control unit 22J uses the measurement communication system 45 via the measurement system control unit 21N, therefore, the power transmission control communication unit 204 remains unchanged.

[0290] As an embodiment of the radio wave measurement system, 14 operates in the same manner as the radio wave measurement system in embodiment 9. The radio wave measurement system of embodiment 14 has the same effects as that of embodiment 9. Since the detection data and position data are combined using synchronized time data, the beam shape can be measured with higher accuracy.

[0291] The power transmission system for supplying power to the airborne mobile body in Embodiment 14 operates in the same manner as in Embodiment 10. The power transmission system in Embodiment 14 has the same effects as in Embodiment 10. Since the detection data 73J used in performing the REV method includes time data 85, the REV method can be performed with higher accuracy.

[0292] Implementation Method 15.

[0293] Embodiment 15 is a modification of Embodiment 7, in which the airborne mobile vehicle and the ground-side device have a synchronized timing device. Compared to Embodiment 14, Embodiment 15 differs in that it includes a power transmission communication system 39 and a pilot communication system 40. Utilizing... Figure 41 and Figure 42 The structure of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 15, will be described. Figure 41 This is a structural diagram of the radio wave measurement system using an airborne mobile body and the power transmission system that transmits power to the airborne mobile body using a wireless power transmission device, according to Embodiment 15 of the present invention. Figure 42 This diagram illustrates the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 15. Furthermore, although this will be explained later, the transmission communication system 39 and pilot communication system 40 are not used when performing the REV method; therefore, the internal structure of the transmission control device is different from that in Embodiment 14. Figure 40 same.

[0294] about Figure 41 In the case of implementation method 7 Figure 18The differences will be explained below. The mounting device 13P, mounted on the UAV 3P, includes a positioning sensor 18H, which also functions as a timing device 52. The position data 74H measured by the positioning sensor 18H is sent to the measurement system control device 21P. The measurement system control device 21P includes a timing device 53. The power transmission control device 22P includes a timing device 54. The onboard control device 16P, the measurement system control device 21P, and the power transmission control device 22P can use the synchronized timing.

[0295] If Figure 41 Compared with the case of implementation method 13 Figure 35 In comparison, the difference lies in the absence of a mobile communication system 12, while a measurement communication system 45 is present.

[0296] about Figure 42 In the case of implementation method 13 Figure 36 The differences will be explained below. The onboard control unit 16P has a mobile communication unit 301P. The measurement system control unit 21P has a measurement control communication unit 101P. The mobile communication unit 301P and the measurement control communication unit 101P do not use the mobile communication system 12, but use the measurement communication system 45.

[0297] The reasons for not using the transmission communication system 39 and the pilot communication system 40 when performing the REV method are explained below. During the REV method, only the phase shift of the specified phase shifter 28 must be changed, without altering other states. Therefore, communication is impossible in the transmission communication system 39, which requires switching on whether to radiate radio waves from at least a portion of the element antenna 27, during the REV method. The amount of detection data 73J is large, and the communication capacity of the pilot communication system 40 is insufficient; therefore, the pilot communication system 40 is not used when performing the REV method. However, if the amount of data to be transmitted from the UAV during the REV method is small, or if the communication capacity of the pilot communication system 40 is large, then the pilot communication system 40 can be used during the REV method.

[0298] The radio wave measurement system of Embodiment 15 performs the same operation as that of Embodiment 5 and achieves the same effect. Since the detection data and position data are combined using synchronized time data, the beam shape can be measured with higher accuracy.

[0299] The power transmission system for transmitting power to the airborne moving body in Embodiment 15 operates in the same way as in Embodiments 10 and 14, achieving the same effect. Since the detection data 73J used in performing the REV method includes time data 85, the REV method can be performed with higher accuracy.

[0300] Implementation Method 16.

[0301] Embodiment 16 is a modification of Embodiment 8, in which the airborne mobile body and the ground-side device have a timing device for synchronization. Compared to Embodiment 13, Embodiment 16 measures the position of the airborne mobile body from the ground. Utilizing... Figure 43 and Figure 44 The structure of the radio wave measurement system using an airborne mobile body according to Embodiment 16 will be described. Figure 43 This is a structural diagram of the radio wave measurement system using an airborne mobile body according to Embodiment 16 of the present invention. Figure 44 This is a diagram illustrating the internal structure of the measurement system control device and the onboard control device in the radio wave measurement system using an airborne mobile body according to Embodiment 16.

[0302] about Figure 43 In the case of implementation method 8 Figure 20 The differences will be explained below. The mounting device 13Q mounted on the UAV 3Q has a timing device 52. The measurement system control device 21Q has a timing device 53. The power transmission control device 22Q has a timing device 54. The onboard control device 16Q, the measurement system control device 21Q, and the power transmission control device 22M can use the synchronized timing.

[0303] about Figure 44 In the case of implementation method 13 Figure 36 The differences will be explained below. The onboard control unit 16Q does not have a position detection data generation unit 304. The measurement system control unit 21Q has a position data timing appender 108 and a position detection data generation unit 109. The position data timing appender 108 appends timing data 85 at the time the timing data 73 is received to the position data 73 input from the laser positioning device 51. Alternatively, the laser positioning device 51 may have a timing device and output position data 73H including timing data 85. When the laser positioning device 51 outputs position data 73H, the position data timing appender 108 is not needed.

[0304] The position detection data generation unit 109 combines the detection data 73H with the position data 74H (attached with the same time data 85) into a group to generate position detection data 70H. The position detection data 70H is stored in the data storage unit 102Q.

[0305] Explain the actions. Figure 45 This is a flowchart illustrating the steps involved in measuring the radiation pattern of radio waves in an electromagnetic wave measurement system using an airborne mobile body, as described in Embodiment 16. Regarding... Figure 45 In the case of implementation method 13 Figure 37The differences are explained below. In step S04Q, the UAV 3Q does not measure position data 74. In step S05Q, the detection data 73H measured by the UAV 3Q is sent from the onboard control device 16Q to the flight control device 5, and then sent to the measurement system control device 21Q via the mobile body communication system 12 and the mobile body command device 4C. In step S17Q, the measurement system control device 21Q combines the received detection data 73H with the position data 74H that has the same time data 85 to generate position detection data 70H.

[0306] The radio wave measurement system of Embodiment 16 has the same effect as that of Embodiment 8. Since the detection data and position data are combined using synchronized time data, the beam shape can be measured with higher accuracy.

[0307] Implementation Method 17.

[0308] Implementation 17 modifies Implementation 10 in the following two ways: (Change A) Radio waves are radiated from the wireless transmission device only when the pilot signal cannot be received. (Change B) The radiation direction is determined based on the pilot signal before the transmission device 1A radiates radio waves, and radio waves are radiated along the radiation direction. When performing the REV method, the state of radiating radio waves along the radiation direction is also set as the reference state of the REV method.

