Wireless power transfer device

Abstract

In a power transmission device that wirelessly transmits power to a mobile body by a phased array antenna, the accuracy of the REV method is not good because the power transmission direction is fixed when the REV method is executed. The wireless power transmission device of the present invention includes a power transmission antenna (50) having a plurality of element antennas (8) that radiate electric waves (2) and a plurality of element modules (9) that are provided for each of a decided number of the element antennas (8), a phase shifter (13) that changes the phase of a transmission signal that is radiated as the electric waves (2), and an amplifier (14) that amplifies the transmission signal; and a REV method phase control section (27) that changes the phase of the transmission signal in the operating phase shifter so that the phase of the transmission signal is changed by an operating phase shift amount for executing the REV method and a direction change phase shift amount for changing the power transmission direction, so that the operating phase shifter is changed to repeatedly change the phase shift amount of the operating phase shifter that is a part of the phase shifters (13) in a state in which the electric waves are radiated by at least a part of the element antennas (8).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a wireless power transmission device that wirelessly transmits electric power to a mobile object by radio waves. BACKGROUND

[0002] A system that controls the direction of a power transmission microwave beam by controlling microwaves radiated from a plurality of element antennas and performs power transmission has been developed (see Non-Patent Literature 1). This system has been developed with the aim of transmitting electric power to a remote place using radio waves in the microwave band or the like. In this system, an amplitude monopulse method and a Rotating Element Electric Field Vector (REV) method are used for beam control. By using the amplitude monopulse method and the REV method, high-efficiency wireless power transfer using microwaves is achieved. A pilot signal that guides the transmission direction of the power transmission microwaves from the power receiving side is transmitted, and the direction of arrival of the pilot signal is detected using each power transmission pulse according to the amplitude monopulse method, and microwaves are radiated in that direction. According to the REV method, the optical path length difference equivalent to the difference in height between each power transmission pulse is detected and corrected. The beam direction and the radiation pattern of the power transmission microwaves are measured by installing a monitoring antenna on an XY scanner that can move in two dimensions to scan the area where radio waves are radiated.

[0003] A wireless power transmission system that uses a phased array antenna as a power transmission antenna to wirelessly transmit electric power to a mobile object such as a drone has been proposed. In a wireless power transmission device that uses a phased array antenna, the phases of radio waves emitted by each element antenna of the power transmission antenna are controlled to form a power transmission beam in the direction in which a power receiving device of a mobile object exists. In a state in which the phase reference of each element antenna is not uniform, a beam in the transmission direction cannot be formed. A technique has been proposed in which, in order to make the phase references of each element antenna possessed by the phased array antenna uniform before power transmission to a mobile object, the power received by the mobile object while stationary in the air is used to perform calculation using the REV method (see Patent Literature 1). The method of making the phase references of each element antenna uniform using the REV method is a well-known technique (see Patent Literature 2).

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Laid-Open No. 2019-75984

[0007] Patent Literature 2: Japanese Patent Publication No. H1-37882

[0008] NON-PATENT LITERATURE

[0009] Non-Patent Literature 1: Takahashi, K., et al., "Development of High-precision Microwave Beam Steering Device for Implementation of SSPS and Its Technical Verification Test", Technical Report of IEICE, SANE2015-22, pp. 37-42, June 2015. SUMMARY

[0010] PROBLEMS TO BE SOLVED BY THE INVENTION

[0011] In a wireless power transmission device that radiates electric waves from a phased array antenna, i.e., a power transmission antenna, and performs power transmission in a wireless manner, the phases of the electric waves radiated from the respective element antennas are deviated due to various reasons, thereby reducing the power transmission efficiency. If the power transmission efficiency is reduced, the REV method is executed to unify the reference of the phases of the electric waves radiated from the respective element antennas. The REV method is to unify the reference of the phases of the electric waves radiated from the respective element antennas based on the received power strength measured by a measurement antenna fixed in position. In a case where the measurement antenna is mounted on a mobile body that is moving, the reduction in the received power strength caused by the movement of the mobile body is also included in the measurement of the received power strength by the measurement antenna. Therefore, the accuracy of the execution of the REV method is deteriorated. Even after the execution of the REV method, the reference of the phases of the electric waves radiated from the element antennas is not sometimes unified.

[0012] The present disclosure is achieved to solve the above problems, and aims to obtain a wireless power transmission device that can execute the REV method with high accuracy compared to the past in a case where the REV method is executed on a mobile body that is moving.

[0013] TECHNICAL SOLUTION

[0014] The wireless power transmission device according to the present disclosure includes: a power transmission antenna that is a phased array antenna to transmit power by radiating an electric wave, and that is capable of changing a direction of the radiating electric wave, i.e., a radiation direction, the phased array antenna having a plurality of element antennas that radiate the electric wave, and a plurality of element modules each provided for each of a decided number of the element antennas, having a phase shifter that changes a phase of a transmission signal that is radiated as the electric wave, and an amplifier that amplifies the transmission signal; a transmission signal generation section that generates the transmission signal that is radiated as the electric wave from the power transmission antenna; a presence direction determination section that determines a direction in which a mobile body exists, i.e., a presence direction, the mobile body mounting a power reception device that receives the electric wave, a measurement antenna that receives the electric wave, a wave measurement section that measures reception electric wave data including an amplitude of the electric wave received by the measurement antenna, i.e., an electric field intensity, and a mobile body communication machine; a radiation direction changing section that changes the radiation direction of the power transmission antenna toward the presence direction by controlling an amount by which the phase of the transmission signal is changed by the phase shifter, i.e., a phase shift amount; a REV method phase control section that, based on a REV method scheme that defines a phase operation mode, operates the phase shifter to change the phase of the transmission signal by an amount obtained by adding an operation phase shift amount defined by the phase operation mode to a direction change phase shift amount changed by the radiation direction changing section, the phase operation mode repeating the following actions by changing the operation phase shifter in a state in which the electric wave is radiated by at least a part of the element antennas, i.e., changing the phase shift amount of the operation phase shifter that is a part of the phase shifters; a phase reference adjustment section that unifies a phase reference of the transmission signal output from the element modules based on an element electric field phase that is calculated based on electric field variation data, is a phase of an element electric field vector detected by the measurement antenna receiving the electric wave radiated by the element antenna that outputs the transmission signal provided by one of the element modules, and is generated based on reception electric wave data received by the mobile body in a state in which the operation phase shift amount of the operation phase shifter is changed by the REV method phase control section based on the REV method scheme, i.e., REV method execution electric wave data; and a power transmission side communication machine that communicates with the mobile body communication machine.

[0015] Further included are: a power transmission antenna that is a phased array antenna that transmits power using radiated waves, that is capable of changing a position range in three-dimensional space that is a target of the radiated waves, i.e., a radiating target position, that has a plurality of element antennas that radiate the waves, and a plurality of element modules that are provided for each of a determined number of element antennas, that have a phase shifter that changes the phase of a transmission signal that is radiated as a wave, and an amplifier that amplifies the transmission signal; a transmission signal generation section that generates a transmission signal that is radiated as a wave from the power transmission antenna; a presence direction determination section that determines a direction in which a mobile body exists, i.e., a presence direction, the mobile body being equipped with a power receiving device that receives waves, a measurement antenna that receives waves, a wave measurement section that measures received wave data including the amplitude of the waves received by the measurement antenna, i.e., the electric field intensity, and a mobile body communication machine; a mobile body distance measurement section that measures the distance from the power transmission antenna to the mobile body, i.e., a mobile body distance; a radiating target position determination section that determines the radiating target position as a relative position with respect to the position of the power transmission antenna, i.e., a power transmission antenna position, such that it includes a position in three-dimensional space determined by the presence direction and the mobile body distance, i.e., a mobile body position; a radiating target position changing section that changes the radiating target position such that the phase is unified at the radiating target position by controlling the amount of change in the phase of the transmission signal, i.e., the phase shift amount, using the phase shifter; a REV method phase control section that, based on a REV method scheme that defines a phase operation mode, operates the phase shifter to change the phase of the transmission signal by adding an operation phase shift amount defined by the phase operation mode, i.e., an operation phase shift amount, to a direction change phase shift amount changed by the radiating direction changing section, i.e., a direction change phase shift amount, the phase operation mode being repeated by changing the operation phase shifter in a state in which waves are radiated by at least a part of the element antennas, i.e., by changing the phase shift amount of the operation phase shifter that is a part of the phase shifters; a phase reference adjustment section that unifies the phase reference of the transmission signal output from the element module based on an element electric field phase that is calculated based on electric field change data, is the phase of an element electric field vector detected by the measurement antenna receiving waves radiated by the element antenna that outputs the transmission signal provided by one element module, and is generated based on received wave data received by the mobile body in a state in which the operation phase shift amount of the operation phase shifter is changed by the REV method scheme in the REV method phase control section, i.e., REV method execution time wave data; and a power transmission side communication machine that communicates with the mobile body communication machine.