[0309] In embodiment 17, only the power transmission control device 22R is changed compared to embodiment 10. Utilizing... Figure 46 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 17 to a mobile airborne body will be described. Figure 46 This is a diagram illustrating the internal structure of the power transmission control device and the onboard control device in the power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 17.

[0310] about Figure 46 In the case of implementation method 10 Figure 27 The differences will be explained below. The power transmission control device 22R includes a radiation determination unit 214. The radiation determination unit 214 determines whether the power transmission device 1A can radiate radio waves. Furthermore, the data storage unit 201R, the REV method execution unit 202R, and the radio wave radiation control unit 209R have also been changed. The data storage unit 201R also stores radiation capability data 98. Radiation capability data 98 ​​is data indicating whether the power transmission device 1A can radiate radio waves.

[0311] The radiation determination unit 214 determines whether radio waves can be radiated based on the signal strength of the pilot signal 31 and sets the radiation data 98. If the signal strength of the pilot signal 31 is above a threshold, it is determined that radiation is possible. If the signal strength of the pilot signal 31 is below the threshold, it is determined that radiation is not possible. A signal strength of the pilot signal 31 above the threshold is defined as the ability to receive the pilot signal 31. A signal strength of the pilot signal 31 below the threshold is defined as the inability to receive the pilot signal 31.

[0312] The radio wave radiation control unit 209R generates radiation command values ​​93 and power transmission control signals 76 for each component module based on the radiation capability data 98. If the radiation capability data 98 ​​changes to "no," the radio wave radiation control unit 209R sends a power transmission control signal 76 to the power transmission device 1A, prohibiting power transmission. If the power transmission device 1A receives the power transmission control signal 76 while it is transmitting power (radiating radio waves), it stops transmitting power. After receiving the power transmission control signal 76, the power transmission device 1A cannot transmit power until it receives a power transmission control signal 76 that allows power transmission (does not prohibit power transmission).

[0313] If the radiation capability data 98 ​​changes to "yes," the radio wave radiation control unit 209R sends a power transmission control signal 76 to the power transmission unit 1A indicating that power transmission is possible. If the power transmission unit 1A receives the power transmission control signal 76 indicating that power transmission is possible, it disables power transmission. Alternatively, it may not send the power transmission control signal 76 indicating that power transmission is possible, but instead transmit power even if it receives the power transmission control signal 76 indicating the radiation command value 93, even when power transmission is disabled.

[0314] When radiation capability data 98 ​​indicates yes, and power transmission device 1A is not in a state of prohibited power transmission, power transmission is required, and the transmission direction has been determined, the radio wave radiation control unit 209R sends a power transmission control signal 76 generated based on the radiation command value 93 to power transmission device 1A. Otherwise, the radio wave radiation control unit 209R does not generate the radiation command value 93 and does not send the power transmission control signal 76 generated based on the radiation command value 93 to power transmission device 1A. That is, control is performed based on the radiation capability data 98 ​​determined by the radio wave radiation capability determination unit 214, so that if the signal strength of the received pilot signal 31 is above a threshold, the wireless power transmission device 1A can radiate the transmission radio wave 2; if the signal strength of the received pilot signal 31 is below the threshold, the wireless power transmission device 1A does not radiate the transmission radio wave 2.

[0315] Before the transmission unit 1A radiates radio waves for the REV method, the REV method execution unit 202R determines the radiation direction based on the pilot signal 31 and sets the state of radiating radio waves along the radiation direction as the REV method reference state 89. Afterward, the REV method execution unit 202R executes the REV method scheme 88 and radiates radio waves.

[0316] Furthermore, before radiating radio waves for power transmission after performing the REV method, the wireless power transmission device 1A also radiates transmission radio waves 2 and begins power transmission after determining the radiation direction based on the pilot signal 31. This reduces the amount of radio waves radiated in directions different from the direction in which the UAV 3R exists.

[0317] Explain the actions. Figure 47 This is a flowchart illustrating the power transmission steps in the power transmission system according to Embodiment 17, which uses a wireless power transmission device to transmit power to a mobile body in the air. Regarding... Figure 47 In the case of implementation method 10 Figure 28 The differences will be explained.

[0318] Following S21, step S36 is added. In S36, the REV method execution unit 202R determines the radiation direction based on the pilot signal 31 and sets the phase shift of each phase shifter 28 in the state of radiating the transmission wave 2 in the radiation direction to the REV method reference state 89.

[0319] S23 and S25, which set the phase offset value for phase shifter 28, represent the state where transmission device 1A does not radiate radio waves. During the repeated execution of S25 within a determined period, and during the transmission process (S26 to S30), in step S37, performed before S26, the signal strength (pilot signal strength) of pilot signal 31 is checked to see if it is above a threshold. If the pilot signal strength is above the threshold (yes in S37), the transmission process from S26 to S30 continues. If it is below the threshold (no in S37), the transmission is stopped in S38. Based on the pilot signal strength in the state where pilot signal 31 cannot be received normally, the threshold is appropriately set to a smaller value.

[0320] The power transmission process from S26 to S30 must determine the direction of arrival of the pilot signal 31 sent by the UAV 3R, and then use the direction of arrival as the radiation direction for power transmission.

[0321] The state where the pilot signal strength is less than the threshold can be considered as one of the following states.

[0322] (State 1) The drone 3R has encountered some kind of abnormality and is unable to receive the power transmission wave 2.

[0323] (State 2) The attitude of the UAV 3R is tilted and the power receiving antenna 34 and pilot transmitter 32 are not facing the direction of the power transmission device 1A.

[0324] In either state (1) or (2), the power transmitted from the power transmission unit 1A cannot be received by the drone 3R and is wasted. By comparing the pilot signal strength with a threshold, either state (1) or state (2) can be detected, preventing unnecessary radiation of the transmission wave 2.

[0325] Alternatively, only one of (Change Point A) and (Change Point B) may be implemented. At least one of (Change Point A) and (Change Point B) may also be applied to an implementation of a power transmission system different from implementation method 10.

[0326] Implementation Method 18.

[0327] Embodiment 18 is a modification of Embodiment 17, reducing the amount of data transmitted from the airborne mobile body to the power transmission control device by utilizing an airborne mobile body to perform part of the process for calculating the electric field vector of the element in the REV method. In Embodiment 18, the power transmission control device 22S, the onboard control device 16S, and the data storage device 17S are modified compared to Embodiment 17. Figure 48 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 18 to a mobile airborne body will be described. Figure 48 This diagram illustrates the internal structure of the power transmission control device and the onboard control device in the power transmission system that utilizes a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 18. Regarding... Figure 48 In the case of implementation method 17 Figure 46 The differences will be explained.

[0328] The measurement period Tj is a series of periods notified by data acquisition commands. These measurement periods correspond to the periods during which the phase shifter is operated to change the phase shift amount. The data storage device 17S mounted on the UAV 3S also stores the maximum and minimum times 61 and the maximum and minimum amplitude values ​​62. The maximum and minimum times 61 refer to the times tjmax and tjmin when the electric field strength Cj(t) is actually detected to be at its maximum and minimum, respectively, within the measurement period Tj. The maximum and minimum amplitude values ​​62 are the maximum value Cjmax and minimum value Cjmin of the electric field strength Cj(t) within the measurement period Tj. As feedback to the data acquisition command 87, the maximum and minimum times 61 and the maximum and minimum amplitude values ​​62 are sent from the onboard control device 16S to the power transmission control device 22S. The maximum and minimum times 61 and the maximum and minimum amplitude values ​​62 are electric field change data representing the changes in the electric field during the measurement period Tj. Alternatively, only the maximum and minimum times 61 can be used as electric field change data for feedback.

[0329] The onboard control device 16S does not have a data transmission generation unit 306, but has a measurement data analysis unit 311. In embodiment 10, the measurement data analysis unit 311 performs the same processing as the measurement data analysis unit 210 of the power transmission control device 22J. The measurement data analysis unit 311 detects time tjmax and time tjmin based on the electric field strength Cj(t) actually measured during the measurement period Tj. It also detects the maximum value Cjmax and minimum value Cjmin of the electric field strength Cj(t). The measurement period Tj is the analysis period during which the electric field strength Cj(t) measured is analyzed. Furthermore, the time tjmax and time tjmin, stored in the data storage device 17S as maximum and minimum times 61, are the phase shift detection times obtained by analyzing the electric field strength Cj(t) measured respectively during the analysis period. The measurement data analysis unit 311 detects the phase shift detection times in each analysis period.

[0330] The mobile communication unit 301 transmits the maximum and minimum time 61 and the maximum and minimum amplitude values ​​62 to the power transmission control device 22S. The mobile communication unit 301 does not transmit the electric field strength Cj measured during the measurement period Tj, i.e., the detection data 73J, to the power transmission control device 22S.

[0331] The data storage unit 201S of the power transmission control device 22S stores the maximum and minimum time 61 and the maximum and minimum amplitude values ​​62 transmitted from the UAV 3S. Since the UAV 3S does not transmit detection data 73J, the data storage unit 201S does not store detection data 73J.

[0332] The element electric field calculation unit 205S does not have a measurement data analysis unit 210. The phase shift acquisition unit 211 calculates the phase shift of the phase shifter 28j recorded in the phase operation data 90 at the maximum and minimum times 61, i.e., time tjmax and time tjmin. The element electric field phase calculation unit 212 calculates the phase (element electric field phase) of the element electric field vector 91 of the phase shifter 28j after the phase change. The element electric field amplitude calculation unit 213 calculates the amplitude of the element electric field vector 91 based on the ratio of the maximum value Cjmax and the minimum value Cjmin of the electric field intensity Cj(t). The phase offset value calculation unit 206 calculates the phase offset value 92 of each phase shifter 28 based on the phase of the element electric field vector 91 of each phase shifter 28. The phase offset value setting unit 207 sets the phase offset value 92 for each phase shifter 28.

[0333] Explain the actions. Figure 49 This is a flowchart illustrating the power transmission steps in a power transmission system that uses a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 18. Figure 50This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in the power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 18.

[0334] about Figure 49 In the case of implementation method 17 Figure 47 The differences will be explained. In step S22S, which calculates the element electric field vector of the secondary module 26, the element electric field vector generated by the radio wave radiated by the element antenna 27j, whose phase is controlled by the phase shifter 29j, is calculated using the maximum and minimum time 61 transmitted from the UAV 3S. In S24S, in order to calculate the phase difference of the electric field vector generated by the power transmission device 1A, the REV method is performed on the primary module 24 in the same manner as in S22S.

[0335] about Figure 50 In the case of implementation method 10 Figure 29 The differences will be explained. Step S54 is added before S47S. In S54, the measurement data analysis unit 311 of the UAV 3S detects the maximum value Cjmax of the electric field strength Cj during the measurement period Tj and the time tjmax when Cjmax is acquired. Then, it detects the minimum value Cjmin of the electric field strength Cj during the measurement period Tj and the time tjmin when the minimum value Cjmin is acquired.

[0336] S54's processing is equivalent to Figure 29 The processing of S49 in [the context]. Therefore, in [the context] Figure 50 S49 does not exist in the text.

[0337] In step S47S, the mobile communication unit 301 sets time tjmax and time tjmin to maximum and minimum time 61, sets maximum value Cjmax and minimum value Cjmin to maximum and minimum amplitude value 62, and sends them to the power transmission control communication unit 204 of the power transmission control device 22S.

[0338] In step S48S, the power transmission control communication unit 204 receives time tjmax and time tjmin, as well as the maximum value Cjmax and the minimum value Cjmin.

[0339] After S48S, S50 is executed. Then, with... Figure 29 same.

[0340] In the power transmission system for transmitting power to an airborne mobile body in Embodiment 18, in addition to the effects achieved in Embodiment 17, the amount of data transmitted from the UAV 3S for performing the REV method can be reduced.

[0341] Implementation Method 19.

[0342] Implementation method 19 modifies implementation method 17 to reduce the amount of data transmitted from the airborne mobile body to the power transmission control device by utilizing an airborne mobile body to perform the calculation of the element electric field vector in the REV method. Furthermore, in the REV method scheme, the phase shift of each phase shifter is discretized, and a certain time is set for each phase shift of an appropriate length. Therefore, the REV method scheme can reduce the error when calculating the phase shift based on time by using records of actual phase shift changes of the phase shifters.

[0343] In embodiment 19, compared to embodiment 17, the power transmission control device 22T, the onboard control device 16T, and the data storage device 17T were changed. Figure 51 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 19 to a mobile airborne body will be described. Figure 51 This diagram illustrates the internal structure of the power transmission control device and the onboard control device in the power transmission system that utilizes a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 19. Regarding... Figure 51 In the case of implementation method 18 Figure 48 The differences will be explained.

[0344] The electric field calculation command 99 is a command sent to the onboard control unit 16T to instruct on the calculation of the element's electric field vector. The electric field calculation command 99 is sent from the transmission control unit 22T to the onboard control unit 16T. The onboard control unit 16T generates detection data 73J. Based on the detection data 73J and the REV method scheme 88, the onboard control unit 16T calculates the element electric field vector 91 for each element module. The onboard control unit 16T then sends the element electric field vector 91 to the transmission control unit 22T.