[0016] Effects of Invention

[0017] According to the wireless power transmission device related to the present disclosure, the REV method can be performed with high accuracy compared to the past when the REV method is performed on a moving object that is moving. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a diagram illustrating a structure of a wireless power transmission system that uses the wireless power transmission device related to Embodiment 1 to perform power transmission to a moving object.

[0019] Figure 2 is a diagram illustrating a brief structure of a wireless power transmission system that uses the wireless power transmission device related to Embodiment 1 to perform power transmission to a moving object.

[0020] Figure 3 is a diagram illustrating an operation when a power transmission beam does not track a moving object when the REV method is performed on a moving object that is moving.

[0021] Figure 4 is a diagram illustrating an operation when a power transmission beam tracks a moving object when the REV method is performed on a moving object that is moving.

[0022] Figure 5 is a block diagram illustrating a functional structure of the wireless power transmission device and the moving object related to Embodiment 1.

[0023] Figure 6 is a graph showing a change in the amplitude attenuation ratio γ with respect to the deviation angle δ in the phased array antenna possessed by the wireless power transmission device related to Embodiment 1.

[0024] Figure 7 is a diagram illustrating variables that represent a positional relationship between the moving object and the wireless power transmission device.

[0025] Figure 8 is a flowchart illustrating a power transmission step of performing power transmission to a moving object by the wireless power transmission device related to Embodiment 1.

[0026] Figure 9 is a flowchart illustrating a step of calculating an element electric field vector of an electric wave radiated by each element antenna in the wireless power transmission device related to Embodiment 1 using the REV method.

[0027] Figure 10 is a diagram showing a trajectory of an electric field vector in the process of performing the REV method by the wireless power transmission device related to Embodiment 1 in the operation example.

[0028] Figure 11 is a diagram showing a time change in the amplitude and phase of an electric field vector in the process of performing the REV method by the wireless power transmission device related to Embodiment 1 in the operation example.

[0029] Figure 12 is a graph showing a locus of an electric field vector when the REV method is being executed, obtained in a case where a moving body is not tracked in the execution of the REV method as a comparative example.

[0030] Figure 13 is a graph showing time variations of an amplitude and a phase of an electric field vector in the execution of the REV method obtained in the comparative example.

[0031] Figure 14 is a graph showing a comparison of time variations of an amplitude of an electric field vector in the execution of the REV method obtained in the wireless power transmission device according to Embodiment 1 and the comparative example in the action example.

[0032] Figure 15 is a graph showing a phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example in the action example.

[0033] Figure 16 is a graph showing a comparison of absolute values of amplitudes of corrected electric field vectors in the wireless power transmission device according to Embodiment 1 and the comparative example in the action example.

[0034] Figure 17 is a graph showing a phase error pattern for investigating an influence of a phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example.

[0035] Figure 18 is a graph showing a comparison of amplitudes and power values of corrected electric field vectors in the wireless power transmission device according to Embodiment 1 and the comparative example with respect to a variation in a moving speed of a moving body, with respect to three patterns of phase errors.

[0036] Figure 19 is a graph showing a phase error pattern for investigating an influence of a phase error size in the wireless power transmission device according to Embodiment 1 and the comparative example.

[0037] Figure 20 is a graph showing a comparison of amplitudes and power values of corrected electric field vectors in the wireless power transmission device according to Embodiment 1 and the comparative example with respect to a variation in a moving speed of a moving body, with respect to a size of a phase error.

[0038] Figure 21 is a graph showing a comparison of amplitudes and power values of corrected electric field vectors in the wireless power transmission device according to Embodiment 1 and the comparative example with respect to a variation in a moving speed of a moving body, with respect to a direction in which the moving body exists at a time point at which the REV method is started.

[0039] Figure 22is a graph showing a comparison between an angle difference between a direction in which a mobile body exists at a time point at which a REV method is started and a moving direction of the mobile body, and a change in an amplitude and a power value of a corrected electric field vector with respect to a moving speed of the mobile body in the wireless power transmission device according to Embodiment 1 and the comparative example.

[0040] Figure 23 is a graph showing a brief structure of a wireless power transmission system in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 2.

[0041] Figure 24 is a block diagram showing functional structures of the wireless power transmission device according to Embodiment 2 and the mobile body.

[0042] Figure 25 is a flowchart showing a power transmission step in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 2.

[0043] Figure 26 is a schematic diagram showing a structure of a wireless power transmission system in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 3.

[0044] Figure 27 is a graph showing a brief structure of a wireless power transmission system in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 3.

[0045] Figure 28 is a block diagram showing functional structures of the wireless power transmission device according to Embodiment 3 and the mobile body.

[0046] Figure 29 is a graph showing a change in an amplitude attenuation ratio γ with respect to a deviation angle δ in a phased array antenna possessed by the wireless power transmission device according to Embodiment 3.

[0047] Figure 30 is a flowchart showing a power transmission step in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 3.

[0048] Figure 31 is a flowchart showing a step of returning a power transmission direction to an appropriate angle range in a power transmission step in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 3.

[0049] Figure 32 is a graph showing a brief structure of a wireless power transmission system in which the mobile body is transmitted power using the wireless power transmission device according to Embodiment 4.

[0050] Figure 33 is a block diagram showing functional structures of the wireless power transmission device according to Embodiment 4 and the mobile body.

[0051] Figure 34 FIG. 18 is a flowchart illustrating a power transmission step of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 4.

[0052] Figure 35 FIG. 19 is a flowchart illustrating a step of calculating an element electric field vector of an electric wave radiated from each element antenna in the wireless power transmission device according to Embodiment 4 using the REV method.

[0053] Figure 36 FIG. 20 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 5.

[0054] Figure 37 FIG. 21 is a flowchart illustrating a power transmission step of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 5.

[0055] Figure 38 FIG. 22 is a diagram illustrating a structure of a wireless power transmission system of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 6.

[0056] Figure 39 FIG. 23 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 6.

[0057] Figure 40 FIG. 24 is a block diagram illustrating a functional structure of the wireless power transmission device and the mobile body according to Embodiment 6.

[0058] Figure 41 FIG. 25 is a flowchart illustrating a power transmission step of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 6.

[0059] Figure 42 FIG. 26 is a diagram illustrating a structure of a wireless power transmission system of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 7.

[0060] Figure 43 FIG. 27 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 7.

[0061] Figure 44 FIG. 28 is a block diagram illustrating a functional structure of the wireless power transmission device and the mobile body according to Embodiment 7.

[0062] Figure 45 FIG. 29 is a flowchart illustrating a power transmission step of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 7.

[0063] Figure 46is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 8.

[0064] Figure 47 is a flowchart illustrating steps of calculating element electric field vectors of electric waves radiated from the element antennas by the REV method in the wireless power transmission device according to Embodiment 8.

[0065] Figure 48 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 9.

[0066] Figure 49 is a flowchart illustrating steps of calculating element electric field vectors of electric waves radiated from the element antennas by the REV method in the wireless power transmission device according to Embodiment 9.

[0067] Figure 50 is a schematic diagram illustrating a structure of a wireless power transmission system using the wireless power transmission device according to Embodiment 10 to transmit power to the mobile body.

[0068] Figure 51 is a diagram illustrating a brief structure of a wireless power transmission system using the wireless power transmission device according to Embodiment 10 to transmit power to the mobile body.

[0069] Figure 52 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 10.

[0070] Figure 53 is a diagram showing an example of a case where a difference between a distance Gp from the element antenna 8p to the radiation target position P T and a distance G from the power transmission device position P S to the radiation target position P T occurs in the wireless power transmission device and the mobile body according to Embodiment 10.

[0071] Figure 54 is a graph showing a change in the amplitude attenuation ratio γ with respect to the deviation angle δ in the phased array antenna (L = 1800 mm) possessed by the wireless power transmission device according to Embodiment 10.

[0072] Figure 55 is a graph showing a change in the amplitude attenuation ratio γ with respect to the deviation distance G in the phased array antenna (L = 1800 mm) possessed by the wireless power transmission device according to Embodiment 10.