[0345] The power transmission control device 22T does not have a data acquisition command generation unit 203 and a component electric field calculation unit 205. Furthermore, the data storage unit 201T does not store the maximum and minimum time values ​​61 and the maximum and minimum amplitude values ​​62. The data storage unit 201T stores the REV method scheme 88T. Since it is easy to calculate the component electric field vector 91 even in the onboard control device 16T, the REV method scheme 88T is a modification of the REV method scheme 88. The REV method scheme 88T will be explained later.

[0346] The power transmission control device 22T has an electric field calculation command generation unit 215 that generates an electric field calculation command 99. The electric field calculation command 99 is sent to the onboard control device 16T via the mobile communication system 12. The electric field calculation command 99 includes a REV method start time 63. The REV method start time 63 is the time when the REV method execution unit 202 of the power transmission control device 22T begins executing the REV method scheme 88T. In the REV method scheme 88T, the start of execution is a reference phenomenon; all other phenomena are non-reference phenomena whose time is expressed as a relative time from the start of execution.

[0347] In cases where the REV method scheme has multiple reference phenomena, the electric field calculation command 99 can be sent multiple times, or the command to transmit the time of the reference phenomenon can be sent once or more, and the electric field calculation command 99 can be sent once.

[0348] The onboard control unit 16T includes an electric field calculation command interpretation unit 312 and a component electric field calculation unit 313. The data storage unit 17T stores the REV method scheme 88T, the REV method start time 63, measurement data 94, detection data 73J, maximum and minimum times 61, maximum and minimum amplitude values ​​62, and the component electric field vector 91. The REV method scheme 88T is pre-stored in the data storage unit 17T before the UAV 3T takes off.

[0349] The REV method scheme 88T stored in the data storage device 17T can be the same as the REV method scheme of the power transmission control device 22T, or it can contain only the data required by the element electric field calculation unit 313. The maximum and minimum times 61 and the maximum and minimum amplitude values ​​62 are data used to calculate the element electric field vector 91 by the element electric field calculation unit 313. Therefore, these parameters can also be set as internal data of the element electric field calculation unit 313 and pre-stored in the data storage device 17T.

[0350] If an electric field calculation command 99 is received, the electric field calculation command interpretation unit 312 extracts the REV method start time 63 from the electric field calculation command 99 and stores it in the data storage device 17T. Referring to the REV method scheme 88T, the measurement period Tj for each operating phase shifter, i.e., the measurement period data 94, is set. In the measurement period data 94, the relative time is replaced with the time using the REV method start time 63. Setting multiple measurement periods Tj based on the REV method start time 63 and the REV method scheme 88T is also applicable to implementation 18, etc., where the phase shift detection time, i.e., time tjmax and time tjmin, is determined by the UAV.

[0351] The detector control unit 302 generates detection data 73 within the measurement period specified by the measurement period data 94. The detection data timing addition unit 303 adds timing data 85 to the detection data 73 to generate detection data 73J. The detection data 73J is stored in the data storage device 17J.

[0352] The component electric field calculation unit 313 calculates the component electric field vector 91 based on the detector data 73J measured within the period specified by the measurement period data 94 and the REV method scheme 88T. Phase operation data 90 is not transmitted from the transmission control device 21J to the onboard control device 16T. Therefore, the component electric field calculation unit 313 uses the REV method scheme 88T instead of the phase operation data 90.

[0353] The component electric field calculation unit 313 includes a measurement data analysis unit 311, a phase shift acquisition unit 314, a component electric field phase calculation unit 315, and a component electric field amplitude calculation unit 316. The measurement data analysis unit 311, similar to that in Embodiment 18, detects the times tjmax and tjmin when the actually measured electric field intensity Cj(t) within the measurement period Tj becomes maximum or minimum. Instead of precisely determining the maximum or minimum time, it removes the portion that varies due to noise and detects the time near the center of the period when the electric field intensity Cj(t) is close to its maximum or minimum value as time tjmax and time tjmin. Additionally, it also detects the maximum value Cjmax and minimum value Cjmin of the electric field intensity Cj(t). Time tjmax and time tjmin are stored as maximum and minimum times 61 in the data storage device 17T. The maximum value Cjmax and minimum value Cjmin are stored as maximum and minimum amplitude values ​​62 in the data storage device 17T.

[0354] The phase shift acquisition unit 314 converts time tjmax and time tjmin by subtracting the REV method start time 63 to relative time. After conversion to relative time, time tjmax and time tjmin are used as references in REV method scheme 88T to calculate the phase shift pjmax at time tjmax and the phase shift pjmin at time tjmin. Alternatively, the relative time in REV method scheme 88T can be converted to time by adding the REV method start time 63, and then used as a reference at time tjmax and time tjmin.

[0355] The component electric field phase calculation unit 315 calculates the component electric field phase of each component module based on the phase shift pjmax and phase shift pjmin. The component electric field amplitude calculation unit 316 calculates the component electric field amplitude based on the maximum value Cjmax and the minimum value Cjmin.

[0356] Even when the element electric field calculation unit 313 does not refer to the phase operation data 90, the REV method scheme 88T is modified to reliably obtain the operational phase shift amount. In the REV method scheme 88T, the phase shift amount of each phase shifter 28 is discretely varied. A certain period of the phase shift amount possessed by the phase shifter 28 is set to a predetermined length or longer. That is, in the REV method scheme 88T, the phase operation mode is defined so that multiple different phase shift amounts of the operating phase shifter (the phase shifter 28 that operates the phase shift amount) are obtained for a predetermined duration or longer.

[0357] When the REV method execution unit 202T controls the transmission unit 1A according to the REV method scheme 88T, an error occurs at the actual moment when the phase shift amount changes. Even when an error occurs, the phase shift amount is fixed for a period of time longer than a certain length. Therefore, the error can be reduced by referring to the REV method scheme 88T, and the phase shift amounts pjmax and pjmin at times tjmax and tjmin can be obtained. The length of the fixed period for the phase shift amount is appropriately determined by considering the magnitude of the error caused by the change in the execution time.

[0358] Explain the actions. Figure 52 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 19. Figure 53 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna using the REV method in the power transmission system that uses a wireless power transmission device to transmit power to a mobile body in the air according to Embodiment 19.

[0359] about Figure 52 In the case of implementation method 18 Figure 49 The differences will be explained. In step S22T, which calculates the element electric field vector of the secondary module 26, the UAV 3T calculates the element electric field vector (phase difference of the radio wave) generated by the radio wave radiated by the element antenna 27j, whose phase is controlled by the phase shifter 29j, using the REV method scheme 88T. In S24T, in order to calculate the phase difference of the electric field vector generated by the power transmission device 1A, the UAV 3T performs the REV method on the primary module 24 in the same manner as in S22T.