[0073] Figure 56 is a graph showing a change in the amplitude attenuation ratio γ with respect to the deviation angle δ in the phased array antenna (L = 600 mm) possessed by the wireless power transmission device according to Embodiment 10.

[0074] Figure 57 is a graph showing the change in the amplitude attenuation ratio γ with respect to the deviation distance G in the phased array antenna (L = 600 mm) possessed by the wireless power transmission device according to Embodiment 10.

[0075] Figure 58 is a graph showing an example of setting the radiation target position according to the position of the moving body that moves in the wireless power transmission device according to Embodiment 10.

[0076] Figure 59 is a graph showing another example of setting the radiation target position according to the position of the moving body that moves in the wireless power transmission device according to Embodiment 10.

[0077] Figure 60 is a flowchart illustrating the power transmission step of performing power transmission to the moving body by the wireless power transmission device according to Embodiment 10.

[0078] Figure 61 is a flowchart illustrating the step of calculating the element electric field vector of the electric wave radiated by each element antenna in the wireless power transmission device according to Embodiment 10 using the REV method.

[0079] Figure 62 is a graph showing the phase shift offset value and the residual phase error after correction obtained in the wireless power transmission device according to Embodiment 10 and the comparative example in the operation example where L = 1800 mm.

[0080] Figure 63 is a graph comparing the absolute value of the amplitude of the corrected electric field vector in the wireless power transmission device according to Embodiment 10 and the comparative example in the operation example where L = 1800 mm.

[0081] Figure 64 is a graph showing the phase shift offset value and the residual phase error after correction obtained in the wireless power transmission device according to Embodiment 10 and the comparative example in the operation example where L = 600 mm.

[0082] Figure 65 is a graph comparing the absolute value of the amplitude of the corrected electric field vector in the wireless power transmission device according to Embodiment 10 and the comparative example in the operation example where L = 600 mm.

[0083] Figure 66 is a graph showing the absolute value of the amplitude of the corrected electric field vector with respect to the change in the interval L from the element antenna in the wireless power transmission device according to Embodiment 10 and the comparative example in the operation example in some cases of the power transmission direction ψ0.

[0084] Figure 67FIG. 10 is a graph showing the absolute value of the amplitude of the corrected electric field vector with respect to the change in the element antenna interval L in the wireless power transmission device according to Embodiment 10 and the comparative example in some cases of the moving speed V0 of the moving body in the action example.

[0085] Figure 68 FIG. 11 is a graph showing the absolute value of the amplitude of the corrected electric field vector with respect to the change in the element antenna interval L in the wireless power transmission device according to Embodiment 10 and the comparative example in some cases of the moving direction ξ0 of the moving body in the action example.

[0086] Figure 69 FIG. 12 is a graph showing the absolute value of the amplitude of the corrected electric field vector with respect to the change in the element antenna interval L in the wireless power transmission device according to Embodiment 10 and the comparative example in some cases of the moving direction ξ0 of the moving body in the action example.

[0087] Figure 70 FIG. 13 is a graph showing the absolute value of the amplitude of the corrected electric field vector with respect to the change in the element antenna interval L in the wireless power transmission device according to Embodiment 10 and the comparative example in some cases of the moving direction ξ0 of the moving body in the action example.

[0088] Figure 71 FIG. 14 is a schematic diagram illustrating the structure of a wireless power transmission system that performs power transmission to a moving body using the wireless power transmission device according to Embodiment 11.

[0089] Figure 72 FIG. 15 is a diagram illustrating a brief structure of a wireless power transmission system that performs power transmission to a moving body using the wireless power transmission device according to Embodiment 11.

[0090] Figure 73 FIG. 16 is a block diagram illustrating the functional structure of the wireless power transmission device according to Embodiment 11 and the moving body.

[0091] Figure 74 FIG. 17 is a flowchart illustrating the power transmission steps of performing power transmission to a moving body using the wireless power transmission device according to Embodiment 11.

[0092] Figure 75 FIG. 18 is a schematic diagram illustrating the structure of a wireless power transmission system that performs power transmission to a moving body using the wireless power transmission device according to Embodiment 12.

[0093] Figure 76 FIG. 19 is a diagram illustrating a brief structure of a wireless power transmission system that performs power transmission to a moving body using the wireless power transmission device according to Embodiment 12.

[0094] Figure 77 FIG. 20 is a block diagram illustrating the functional structure of the wireless power transmission device according to Embodiment 12 and the moving body.

[0095] Figure 78 FIG. 13 is a flowchart illustrating a power transmission step of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 13.

[0096] Figure 79 FIG. 14 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 13.

[0097] Figure 80 FIG. 15 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 13.

[0098] Figure 81 FIG. 16 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 13.

[0099] Figure 82 FIG. 17 is a flowchart illustrating a power transmission step of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 13.

[0100] Figure 83 FIG. 18 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 14.

[0101] Figure 84 FIG. 19 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 14.

[0102] Figure 85 FIG. 20 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 14.

[0103] Figure 86 FIG. 21 is a flowchart illustrating a power transmission step of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 14.

[0104] Figure 87 FIG. 22 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 15.

[0105] Figure 88 FIG. 23 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting power to a mobile body by using the wireless power transmission device according to Embodiment 15.

[0106] Figure 89 FIG. 24 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 15.

[0107] Figure 90is a flowchart illustrating a power transmission step of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 15.

[0108] Figure 91 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 16.

[0109] Figure 92 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 16.

[0110] Figure 93 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile object according to Embodiment 16.

[0111] Figure 94 is a flowchart illustrating a power transmission step of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 16.

[0112] Figure 95 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 17.

[0113] Figure 96 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 17.

[0114] Figure 97 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile object according to Embodiment 17.

[0115] Figure 98 is a flowchart illustrating a power transmission step of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 17.

[0116] Figure 99 is a schematic diagram illustrating a structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 18.

[0117] Figure 100 is a diagram illustrating a brief structure of a wireless power transmission system of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 18.

[0118] Figure 101 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile object according to Embodiment 18.

[0119] Figure 102 is a flowchart illustrating a power transmission step of transmitting electric power to a mobile object by using the wireless power transmission device according to Embodiment 18.

[0120] Figure 103 is a schematic diagram illustrating a structure of a wireless power transmission system using the wireless power transmission device according to Embodiment 16 to transmit power to a mobile body.

[0121] Figure 104 is a diagram illustrating a brief structure of a wireless power transmission system using the wireless power transmission device according to Embodiment 19 to transmit power to a mobile body.

[0122] Figure 105 is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 19.

[0123] Figure 106 is a flowchart illustrating a power transmission step of transmitting power to a mobile body by the wireless power transmission device according to Embodiment 19. DETAILED DESCRIPTION

[0124] Embodiment 1.

[0125] Figure 1 is a schematic diagram illustrating a structure of a wireless power transmission system using the wireless power transmission device according to the present disclosure to transmit power to a mobile body. The wireless power transmission device 1 wirelessly supplies power (transmits power) to a mobile body 60 (for example, a mobile body that moves in the air using a drone or another unmanned object) by a power transmission wave 2 such as a microwave. The wireless power transmission device 1 has a power transmission antenna 50 that transmits the power transmission wave 2 and a control device 10. The power transmission antenna 50 is a phased array antenna. The control device 10 controls the power transmission antenna 50. The mobile body 60 has a power receiving device 3 under it. The power receiving device 3 receives the power transmission wave 2 and converts it into power. The power transmitted by the power transmission wave 2 is consumed by the mobile body 60. The mobile body 60 has a pilot transmitter 5 that transmits a pilot signal 4. The pilot signal 4 is transmitted to inform the wireless power transmission device 1 of a direction in which the mobile body 60 (strictly speaking, the power receiving device 3) exists. The wireless power transmission device 1 has a pilot antenna 6 that receives the pilot signal 4 and an arrival direction detection device 7 that finds an arrival direction of the pilot signal 4 (not shown). The wireless power transmission device 1 radiates the power transmission wave 2 in a direction toward the arrival direction. In order to perform communication necessary to perform the REV method, the mobile body 60 is provided with a mobile body communication machine 20, and the wireless power transmission device 1 is provided with a communication machine 30. The pilot antenna 6 is provided, for example, at the center of an opening surface of the power transmission antenna 50. The arrival direction is also a direction in which the mobile body 60 exists when viewed from the wireless power transmission device 1, that is, an existence direction. The arrival direction detection device 7 is an existence direction decision section that decides the existence direction. The mobile body communication machine 20 and the communication machine 30 communicate by a wave. The wave used for the communication is called a communication wave. Figure 2 The structure of the wireless power transmission device 1 and the mobile body 60 is described with reference to FIG. 1.

[0126] Reference Signs Figure 2 The structure of the wireless power transmission device 1 and the mobile body 60 is described with reference to FIG. 1.Figure 2 is a diagram illustrating a brief configuration of a wireless power transmission system that performs power transmission to a mobile body using the wireless power transmission device according to Embodiment 1.

[0127] The wireless power transmission device 1 radiates a power transmission wave 2 to the mobile body 60 through a power transmission antenna 50. The power transmission antenna 50, which is a phased array antenna, has a plurality of element antennas 8, an element module 9 provided for each element antenna 8, a transmission signal generation section 11, and a distribution circuit 12. The element antenna 8 radiates an element wave 2E (not shown) whose phase and amplitude are adjusted. The element antennas 8 are arranged in a two-dimensional lattice shape at a decided interval. Each element antenna 8 radiates the element wave 2E having a phase difference corresponding to the interval from the adjacent element antenna 8. Then, as the entire power transmission antenna 50, the power transmission wave 2 (also referred to as a power transmission beam) is radiated in a power transmission direction. The element wave 2E radiated by the element antenna 8 is a part of the power transmission wave 2. The element antenna 8 radiates the power transmission wave 2.

[0128] The power transmission direction is a radiating direction of the power transmission beam radiated from the power transmission antenna 50. The power transmission direction is decided as a direction toward a direction (existence direction) in which the mobile body 60 exists. The element module 9 adjusts the phase and amplitude of the element transmission signal supplied to the element antenna 8. The transmission signal generation section 11 generates the element transmission signal of each element antenna 8 p as the element wave 2E p radiated at a decided frequency. The distribution circuit 12 distributes the transmission signal generated by the transmission signal generation section 11 and inputs it to each element module 9. The wireless power transmission device 1 has a control device 10 for controlling each element module 9.

[0129] Each element module 9 has a phase shifter 13 and an amplifier 14. The phase shifter 13 changes the phase of the transmission signal only by an instructed value. The phase shifter 13 changes the phase discretely at a decided step. The step at which the phase is changed, that is, the phase resolution is decided by the number of bits that the phase shifter 13 can use to express the phase value. The phase shifter 13 is provided as a 7-bit phase shifter. The phase shifter 13 rotates the phase at a step of 360° / 2 7 = 360° / 128 = 2.8125°. The phase shifter 13 can also be a device that changes the phase continuously. The amplifier 14 amplifies the transmission signal at a specified amplification rate. The control device 10 has a timepiece device 15, and the mobile body 60 has a timepiece device 16. The timepiece device 15 and the timepiece device 16 acquire time synchronization with the required accuracy. For example, a GPS receiver can be used for the timepiece device 15 and the timepiece device 16.

[0130] The mobile body 60 has the power receiving device 3, the pilot transmitter 5, the monitoring antenna 17, the detector 18, the on-board control device 19, the data storage device 21, and the mobile body communication machine 20. The monitoring antenna 17 is an antenna for measuring the amplitude and the like of the power transmission wave 2. The monitoring antenna 17 is a measurement antenna that receives the wave radiated by the power transmission device 1. The detector 18 detects the wave received by the monitoring antenna 17 and measures the phase and the amplitude of the wave. The detector 18 generates detection data 71. The detection data 71 is data indicating the phase and the amplitude of the wave received by the monitoring antenna 17. The detection data 71 is associated with the time of measurement. The time of measurement is time data 72 output by the time device 16 at the point of measurement. The on-board control device 19 controls the detector 18 and manages the detected detection data 71. The data storage device 21 is a storage device that stores the detection data 71 and the like. The mobile body communication machine 20 is a communication machine that communicates with the control device 10.

[0131] The wireless power transmission device 1 includes the pilot antenna 6 and the direction of arrival detection device 7 to receive the pilot signal 4 and decide the direction of arrival. The pilot antenna 6 receives the pilot signal 4 and generates a pilot reception signal. The pilot antenna 6 has directivity.

[0132] The direction of arrival detection device 7 has a pilot antenna support 22, a pilot antenna control section 23, and a pilot receiver 24. The pilot antenna support 22 supports the pilot antenna 6 so that the directivity direction of the pilot antenna 6 can be changed. The pilot antenna control section 23 controls the pilot antenna support 22 so that the directivity direction of the pilot antenna 6 is directed toward the direction of arrival of the pilot signal 4. The pilot reception signal is input to the pilot receiver 24. The pilot receiver 24 processes the pilot reception signal by monopulse angle finding and outputs a monopulse error signal indicating the difference between the direction of arrival of the pilot signal 4 and the directivity direction of the pilot antenna 6. The pilot antenna control section 23 decides a command value of the directivity direction of the pilot antenna 6 so that the monopulse error signal approaches zero. The pilot antenna control section 23 controls the pilot antenna support 22 so that the difference between the command value and the actual directivity direction of the pilot antenna 6 approaches zero. The command value of the directivity direction of the pilot antenna 6 is parallel to or has a slight error from the direction of arrival of the pilot signal 4. Therefore, the pilot antenna control section 23 notifies the control device 10 of the command value of the directivity direction of the pilot antenna 6 as the direction of arrival of the pilot signal 4. The control device 10 controls so that the wireless power transmission device 1 radiates the power transmission wave 2 in the direction toward the direction of arrival. In addition, the pilot signal 4 arrives from the direction in which the mobile body 60 exists, and therefore the direction of arrival of the pilot signal 4 is the direction of existence of the mobile body 60. The direction of arrival detection device 7 is an existence direction decision section that decides the direction of existence in which the mobile body exists.

[0133] The conventional REV method is executed while the position of a measuring antenna for receiving a power transmission wave radiated from the power transmission antenna is fixed. Therefore, the amount of phase shift of a part of the phase shifters is changed while the power transmission beam is fixed in the direction in which the measuring antenna exists. Conventionally, even when the mobile body 60 moves, the REV method is executed by fixing the direction of the power transmission beam. When the REV method is executed by fixing the direction of the power transmission beam, the power received by the measuring antenna changes due to the movement of the mobile body 60, and the accuracy of the REV method deteriorates.

[0134] Referring to Figure 3 and Figure 4 , the operation when the REV method is executed for a mobile body that is moving and when the power transmission beam tracks the mobile body and when the power transmission beam does not track the mobile body is described. Figure 3 is a case in which the power transmission beam does not track the mobile body, Figure 4 is a case in which the power transmission beam tracks the mobile body. In Figure 3 and Figure 4 , the upper side indicates the time variation of the direction in which the mobile body exists (referred to as the mobile body direction) and the direction of power transmission (the direction in which the power transmission beam is radiated), and the lower side indicates the time variation of the received power measured by the measuring antenna. The case in which the power transmission beam does not track the mobile body is described. The case in which the power transmission beam tracks the mobile body is described in Figure 3 . From the time at which the previous REV method was executed, the phase error of each element changes with the passage of time, an error is generated in the beam forming of the power transmission wave, and the received power decreases. When the received power is less than a threshold value, the REV method is executed again. The threshold value can be determined based on the received power after the REV method is executed, or can be a fixed value that is independent of the received power. The period indicated by the reference numeral 90 is a period in which the REV method is executed.

[0135] The mobile body direction 91 changes smoothly with the passage of time. During the period in which the REV method is not executed, the power transmission direction 92 is controlled so that the difference between the power transmission direction 92 and the mobile body direction 91 becomes small. Since the phase shifters 13 change the phase discretely, the power transmission direction 92 changes in steps. In Figure 3 , during the period 90 in which the REV method is executed, the power transmission direction 92 is fixed in the mobile body direction at the time point at which the REV method is started. In addition, during the period 90 in which the REV method is executed, the power transmission direction 92 can be fixed in a direction different from the mobile body direction at the time point at which the REV method is started. In Figure 4 , in the case in which the power transmission beam tracks the mobile body even during the execution of the REV method, the power transmission direction 92A also changes in steps during the period 90 in which the REV method is executed so that the difference from the mobile body direction 91 decreases.