[0360] about Figure 53 In the case of implementation method 18 Figure 50The differences will be explained below. Steps S47S and S48S are omitted; instead, steps S55 to S59 are added. Steps S54 to S58 are performed by the UAV 3T. In S54, similar to the case in Embodiment 18, the measurement data analysis unit 311 detects time tjmax and time tjmin. After step S54, in step S55, the phase shift acquisition unit 314, referring to the REV method scheme 88T, detects time tjmax and the phase shift pjmax of the phase shifter 28j. The phase shift pjmin of the phase shifter 28j at time tjmin is also detected.

[0361] In step S56, the element electric field phase calculation unit 315 calculates the phase of the element electric field vector Ej based on the phase shift pjmax and the phase shift pjmin. The average of the phase calculated based on the phase shift pjmax and the phase calculated based on the phase shift pjmin is taken as the phase of the element electric field vector Ej. In step S57, the element electric field amplitude calculation unit 316 calculates the amplitude of the element electric field vector Ej based on the ratio of the maximum value Cjmax to the minimum value Cjmin of the electric field intensity Cj.

[0362] In step S58, the mobile communication unit 301 transmits the element electric field vector Ej to the power transmission control communication unit 204 of the power transmission control device 22S. In step S59, the power transmission control communication unit 204 receives the element electric field vector Ej.

[0363] After S59, in S53, a check is performed to see if there is any unprocessed phase shifter 28.

[0364] In embodiment 19, in addition to the effects achieved in embodiment 17, the amount of data transmitted from the drone 3S is reduced because the REV method is performed by the drone. Furthermore, the element electric field vector Ej can be calculated using the REV method without the power transmission control device 22T.

[0365] In the onboard control unit, before determining the operating phase shift amounts pjmax and pjmin of the operating phase shifter, a process is performed to calculate the element electric field vector Ej based on the phase shift amounts pjmax and pjmin. This process can also be performed by the transmission control unit. In this case, the phase shift amounts pjmax and pjmin are sent from the onboard control unit to the transmission control unit.

[0366] Implementation Method 20.

[0367] Embodiment 20 is a modification of Embodiment 18 to perform the REV method in two stages: low power and normal power. In Embodiment 20, the power transmission control device 22U is changed compared to Embodiment 18. Figure 54 The structure of the power transmission system that transmits power from the wireless power transmission device according to Embodiment 20 to a mobile airborne body will be described. Figure 54 This diagram illustrates the internal structure of the power transmission control device and the onboard control device in the power transmission system that utilizes a wireless power transmission device to transmit power to a moving body in the air, according to Embodiment 20. Regarding... Figure 54 In the case of implementation method 18 Figure 48 The differences will be explained.

[0368] The power transmission control device 22U modifies the data storage unit 201U and the REV method execution unit 202U. The data storage unit 201U stores the low-power ratio 65, the normal power ratio 66, and the usage power ratio 67. The low-power ratio 65 is the ratio of the power of the radiated transmission wave 2 to the rated output during the first execution of the REV method. The low-power ratio 65 is set to less than half (50%), for example, around 20%. The normal power ratio 66 is the ratio of the power of the radiated transmission wave 2 to the rated output during the second execution of the REV method. The normal power ratio 66 is set to a value exceeding half (50%), for example, 80%. The usage power ratio 67 is the power ratio used in the REV method executed in both stages. In the first REV method, the usage power ratio 67 is set to the low-power ratio 65. In the second REV method, the usage power ratio 67 is set to the normal power ratio 66. That is, the REV method scheme 88 has a part executed with low power and a part executed with normal power.

[0369] The REV method execution unit 202U performs the REV method in two stages, referring to the low power ratio 65, the normal power ratio 66, and the usage power ratio 67.

[0370] Explain the actions. Figure 55 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 20. Regarding... Figure 55 In the case of implementation method 18 Figure 49 The differences will be explained.

[0371] Step S61 is added between S36 and S22U. In S61, a low power ratio 65 is set for the power ratio 67.

[0372] In S22U and S24U, electromagnetic waves are radiated using the power specified by the power ratio 67.

[0373] Following S25, steps S62 and S63 are added. In S62, it is checked whether the power usage ratio 67 is equal to the low power ratio 65, i.e., whether the power usage is low power. If the power usage ratio 67 is equal to the low power ratio 65 (yes in S62), in S63, the normal power ratio 66 is set for the power usage ratio 67. After executing S63, the REV method is performed with normal power, therefore, the process returns to S22U. If the power usage ratio 67 is not equal to the low power ratio 65 (no in S62), the process proceeds to S37 to begin power transmission.

[0374] exist Figure 55 In the flowchart shown, the REV method is initially performed at low power. Without the REV method, transmission unit 1A may radiate transmission wave 2 in an undesirable direction. If transmission wave 2 is radiated in the undesirable direction at normal power, unexpected hazards may occur. By initially performing the REV method at low power, even if hazards occur due to the radiation of transmission wave 2 in the undesirable direction, the hazards can be reduced to a level that does not cause problems.

[0375] Using the REV method executed at low power for the first time, the phase shifter is set with the phase offset value obtained by the low-power REV method in steps S23 and S25. Therefore, in the REV method executed at normal power for the second time, it is performed with the phase reference of each component module being quite consistent. That is, after the REV method is executed at low power, the transmission unit 1A can radiate the transmission wave 2 in a direction that is substantially the same as the desired direction. When the REV method is executed at normal power, the possibility of damage caused by the radiation of the transmission wave 2 can be greatly reduced. Since the REV method is executed at normal power, it can be performed under actual operating conditions.

[0376] The REV method is performed in two phases: low power and normal power. This principle can also be applied to other implementation methods. The low power and normal power can also be specified as power values ​​rather than as a ratio relative to the rated power.

[0377] Within the scope of its inventive concept, the present invention allows for free combination of various embodiments, or modification or omission of various embodiments.