[0136] In the REV method, the phase is changed by the element wave 2E radiated from a part of the element antennas 8. Therefore, the power receiving intensity 93 measured by the measurement antenna varies during the period 90 in which the REV method is performed. When the period 90 in which the REV method is performed ends, the phase error of the element wave 2E radiated by each element antenna 8 p is reduced, and therefore the power receiving intensity 93 becomes a value greater than the previous value during the period 90. p

[0137] In the case where the power receiving intensity 93 varies during the period 90 in which the REV method is performed, the moving average value is reduced. The reason for this is that, since the power transmission direction 93 does not track the moving body direction 91, the power transmission direction 93 deviates from the moving body direction 91. Therefore, during the period 90 in which the REV method is performed, the power receiving intensity 93 is reduced. Figure 3

[0138] On the other hand, in the case where the power receiving intensity 93A does not vary during the period 90 in which the REV method is performed, since the power transmission direction 92A tracks the moving body direction 91, the moving average value of the power receiving intensity 93A is not reduced during the period 90 in which the REV method is performed. In addition, since the adjustment accuracy of the phase error is improved by the REV method, the power receiving intensity 93A after the REV method is performed is greater than the received intensity 93. Figure 4

[0139] In the case where the power transmission direction is fixed during the process of performing the REV method, since the adjustment accuracy of the phase error is poor by the REV method, the power receiving intensity 93 after the REV method is performed is less than the power receiving intensity 93A shown in FIG. 9. Therefore, the period until the power receiving intensity becomes below the threshold value is shorter than in the case where the power transmission direction tracks the moving body 60 during the process of performing the REV method. Therefore, the period in which the REV method is performed is shortened. Since the power transmission capability is reduced during the process of performing the REV method, if the REV method is frequently performed, the power transmission efficiency is reduced. Figure 3 Figure 4 As shown in FIG. 10, in the wireless power transmission device 1, the power transmission beam also tracks the moving body 60 during the process of performing the REV method. Referring to FIG. 11, the functional structure of the wireless power transmission device 1 and the moving body 60 will be described.

[0140] Figure 4 Figure 5 Figure 5 ​​​​​​​is a block diagram illustrating functional structures of the wireless power transmission device and the mobile body according to Embodiment 1. The control device 10 generates a data acquisition command 73 to be transmitted to the mobile body 60. The data acquisition command 73 is a command for instructing the on-board control device 19 to acquire electric field variation data. The electric field variation data is data indicating a variation of an electric field vector measured by the monitoring antenna 17 by executing the REV method. The electric field vector is a vector indicating an amplitude and a phase of the power transmission wave 2. The data acquisition command 73 is transmitted from the control device 10 to the on-board control device 19 mounted on the mobile body 60. When the data acquisition command 73 is received, the on-board control device 19 sets a measurement period designated by the data acquisition command 73. The measurement period is set within a predetermined REV method scheme 74 (described later) period. The measurement period can be one period, or can be divided into a plurality of periods. The detector 18 measures the electric field vector of the wave received by the monitoring antenna 17 during a period including at least the measurement period. The electric field vector can be measured as a vector indicated by the amplitude and the phase, or only the amplitude of the electric field vector can be measured. The amplitude of the electric field vector is referred to as the electric field intensity. The data acquisition command 73 can be transmitted, for example, within each measurement period.

[0141] The REV method scheme 74 is data for specifying a pattern of a variation amount of the phase (phase shift amount) in each phase shifter 13 in order to execute the REV method. In addition, the REV method scheme 74 can vary the phase shift amount of the phase shifter 13 one by one, or can vary the phase by the same phase shift amount in a plurality of phase shifters 13. In the REV method scheme 74, the element wave 2E can be radiated from all of the element antennas 8, or can be radiated from a part of the element antennas 8. The REV method scheme 74 can specify a phase operation pattern. The phase operation pattern is a pattern of repeatedly varying the phase shift amount of a part of the phase shifters 13 in a state where a part of the element antennas 8 radiate the element wave 2E. The phase shifter 13 that varies the phase shift amount is referred to as an operation phase shifter.

[0142] In the wireless power transmission device 1, the radiation direction is varied along a direction in which the mobile body 60 exists, following the moving mobile body 60, while the phase of the wave radiated by a part of the element antennas 8 for the REV method is varied. A value obtained by adding the phase shift amount (operation phase shift amount) specified in the REV method scheme 74 to an operation amount (direction change phase shift amount) for changing the radiation direction toward the moving mobile body 60 becomes a phase command value of each phase shifter 13. The control device 10 provides a command value to each element module 9, that is, each phase shifter 13 and each amplifier 14, to perform control.

[0143] The airborne control unit 19 adds the measured time data 72 to the electric field vector measured by the detector 18 to generate detection data 71. The detection data 71 measured by the detector 18 during the execution of the REV method scheme 74 is called the REV method execution radio wave data. The detection data 71 represents the change in the electric field vector measured by the monitoring antenna 17. The detection data 71 measured at least during the measurement period is stored in the data storage device 21. The detection data 71 measured during the execution of the REV method scheme 74 is sent from the airborne control unit 19 to the control unit 10. The data sent from the moving body 60 for the control unit 10 to determine the element electric field vector is electric field change data. In this embodiment 1, the REV method execution radio wave data, i.e., the detection data 71, is electric field change data.

[0144] In the REV method, to unify (calibrate) the phase reference of each element module 9, the phase shift of a portion of the phase shifters 13 is changed while at least a portion of the element antennas 8 are radiating element radio waves 2E. The monitoring antenna 17 repeatedly measures the change in the electric field vector. The phase shift is the amount by which the phase of the signal output from the phase shifter 13 changes from the phase of the input signal. The element electric field vector is calculated for each element antenna 8 based on the change in the electric field vector. The element electric field vector is the electric field vector generated at the location of the monitoring antenna 17 by the element radio waves 2E radiated by the element antennas 8, where the element antennas 8 provide the transmitted signal output by one element module 9. The monitoring antenna 17 detects the element electric field vector by receiving the element radio waves 2E. In the element electric field vector, the monitoring antenna 17 receives and detects the electric field vector generated by each element antenna. p 8. Radiation of components, electromagnetic waves 2E p .

[0145] The control device 10 calculates a phase shift offset value 77 based on the phase of the element electric field vector of each element antenna 8 to unify the phase reference of each phase shifter 13. The calculated phase shift offset value 77 is set in each phase shifter 13. Additionally, the amplification rate of each amplifier 14 can be adjusted according to the amplitude ratio of the element electric field vector of each element antenna 8 to unify the amplitude of the element electric field vector. It is possible to calculate only the element electric field phase, which is the phase of the element electric field vector, instead of the element electric field vector itself.

[0146] The control device 10 includes a timing device 15, a data storage unit 25, a REV method requirement determination unit 26, a REV method execution unit 27, a data acquisition command generation unit 28, a component electric field calculation unit 29, a communication unit 30, a phase offset value calculation unit 31, a phase offset value setting unit 32, a radiation direction determination unit 33, and a radio wave radiation control unit 34. The component electric field calculation unit 29 includes a measurement data analysis unit 35, an operation phase shift acquisition unit 36, and a component electric field vector calculation unit 37.

[0147] The data storage section 25 stores data required for performing the REV method and data required for the control device 10 to transmit electric power to the mobile body 60. The REV method necessity determination section 26 determines whether or not the REV method is necessary. The REV method execution section 27 controls the element modules 9 during execution of the REV method. The data acquisition command generation section 28 generates a data acquisition command 73 that notifies the mobile body 60 of the start of execution of the REV method. The communicator 30 communicates with the mobile body communicator 20 possessed by the mobile body 60. The element electric field calculation section 29 calculates the element electric field vectors radiated by the element antennas 8 p Element electric waves 2E radiated p Element electric field vectors generated. The phase shift value calculation section 31 calculates the phase shift values set in the phase shifters 13 from the element electric field vectors. The radiation direction determination section 33 determines the radiation direction from the direction of arrival of the pilot signal 4. The electric wave radiation control section 34 controls the modules 9 to radiate the electric power transmission wave 2 in the radiation direction. The direction of arrival is the direction in which the mobile body 60 exists.

[0148] The phase shift value is a value subtracted from the phase command value supplied to the phase shifter 13. The phase shifter 13 changes the phase by only the amount after the phase command value is subtracted by the phase shift value. Therefore, the amount of change in the phase in the transmission signal actually output from the phase shifter 13 is the value after the phase command value is subtracted by the phase shift value. By subtracting the phase shift value from the phase command value, when the same phase command value is supplied to each of the element modules 9, the element antennas 8 p Element electric waves 2E capable of being radiated with the same phase p .

[0149] The element antennas 8 are controlled by the REV method p Element electric waves 2E radiated p The phase difference between the element electric field vectors generated by the REV method is determined. The REV method changes the phase of the element electric wave 2E radiated by a certain one of the element antennas 8, and measures the change in the amplitude (electric field intensity) of the electric field vector of the electric wave received by the monitoring antenna 17. Detection data 71 including at least the measured electric field intensity is transmitted to the control device 10 by the mobile body communicator 20. Time data 72 indicating the time of measurement is added to the detection data 71.

[0150] The control device 10 calculates the phase difference between the element electric field vector of the electric wave radiated by the element antenna 8 corresponding to each of the element modules 9 and the electric field vector (synthetic electric field vector) of the electric power transmission wave 2 obtained by synthesizing the element electric waves 2E radiated by all of the element antennas 8, from the change in the amplitude of the electric field vector transmitted by the received detection data 71. The control device 10 calculates the phase shift value set in each of the phase shifters 13 from the phase difference between the element electric field vector and the synthetic electric field vector.

[0151] Element antenna 8 p Radiated element electric wave 2E p The phase difference between the generated element electric field vectors is caused by a difference in path length inside the wireless power transmission device 1, a difference in distance between each element antenna 8 and the monitoring antenna 17, a change in the environment around the wireless power transmission device 1, and the like. Before the wireless power transmission device 1 is used, the phase difference caused by the difference in path length inside the wireless power transmission device 1 is found and corrected. In the electric wave frequency circuit, there are phase error components such as a difference in temperature characteristics in addition to the difference in path length, and thus the phase difference changes depending on the temperature of the wireless power transmission device 1. The change in the environment around the wireless power transmission device 1 is, for example, an influence of a structure existing around the wireless power transmission device 1, a change in atmospheric conditions in which the electric power transmission wave 2 is transmitted, and the like. The power transmission efficiency decreases due to the phase difference caused by the change in the environment around the wireless power transmission device 1. When the power transmission efficiency decreases, the REV method is implemented to find the phase difference and correct it. Thus, the power transmission efficiency of the wireless power transmission device 1 can be restored to the original value.

[0152] The data storage section 25 stores the REV method scheme 74, the detection data 71, the phase operation data 75, the element electric field vectors 76, the phase shift values 77, the direction of arrival data 78, the radiation direction data 79, and the radiation instruction values 80.

[0153] The REV method scheme 74 specifies the order of the phase shifters 13 in which the phase shift amount is changed to perform the REV method, and a pattern of change in the time in which the phase shift amount is changed in each phase shifter 13, that is, a phase operation pattern. A value obtained by adding the direction changing phase shift amount for the power transmission in the power transmission direction to the operation phase shift amount decided by the REV method scheme 74 is the phase instruction value of each phase shifter 13.

[0154] The phase operation pattern specifies a sequence in which the phase shift amount of each phase shifter 13 is changed in the relative time from the start of the REV method scheme 74. The change in the phase shift amount of each phase shifter 13 can be expressed in the relative time from the start of the period in which the phase shift amount is changed in the phase shifter 13 for each phase shifter 13. In general, in the REV method scheme 74, the phase operation pattern is expressed by one or more reference phenomena at a specified time, and non-reference phenomena at the time expressed in the relative time from an arbitrary reference phenomenon. The REV scheme can be a scheme in which only the order of the phenomena is specified as the phase operation pattern, or the like, and has more degrees of freedom to express the phase operation pattern. In the REV scheme 74 used in the present embodiment, the start is a reference phenomenon, and the other phenomena are non-reference phenomena.

[0155] The data acquisition command 73 is a command for issuing an instruction of a measurement period to the on-board control device 19, which is a period in which the wave detector 18 mounted on the moving body 60 measures the wave detection data 71. The data acquisition command 73 expresses the measurement period, for example, with a start time and a time elapsed from the start time. The measurement period can be expressed with a start time and an end time. The data acquisition command 73 can be a command transmitted at the timing of the start and end of the measurement period.

[0156] The wave detection data 71 is data of the time-zoned electric field vector generated by the wave detector 18. The wave detection data 71 is measured at every time step decided. The phase operation data 75 is data of the operation phase shift amount of the phase shifter 13 at every time step according to the REV method scheme 74.

[0157] The element electric field vector 76 is data of the electric field vector generated by the element antenna 8 p The element electric wave 2E radiated at the position where the monitoring antenna 17 exists p The element electric field vector 76 is data of the electric field vector generated by the element antenna 8

[0158] The phase shift offset value 77 is a value to be subtracted from the phase shift amount, that is, the phase command value. The phase shift offset value 77 is set in each phase shifter 13. Each phase shifter 13 causes the phase to change only by the phase shift amount obtained by subtracting the phase shift offset value 77 from the phase command value. Therefore, when the same phase command value is provided to each phase shifter 13, the phases of the element electric field vectors 27 generated by each element antenna 8 p The element electric wave 2E radiated at the position where the monitoring antenna 17 exists p The phase of the element electric field vector 27 generated becomes the same. The phase shift offset value 77 is calculated as the difference in the element electric field phase of each element module 9. The phase shift offset value 77 is data for unifying the phase reference of the element module 9, which is calculated on the basis of the element electric field phase of each element module 9. In order to calculate the phase shift offset value 77, it is necessary to calculate the element electric field phase. Further, if the element electric field phase can be calculated, the phase shift offset value 77 can be calculated.

[0159] In order to unify the phase reference of the element module 9, a method other than setting the phase shift offset value in the phase shifter 13 can be used. The same applies to other embodiments.

[0160] The direction-of-arrival data 78 is data indicating the direction from which the pilot signal 4 arrives. The direction-of-arrival detection device 7 calculates the direction-of-arrival data 78 from the pilot reception signal by a monopulse squint method. The radiation direction data 79 is data specifying the direction of the electric wave radiated from the power transmission antenna 50. The radiation instruction value 80 is data indicating an instruction value instructing each phase shifter 13 and each amplifier 14 to enable the electric wave to be radiated in the direction indicated by the radiation direction data 79. The radiation instruction value 80 is transmitted to the wireless power transmission device 1 as a power transmission control signal.

[0161] The REV method necessity determination section 26 determines whether the REV method needs to be executed based on the detection data 71 periodically transmitted from the mobile body 60. The detection data 71 includes a power reception value that is a value of the power received by the mobile body 60. The REV method necessity determination section 26 determines that the REV method needs to be executed when the power reception value at the time when the distance to the mobile body 60 is the same degree is reduced more than a decided threshold value. In addition, the REV method needs to be executed when a decided time has elapsed since the last REV method was executed. It is also possible to determine whether the REV method needs to be executed based on only one of the power reception value being reduced to less than the threshold value and the time elapsing.

[0162] The REV method execution section 27 changes the operation phase shift amount of the phase shifter 13 specified in the REV method scheme 74, and generates the phase operation data 75 as a record of the result after the change. The REV method execution section 27 is a REV method phase control section that changes the phase of the transmission signal in the operation phase shifter by the operation phase shift amount to which the direction change phase shift amount is added, based on the REV method scheme. The REV method execution section 27 is also a phase operation recording section that generates the phase operation data 75 that records the temporal change of the operation phase shift amount of the phase shifter 13 that is changed based on the REV method scheme. The REV method scheme 74 can also not be stored in the data storage section 25, but can be described in the form of a program that realizes the REV method execution section 27.

[0163] The data acquisition command generation section 28 generates the data acquisition command 73. The communication machine 30 transmits the data acquisition command 73 to the on-board control device 19, and receives the detection data 71 transmitted from the on-board control device 19. The mobile body communication machine 20 possessed by the mobile body 60 receives the data acquisition command 73 transmitted by the control device 10, and transmits the detection data 71 to the control device 10.

[0164] The component electric field calculation unit 29 calculates the component electric field vector 76 of each phase shifter 13 based on the REV method scheme 74, phase operation data 75, and detection data 71. The method for calculating the component electric field vector 76 is prior art. For example, it is described in Patent Document 2. For example, the component electric field vector is calculated based on the operational phase shift amount recorded in the phase operation data 75 at the time point when the amplitude of the electric field vector recorded in the detection data 71 becomes maximum or minimum, and the ratio of the maximum to minimum amplitude of the electric field vector. The component electric field calculation unit 29 is a REV method analysis unit for determining the component electric field phase for each component module 9. The internal structure of the component electric field calculation unit 29 will be described later. Furthermore, the phase operation data 75 is generated based on the REV method scheme 74. Therefore, the component electric field calculation unit 29 calculates the component electric field vector 76 of each phase shifter 13 based on the REV method scheme 74 and the detection data 71.