[0378] Label Explanation

[0379] 1. 1A Transmission Equipment (Wireless Transmission Equipment)

[0380] 2. Transmission waves (radio waves)

[0381] 3, 3A, 3B, 3C, 3D, 3E, 3F, 3G, 3H, 3J, 3K, 3L, 3M, 3N, 3P, 3Q, 3R, 3S, 3T Unmanned Aerial Vehicles (UAVs)

[0382] 4. 4A, 4B, 4C, 4D Movement Command Device

[0383] 5.5A, 5B, and 5C flight control systems

[0384] 6 Onboard communication antennas

[0385] 7 Wireless Modem

[0386] 8. Power systems for UAVs 8A and 8B

[0387] 9 drive motors

[0388] 10 wireless modems

[0389] 11 communication antennas

[0390] 12 Mobile Communication System

[0391] Mounting devices for 13, 13A, 13B, 13C, 13D, 13E, 13F, 13G, 13H, 13J, 13K, 13L, 13M, 13N, 13P, 13Q, 13R, 13S, and 13T

[0392] 14. Monitor antenna (measuring antenna)

[0393] 15. 15A Detector (Radio Wave Measurement Section)

[0394] Onboard control devices for models 16, 16A, 16B, 16D, 16E, 16F, 16G, 16H, 16J, 16K, 16M, 16N, 16P, 16Q, 16R, 16S, and 16T.

[0395] 17, 17A, 17B, 17D, 17E, 17G, 17S, 17T data storage devices (storage devices)

[0396] 18, 18H Positioning Sensor (Position Measurement Unit)

[0397] 19 energy storage units

[0398] 20a, 20b, 20c load-side converters

[0399] 21, 21D, 21E, 21F, 21G Measurement System Control Device (Radiation Wave Data Generation Unit)

[0400] 21A, 21B, 21H, 21J, 21K, 21L, 21M, 21N, 21P, 21Q Measurement System Control Device

[0401] 22 Power Transmission Control Device

[0402] 22A, 22B, 22C, 22D power transmission control devices (radiation direction determination unit, pointing direction changing unit)

[0403] 22H, 22J, 22K, 22L, 22M, 22R, 22S, 22T, 22U power transmission control devices

[0404] 23 Signal Generation Unit

[0405] 24. 24A Primary Module (Component Module)

[0406] 25 Distribution Circuit

[0407] 26, 26A Secondary Modules (Component Modules)

[0408] 27-element antenna

[0409] 28 phase shifters

[0410] 29 amplifiers

[0411] 30-phase array antenna (Antenna under test, Transmission antenna)

[0412] 31 Pilot Signal

[0413] 32-pilot transmitter (direction signal transmitting unit, direction signal transceiver unit)

[0414] 33 Pilot transmitting antenna (directional signal transmitting section, directional signal transceiver section)

[0415] 34 receiving antennas

[0416] 35 rectifier

[0417] 36 Rectifier-Side Converter

[0418] 37 Pilot antenna (directional signal receiver, directional signal transceiver)

[0419] 38. Arrival direction detection device (radiation direction determination unit)

[0420] 39. Power Transmission Communication System

[0421] 40 Pilot Communication System

[0422] 41-pulse modulation switch

[0423] 42, 42A Communication System Switch

[0424] 43-pulse modulation switch

[0425] 44 detectors

[0426] 45 Measurement and Communication System

[0427] 46 Onboard Communication Unit

[0428] 47 Onboard Communication Antenna

[0429] 48 ground communication antennas

[0430] 49 Ground Communication Unit

[0431] 50 Measurement System Power Cord

[0432] 51 Laser Positioning Device

[0433] Time devices 52, 53, and 54

[0434] 101, 101N, 101P Measurement, Control and Communication Department

[0435] 102, 102Q Data Storage Department

[0436] 103 Measurement and Control Department

[0437] 104 Relative Position Conversion Unit

[0438] 105 Beam Shape Data Generation Unit (Radiated Radio Wave Data Generation Unit)

[0439] 106 Pilot Signal Demodulation Unit

[0440] 107 Communication System Switching Unit

[0441] 108 Location Data Timing Supplement

[0442] 109 Position Detection Data Generation Unit

[0443] 201, 201K, 201R, 201S Data Storage Department

[0444] 202, 202R REV Enforcement Department

[0445] 203 Data Acquisition Command Generation Department

[0446] 204 Transmission Control and Communications Department

[0447] 205 Component Electric Field Calculation Unit

[0448] 206 Phase Offset Value Calculation Unit

[0449] 207 Phase Offset Value Setting Unit

[0450] 208 Radiation Direction Determination Unit

[0451] 209, 209R Radio Wave Radiation Control Unit (Direction Changing Unit)

[0452] 210 Measurement Data Analysis Department

[0453] 211 Phase Shift Acquisition Unit

[0454] 212 Component Electric Field Phase Calculation Unit

[0455] 213 Component Electric Field Amplitude Calculation Section

[0456] 214 Radiation Assessment Department

[0457] 215 Electric Field Calculation Command Generation Department

[0458] 301, 301N, 301P Mobile Communication Department

[0459] 302 Detector Control Section

[0460] 303 Detector Data Timing Supplement (Received Radio Wave Data Timing Supplement)

[0461] 304 Position Detector Data Generation Unit

[0462] 305 Data Acquisition Command Interpretation Department

[0463] 306 Data Generation Department

[0464] 307 Pilot Transmitter Control Unit

[0465] 308 Transmission Signal Demodulation Unit

[0466] 309 Pilot Signal Modulation Section

[0467] 310 Communication System Switching Unit

[0468] 311 Measurement Data Analysis Department

[0469] 312 Electric Field Calculation Command Interpretation Section

[0470] 313 Component Electric Field Calculation Unit

[0471] 314 Phase Shift Acquisition Section

[0472] 315 Component Electric Field Phase Calculation Unit

[0473] 316 Component Electric Field Amplitude Calculation Section

[0474] 70, 70A, 70H band position detection data (radio wave measurement data)

[0475] 71, 71A Beamform Data (Radiated Radio Wave Data)

[0476] 72 Measurement Command

[0477] 73, 73H Detection Data (Received Radio Wave Data)

[0478] 73J detector data (received radio wave data, electric field change data)

[0479] 74, 74H location data (measurement point data)

[0480] Flight Order 75

[0481] 76 Transmission Control Signals

[0482] 77 and 77H measurement data

[0483] 78. Relative position data (relative position data of radio wave source)

[0484] 79 Pilot Transmitter Control Commands

[0485] 80 arrival direction data

[0486] 81 Radiation Direction Data

[0487] 82 laser

[0488] 83 reflected laser

[0489] 85-minute data

[0490] Location of 86 power transmission units

[0491] 87 Data Acquisition Command

[0492] 88, 88T REV method scheme

[0493] 89REV method reference state

[0494] 90-phase operation data

[0495] 91. Component electric field vector (component electric field phase)

[0496] 92 phase offset value

[0497] 93 radiation command value

[0498] 94. Data during the measurement period (measurement period, analysis period)

[0499] 95 Command Communication System Data

[0500] 96 Data Communication System Data

[0501] 97 pilot detection data

[0502] Can 98 radiate data?

[0503] 99 Electric Field Calculation Command

[0504] 61. Maximum and minimum moments (electric field change data)

[0505] 62. Maximum and minimum amplitude values ​​(electric field change data)

[0506] The start time of the 63REV method (the moment of the baseline phenomenon).