[0165] The phase offset calculation unit 31 calculates the phase offset value 77 of each phase shifter 13 based on the element electric field vector 76 of each phase shifter 13. The phase offset value setting unit 32 sets the phase offset value 77 in each phase shifter 13. The phase offset value calculation unit 31 and the phase offset value setting unit 32 constitute a phase reference adjustment unit, which unifies the phase reference of the transmitted signal output by the element module 9 based on the element electric field phase.

[0166] The radiation direction determination unit 33 determines the radiation direction based on the arrival direction data 78 and sets it as radiation direction data 79. The radio wave radiation control unit 34 generates a radiation command value 80 based on the radiation direction data 79. If the radiation direction is not determined, i.e., the radiation direction data 79 is not set, the radio wave radiation control unit 34 does not generate a radiation command value 80. The radio wave radiation control unit 34 is a radiation direction changing unit that orients the radiation direction of the transmission antenna 50 toward the existing direction.

[0167] like Figure 5 As shown, the data storage device 21 mounted on the mobile body 60 stores measurement period data 70 and detection data 71. Measurement period data 70 represents the period during which the detection data 71 is recorded. Measurement period data 70 is indicated by a data acquisition command 73 sent from the control device 10. Detection data 71 corresponds to the electric field vector measured by the monitoring antenna 17 during the measurement period specified by the measurement period data 70, and the time data 72 at the point in time when the electric field vector was measured.

[0168] The airborne control device 19 includes a timing device 16, a detector control unit 61, a detection data timing addition unit 62, a data acquisition command interpretation unit 63, and a transmission data generation unit 64. The detection data timing addition unit 62 adds the timing data 72 of the moment when the airborne control device 19 receives the detection data 71 to the detection data 71 output by the detector 18.

[0169] The data acquisition command interpretation section 63 acquires the measurement period data 70 from the data acquisition command 73 and stores it in the data storage device 21. The detector control section 61 controls the detectors 18 so as to generate the detected data 71 during the measurement period specified by the measurement period data 70. The detected data 71 is stored in the data storage device 21.

[0170] The transmission data generation section 64 generates the detected data 71 to be transmitted by compressing the detected data 71 of the measurement period specified by the measurement period data 70. The mobile body communication machine 20 receives the data acquisition command 73 and transmits the detected data 71 generated by the transmission data generation section 64 to the control device 10.

[0171] The element electric field calculation section 29 has a measurement data analysis section 35, an operation phase shift amount acquisition section 36, and an element electric field vector calculation section 37. The measurement data analysis section 35 analyzes the detected data 71 transmitted from the on-board control device 19 and detects the times at which the electric field intensity becomes maximum and minimum and the maximum and minimum values of the electric field intensity in each measurement period. The operation phase shift amount acquisition section 36 refers to the phase operation data 75 at the times at which the electric field intensity becomes maximum and minimum, and calculates the operation phase shift amount of the phase shifter in each measurement period. The times at which the electric field intensity becomes maximum or minimum are the times at which the operation phase shift amount is calculated, and are also referred to as phase shift amount detection times.

[0172] The element electric field vector calculation section 37 calculates the element electric field vector of each element module 9 on the basis of the operation phase shift amount of each phase shifter 13. In the REV method scheme 74, when the operation phase shift amount of the phase shifter 13 is changed one by one, the element electric field vector can be calculated from the operation phase shift amount of each phase shifter 13 and the ratio of the maximum value to the minimum value of the electric field intensity. When there is an operation phase shift amount measured while the operation phase shift amounts of a plurality of phase shifters 13 are changed simultaneously, the element electric field vector of each element module 9 can be calculated by solving simultaneous equations or the like.

[0173] In order to calculate the operation phase shift amount of the phase shifter 13 from the phase shift amount detection times, it is more accurate to refer to the phase operation data 75, but it is also possible to refer to the REV method scheme 74. In this case, the relative time obtained by subtracting the start time of the REV method scheme 74 from the phase shift amount detection times is calculated. The operation phase shift amount of the phase shifter 13 at the phase shift amount detection times is calculated with reference to the change pattern of the operation phase shift amount of each phase shifter 13 specified by the relative time from the start of the REV method scheme 74. It is also possible to convert the relative time described in the REV method scheme 74 into absolute time (time), and refer to the REV method scheme converted into absolute time at the phase shift amount detection times.

[0174] The power received by the power receiving device 3 mounted on the mobile body 60 is investigated how it changes with the movement of the mobile body 60. The following is assumed.

[0175] (A) The element antennas 8 of the power transmission antenna 50 are arranged in a linear shape in one dimension.

[0176] (B) The power transmitted by the power transmission antenna 50 is calculated at a distance where the far field is established.

[0177] (C) The change in the direction of transmission in the plane where the direction of the element antennas 8 and the front direction of the power transmission antenna 50 exist is investigated. In the case where the direction of transmission coincides with the front direction of the power transmission antenna 50, the angle of the direction of transmission is set to 0 degrees.

[0178] (D) The distance between the wireless power transmission device 1 and the power receiving device 3 is set to change little, and the change in the power received by the power receiving device 3 with respect to the change in the distance is not considered.

[0179] In addition, since the distance between the wireless power transmission device 1 and the power receiving device 3 is a distance where the far field is established, the change in the distance between the wireless power transmission device 1 and the power receiving device 3 occurs in the same manner in all the element antennas 8. Therefore, the change in the distance between the wireless power transmission device 1 and the power receiving device 3 does not change the phase difference of the radiated element waves 2E of each element antenna 8. p Radiated element waves 2E p

[0180] As variables that express the characteristics of the power transmission antenna 50, the following variables are defined.

[0181] N: The number of the element antennas 8 of the power transmission antenna 50.

[0182] Nm: The middle value of N. Nm = (N + 1) / 2.

[0183] f: The frequency of the transmission wave 2 of transmission.

[0184] λ: The wavelength of the transmission wave 2 of transmission. λ = c / (2π * f). c is the speed of light.

[0185] L: The distance between the element antennas 8.

[0186] nd: The number of phases that can be changed in the phase shifter 13.

[0187] θd: The step size at which the phase is changed in the phase shifter 13. θd = 2π / nd [rad]

[0188] p: The subscript of the element antenna 8. The numbers p of the adjacent element antennas 8 are consecutive.

[0189] φp: The phase of the element antenna 8 numbered p. p ​Element electric wave 2E radiated by the adjacent element antenna 8 p Adjustment target in the REV method.

[0190] ψ: Power transmission direction of the power transmission antenna 50.

[0191] θ p : Direction change phase shift amount of the element antenna 8 of the number p when the power transmission direction ψ.

[0192] k p : Phase shift amount in the phase shifter 13 of the number p with respect to the direction change phase shift amount θ p .

[0193] δ: Deviation angle from the power transmission direction ψ.

[0194] ε: Phase difference of the element electric field vector generated by the element electric wave 2E radiated by the adjacent element antenna 8 detected in the direction of the deviation angle δ

[0195] γ: Ratio of the amplitude of the electric field vector detected in the direction of the deviation angle δ to the amplitude of the electric field vector detected in the power transmission direction ψ. This is called amplitude attenuation ratio.

[0196] The direction change phase shift amount θ p of the element electric wave 2E p radiated by each element antenna 8 p when power transmission is performed in the power transmission direction ψ is as follows. In addition, in each phase shifter 13p, let the phase error φp=0.

[0197] θ p = (2*π) * (p-Nm) * (L / λ) * sin(ψ) p=1,..., N (1)

[0198] The phase is changed in the phase shifter 13 in steps of θd, and therefore, k n is determined as follows so that |θ p -k p *θd|≤(θd / 2) is satisfied. Here, int(X) is a function that returns the maximum integer number that is less than or equal to the real number X.

[0199] k p =int((θ p / θd)+0.5) (2)

[0200] The phase difference ε of the element electric field vector generated by the element electric wave 2E radiated by the adjacent element antenna 8 detected in the direction (ψ+δ) that deviates from the power transmission direction ψ by the angle δ is as follows.

[0201] ε=(2*π)*(L / λ)*(sin(ψ+δ)-sin(ψ)) (3)

[0202] In formula (3), δ is made small, and is approximated as follows using sin(δ)≈δ and cos(δ)≈1.

[0203] ε= (2 * π) * (L / λ) * cos(ψ) * δ (4)

[0204] A value obtained by dividing the amplitude of the electric field vector detected in the direction (ψ+δ) by the amplitude of the electric field vector detected in the power transmission direction ψ, that is, the amplitude attenuation ratio γ, can be calculated as follows. In addition, it is assumed that the reduction in the power transmission efficiency due to the change in the phase by the step θd in the phase shifter 13 is zero in the power transmission direction ψ.