[0507] 65 low power ratio

[0508] 66 Typical power ratio

[0509] 67 Power Ratio

Claims

1. A wireless power transmission device, characterized in that, include: A power transmission antenna that uses radiated radio waves to transmit power and can change its pointing direction; The radiation direction determination unit determines the direction in which the power transmission object, i.e., the airborne moving body, 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 the radio wave. The power transmission antenna is a phased array antenna having the following components: A multi-element antenna that radiates the radio waves; as well as The system comprises multiple component modules, including a phase shifter that changes the phase of the transmitted signal and an amplifier that amplifies the transmitted signal. The direction-changing unit controls the phase shift amount of the phase shifter. The phase shift value of each phase shifter is obtained by using the REV method of an airborne mobile body, which is stationary above the transmission antenna and is 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 airborne mobile body equipped with the measuring antenna and the radio wave measuring unit carries: a mobile body timing device that outputs time data synchronized with a ground-based timing device; and a radio wave data receiving timing appender that appends the time data output by the mobile body timing device to the received radio wave data at the time the received radio wave data is measured, thereby generating received radio wave data with a time. The phase offset value is calculated based on the radio wave data during REV method execution. The radio wave data during REV method execution is the radio wave whose phase has been changed by a phase shifter based on the time data output by the ground time device. The radio wave data with time received is measured by the radio wave measurement unit during the execution of REV method.

3. The wireless power transmission device as described in claim 1 or 2, characterized in that, The power transmission antenna has multiple power transmission units, each of which includes: multiple element antennas; a secondary module, which configures each of the determined number of element antennas; and a primary module, which uniformly modifies the phase of the transmitted signals input to the multiple element antennas. In the phase shifter of the secondary module, a phase offset value is determined such that, given the same phase command value provided to each of the secondary modules, the element antennas corresponding to each of the secondary modules can radiate radio waves of the same phase. 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. A power transmission system for transmitting electricity to a moving body in the air, characterized in that, include: A wireless power transmission device, comprising: A power transmission antenna that uses radiated radio waves to transmit power and can change its pointing direction; The radiation direction determination unit determines the direction in which the power transmission object, i.e., the airborne moving body, exists, i.e., the radiation direction. A pointing direction changing unit that directs the pointing direction of the transmission antenna toward the radiation direction; and A transmission signal generation unit generates a transmission signal that is transmitted from the transmission antenna as the radio wave. The power transmission antenna is a phased array antenna having the following components: Multiple element antennas that radiate the radio waves; and The system comprises multiple component modules, each configured for a determined number of the component antennas to change the phase of the transmitted signal, and an amplifier to amplify the transmitted signal. The direction-changing unit controls the phase shift amount of the phase shifter; A power transmission control device that controls the wireless power transmission device; A ground timekeeping device, which is installed on the ground and outputs time data; An airborne mobile body equipped with a measurement antenna, a radio wave measurement unit, a mobile body timing device, a radio wave data receiving timing attachment unit, and a mobile body communication unit; The measuring antenna receives the radio waves radiated by the wireless power transmission device; The radio wave measurement unit measures received radio wave data, including the amplitude and electric field strength of the radio waves received by the measurement antenna. The mobile body timing device outputs time data that is synchronized with the ground timing device; The received radio wave data timing appending unit appends the time data output by the moving body timing device at the time point when the received radio wave data is measured to the received radio wave data, thereby generating received radio wave data with timing. The mobile communication unit communicates with the power transmission control device; and The REV method analysis unit, based on the radio wave data during REV method execution and the REV method scheme, calculates the element electric field phase for each element module. The radio wave data during REV method execution refers to the received radio wave data measured by the radio wave measurement unit during the execution of the REV method scheme. The REV method scheme specifies a phase operation mode in which, in order to execute the REV method, a portion of the phase shifters (i.e., the phase shifters) are repeatedly changed while at least a portion of the element antennas radiate the radio waves. The REV method calculates the phase of the element electric field vector generated by the radio wave radiated by the element antenna providing the transmitted signal output by the element module at the position of the measuring antenna, i.e., the element electric field phase. The power transmission control device includes: a power transmission control communication unit that communicates with the mobile communication unit; and a REV method execution unit that controls the wireless power transmission device based on the REV method scheme. The pointing direction changing unit, based on the element electric field phase of each element module, directs the pointing direction toward the radiation direction while keeping the phase reference of the element modules consistent.

5. The power transmission system for transmitting power to an airborne moving body as described in claim 4, characterized in that, It also includes a receiving antenna mounted on the airborne mobile body equipped with the measuring antenna, which receives the radio waves radiated by the wireless power transmission device.

6. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, The power transmission control device includes the REV method analysis unit. The power transmission control communication unit sends a data acquisition command to the mobile communication unit, indicating that it intends to acquire electric field change data generated based on the radio wave data during the execution of the REV method. The mobile communication unit then receives the electric field change data transmitted by the mobile communication unit according to the data acquisition command. The REV method analysis unit calculates the electric field phase of each element module based on the electric field change data and the REV method scheme.

7. The power transmission system for transmitting power to an airborne moving body as described in claim 6, characterized in that, The electric field change data is the radio wave data during the execution of the REV method. The REV method analysis unit includes: a measurement data analysis unit that analyzes the radio wave data during the execution of the REV method based on the REV method scheme, and detects the phase shift amount at the detection time for each of the operating phase shifters; and a phase shift amount acquisition unit that calculates the phase shift amount of the operating phase shifter at the detection time of the phase shift amount based on the REV method scheme. And a component electric field phase calculation unit, which calculates the component electric field phase based on the operational phase shift.

8. The power transmission system for transmitting power to an airborne moving body as described in claim 6, characterized in that, A measurement data analysis unit is mounted on the airborne mobile body. This unit analyzes the radio wave data during the execution of the REV method during each of multiple analysis periods notified by the data acquisition command, and detects the phase shift detection time during each analysis period. The electric field change data is the time of phase shift detection. The REV method analysis unit includes a phase shift acquisition unit, which calculates the phase shift of the operational phase shifter at the phase shift detection time, i.e., the operational phase shift, based on the REV method scheme. And a component electric field phase calculation unit, which calculates the component electric field phase based on the operational phase shift.

9. The power transmission system for transmitting power to an airborne moving body as described in claim 6, characterized in that, In the REV method scheme, the phase operation mode is represented by one or more reference phenomena at a specified time, and non-reference phenomena that represent time in relative time from any of the reference phenomena. The airborne mobile body is equipped with: Data storage device, which stores the REV method scheme; and The measurement data analysis unit analyzes the radio wave data during the execution of the REV method at the time of the reference phenomenon notified using the data acquisition command and during each of multiple analysis periods set based on the REV method scheme, and detects the phase shift detection time during each of the analysis periods. The electric field change data is the time of phase shift detection. The REV method analysis unit includes a phase shift acquisition unit, which calculates the phase shift of the operational phase shifter at the phase shift detection time, i.e., the operational phase shift, based on the REV method scheme. And a component electric field phase calculation unit, which calculates the component electric field phase based on the operational phase shift.

10. The power transmission system for transmitting power to an airborne moving body as described in any one of claims 7 to 9, characterized in that, The power transmission control device includes a phase operation recording unit, which records the time-varying phase shift of the phase shifter during the execution of the REV method, i.e., the phase operation data. The phase shift acquisition unit calculates the operational phase shift by referring to the phase operation data at the phase shift detection time.

11. The power transmission system for transmitting power to an airborne moving body as described in any one of claims 7 to 9, characterized in that, In the REV method scheme, the phase operation mode is represented by one or more reference phenomena at a specified time, and non-reference phenomena that represent time in relative time from any of the reference phenomena. The phase shift acquisition unit calculates the operational phase shift based on the time of the reference phenomenon, the REV method, and the phase shift detection time.

12. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, In the REV method scheme, the phase operation mode is represented by one or more reference phenomena at a specified time, and non-reference phenomena that represent time in relative time from any of the reference phenomena. The power transmission control communication unit sends an electric field calculation command to the mobile communication unit to determine the electric field phase of the component, and receives the electric field phase of the component sent by the mobile communication unit according to the electric field calculation command. The airborne mobile body is equipped with: A data storage device that stores the REV method scheme; The measurement data analysis unit analyzes the radio wave data during the execution of the REV method based on the time of the reference phenomenon notified using the electric field calculation command and the REV method scheme, and detects the phase shift detection time of each of the operating phase shifters; A phase shift acquisition unit, which calculates the phase shift of the operating phase shifter at the phase shift detection time, i.e., the operating phase shift, based on the time of the reference phenomenon and the REV method scheme; and The REV method analysis unit determines the phase of the element's electric field based on the operational phase shift.

13. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, The phase operation mode is defined such that different phase shifts of the operating phase shifter are obtained for a predetermined duration.

14. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, The REV method execution unit executes the REV method scheme after the radiation direction determination unit determines the radiation direction.

15. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, The REV method utilizes a combination of low power (less than half the rated power) and normal power (more than half the rated power) to change the phase shift of a portion of the phase shifters while at least a portion of the antenna elements radiate the radio waves. The REV method execution unit executes the normal power portion of the REV method scheme based on the element electric field phase of each element module obtained by executing the low-power portion of the REV method scheme, while keeping the phase reference of the element modules consistent.

16. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, It also includes a direction signal transceiver unit, which transmits and receives direction signals emitted by the airborne mobile body in order to notify the direction of existence of the airborne mobile body as seen from the transmission antenna. Choose one of the direction signal transceiver unit and the mobile body communication unit to transmit electric field change data generated based on the radio wave data during the execution of the REV method from the airborne mobile body.

17. The power transmission system for transmitting power to an airborne moving body as described in claim 4 or 5, characterized in that, The phase offset value of each phase shifter is set based on the element electric field phase of each element module.

18. The power transmission system for transmitting power to an airborne moving body as described in claim 16, characterized in that, The mobile communication unit uses a different communication system than the mobile communication system used to control the airborne mobile body, namely a measurement communication system.

19. The power transmission system for transmitting power to an airborne moving body as described in claim 16, characterized in that, The mobile communication unit uses a mobile communication system for controlling the airborne mobile body.

20. The power transmission system for transmitting power to an airborne moving body as described in claim 16, characterized in that, The mobile body communication unit uses a mobile body communication system for controlling the airborne mobile body and a different communication system, namely a measurement communication system. Select one of the directional signal transceiver unit, the mobile body communication system, and the measurement communication system to transmit the electric field change data from the airborne mobile body.

21. A power transmission system for transmitting electricity to a moving body in the air, characterized in that, include: A wireless power transmission device, comprising: A power transmission antenna that uses radiated radio waves to transmit power and can change its pointing direction; The radiation direction determination unit determines the direction in which the power transmission object, i.e., the airborne moving body, exists, i.e., the radiation direction. A pointing direction changing unit that directs the pointing direction of the transmission antenna toward the radiation direction; and A transmission signal generation unit generates a transmission signal that is transmitted from the transmission antenna as the radio wave. The power transmission antenna is a phased array antenna having the following components: Multiple element antennas that radiate the radio waves; and For each of the determined number of said element antennas, there are multiple element modules, each having a phase shifter that changes the phase of the transmitted signal and an amplifier that amplifies the transmitted signal. The direction-changing unit controls the phase shift amount of the phase shifter; A power transmission control device that controls the wireless power transmission device; A ground timekeeping device, which is installed on the ground and outputs time data; An airborne mobile body equipped with a measurement antenna, a radio wave measurement unit, a mobile body timing device, a radio wave data receiving timing attachment unit, and a mobile body communication unit; The measuring antenna receives the radio waves radiated by the wireless power transmission device; The radio wave measurement unit measures received radio wave data, including the amplitude and electric field strength of the radio waves received by the measurement antenna. The mobile body timing device outputs time data that is synchronized with the ground timing device; The received radio wave data timing appending unit appends the time data output by the moving body timing device at the time point when the received radio wave data is measured to the received radio wave data, thereby generating received radio wave data with timing. The mobile communication unit communicates with the power transmission control device; and The directional signal transceiver unit transmits and receives directional signals emitted by the airborne mobile body in order to notify the direction of existence of the airborne mobile body as seen from the transmission antenna. Choose one of the direction signal transceiver unit and the mobile body communication unit to send electric field change data generated based on the radio wave data received at the time of the REV method measured by the radio wave measurement unit during the execution of the REV method to the airborne mobile body.

22. The power transmission system for transmitting power to an airborne moving body as described in claim 21, characterized in that, The mobile communication unit uses a different communication system than the mobile communication system used to control the airborne mobile body, namely a measurement communication system.

23. The power transmission system for transmitting power to an airborne moving body as described in claim 21, characterized in that, The mobile communication unit uses a mobile communication system for controlling the airborne mobile body.

24. The power transmission system for transmitting power to an airborne moving body as described in claim 21, characterized in that, The mobile body communication unit uses a mobile body communication system for controlling the airborne mobile body and a different communication system, namely a measurement communication system. Select one of the directional signal transceiver unit, the mobile body communication system, and the measurement communication system to transmit the electric field change data from the airborne mobile body.

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