[0205] γ= (1 / N) *∑exp(j*(p-Nm)*ε) (5)

[0206] In formula (5) and the like, ∑ indicates the sum taken at p=1,..., N. In formula (5), the reason why (p-Nm)*ε instead of p*ε is because the phase of the resultant electric field vector does not change due to the phase difference ε. According to formula (5), the absolute value |γ| of γ can be calculated as follows.

[0207]

[0208] As the phased array antenna, that is, the power transmission antenna 50, a case where N=10, f=5 GHz, λ=60 mm, L=60 mm, nd=128, and θd=2.8125 degrees is studied. A graph showing the change in the amplitude attenuation ratio γ with respect to the deviation angle δ in the case where the power transmission direction ψ=0 degrees, 30 degrees, and 60 degrees is shown in FIG. 6. The graph in the case where ψ=0 degrees is indicated by a solid line, the graph in the case where ψ=30 degrees is indicated by a dashed line, and the graph in the case where ψ=60 degrees is indicated by a one-dot chain line. In the case where ψ=0 degrees, the half-value amplitude (half-value full amplitude) at which the amplitude is halved is about 6.8 degrees. The larger ψ becomes, the larger the half-value amplitude becomes. In the case where ψ=30 degrees, the half-value amplitude is about 8.0 degrees. In the case where ψ=60 degrees, the half-value amplitude is about 14.1 degrees. When ψ exceeds 30 degrees, the degree of increase in the half-value amplitude with respect to the increase in ψ becomes large. With respect to the amplitude of the power transmission beam, the side where the deviation angle δ>0 is larger than the side where δ<0. The side where δ>0 is the side where the angle with respect to the front direction becomes large. Figure 6

[0209] In order to describe the condition for the power transmission to the mobile body 60 that moves, the following variables are defined. In addition, it is assumed that the power transmission antenna 50 is disposed in such a manner that the front direction faces the zenith.

[0210] ​ψ: The direction from the wireless transmission device 1 toward the moving body 60. When facing the zenith, ψ = 0 degrees. When ψ > 0, the moving body 60 is in front of the wireless transmission device 1. ψ is called the altitude angle.

[0211] ψ0: Transmission direction ψ at the start time of the REV method.

[0212] G: The distance from the wireless power transmission device 1 to the mobile body 60.

[0213] G0: Distance G at the start time of the REV method.

[0214] V0: The speed of the moving unit is 60. Fixed value.

[0215] ξ0: The angular difference between the direction of movement of the moving body 60 and the direction towards the zenith. A fixed value. When facing the zenith, ξ0 = 0 degrees.

[0216] t: The elapsed time since the start of the REV method.

[0217] P t Position of the moving body 60 at time t. The position of the wireless power transmission device 1 is used as a reference.

[0218] P0: The position of the moving body 60 at the start time of the REV method (t=0).

[0219] Regarding the distance and direction to the moving body 60, the following holds true. Figure 7 A diagram illustrating the variables representing the positional relationship between the moving body and the wireless transmission device is shown. Figure 7 In the figure, a single-dot dashed line is used to indicate the direction toward the zenith. Equation (7) is the formula for the height of the moving body 60, and Equation (8) is the formula for the horizontal distance of the moving body 60.

[0220] G0*sin(ψ0)+V0*t*sin(ξ0)=G*sin(ψ) (7)

[0221] G0*cos(ψ0)+V0*t*cos(ξ0)=G*cos(ψ) (8)

[0222] According to equations (7) and (8), G and ψ can be calculated in the following equation.

[0223]

[0224] ψ=sin -1 ((G0*sin(ψ0)+V0*t*sin(ξ0)) / G) (10)

[0225] The following variables are defined to describe the processing of the REV method.

[0226] Td: Time length of the operation phase shift amount instructed in the process of executing the REV method, at which the element wave 2E radiated from the element antenna 8.

[0227] m: Cumulative number of times of changing the operation phase shift amount in each element module 9 from the start of the REV method.

[0228] becomes t = m*Td.

[0229] θ rp : Phase instruction value of the phase shifter 13 with respect to the number q in the process of executing the REV method.

[0230] q: Number of the element antenna 8 whose phase is changed by the REV method.

[0231] r: Number of the phase to be changed in the element antenna 8 with the number q by the REV method.

[0232] E0: Amplitude of the element electric field vector generated by the element wave 2E radiated from one element antenna 8.

[0233] E p : Element electric field vector at the position of the power receiving device 3 generated by the element wave 2E radiated from the element antenna 8 with the number p. p p

[0234] Esum: Element electric field vector at the position of the power receiving device 3 generated by the element waves 2E radiated from all the element antennas 8.

[0235] θsum: Phase of the electric field vector Esum.

[0236] In the REV method, the element antenna 8 with the number q is used in the order of q = 1,..., N q , the phase is changed only by r*θd in the order of r = 1,..., nd every time Td, and in addition, the phase of the element wave 2E p radiated from each element antenna 8 p is controlled so that the element wave 2E p can be radiated toward the power transmission direction ψ. The phase instruction value θ rp in each phase shifter 13 at time t = m*Td is as follows. k p *θd shown in Equation (11-1) and Equation (11-2) is the direction changing phase shift amount, and r*θd is the operation phase shift amount. In addition, k p can be calculated according to Equation (2) and Equation (1). ψ can be calculated according to Equation (10) and Equation (9).

[0237] p≠q, θ rp = k p ​​* θd (11-1)

[0238] p = q, θ rp = (k p + r) * θd (11-2)

[0239] Here, q and r have the following relationship with m. mod(X, Y) is a function that returns the remainder when a natural number X is divided by a natural number Y. q increases by 1 every time m increases by nd. r increases by 1 every time m increases by 1. When r = nd, then r = 1.

[0240] q = int((m - 1) / nd) + 1 (12)

[0241] r = mod((m - 1), nd) + 1 (13)

[0242] Here, in the case where the direction changing phase shift amount is updated every 10 msec, simulation is performed.

[0243] Element antenna 8 of number p p Element electric wave 2E radiated p with respect to direction changing phase shift amount θ p There are the following three differences.

[0244] (a) Element antenna 8 of number p p Element electric wave 2E radiated p has a phase error φp.

[0245] (b) The error of θp is approximated by an integer multiple of θd.

[0246] (c) Operation phase shift amount r * θd on the basis of the process of performing the REV method.

[0247] Therefore, element electric field vectors E p and Esum can be calculated as follows.

[0248] E p = E0*exp(j(φp+θ rp - θ p )) (14)

[0249] E sum = ∑E p = E0*∑θxp(j(φp+θ rp - θ p ) (15)

[0250]

[0251] θsum = sin -1 (∑sin(φp+θ rp - θp | Esum | (17)

[0252] As a comparative example, a case where the mobile body 60 is not tracked during execution of the REV method is studied. The following variables are defined.

[0253] θ 0p : The direction changing phase amount of the element antenna 8 with respect to the number p at the power transmission direction ψ0.

[0254] K 0p : The phase amount in the phase shifter 13 with respect to the direction changing phase amount θ 0p of the number p.

[0255] ε2: The phase difference of the element electric field vectors generated by the element electric wave 2E p radiated from the adjacent element antenna 8 p in the power transmission direction ψ.

[0256] E2 p : The element electric field vector generated by the element electric wave 2E p radiated from the element antenna 8 with respect to the number p in the case where the mobile body 60 is not tracked during execution of the REV method. p

[0257] E2sum: The element electric field vector generated by the element electric wave 2E radiated from all the element antennas 8 in the case where the mobile body 60 is not tracked during execution of the REV method.

[0258] 02sum: The phase of the electric field vector E2sum.

[0259] θ 0p , k 0p , and ε2 can be calculated as follows.

[0260] θ 0p = (2 * π) * (p - Nm) * (L / λ) * sin(ψ0) p = 1,..., N (18)

[0261] k 0p = int((θ 0p / θd) + 0.5) (19)

[0262] ε2= (2 * π) * (L / λ) * (sin(ψ) - sin(ψ0)) (20)

[0263] When substituting Equation (7) into Equation (20), the following is obtained.

[0264] ε2= (2 * π) * (L / λ) * (1 / G) * ((G0- G) * sin(ψ0) + V0* m * Td * sin(ξ0)) (21)​

[0265] In the case where the moving body 60 is not tracked during the execution of the REV method, the phase command value θ in each phase shifter 13 at time t = m*Td rp As follows.

[0266] p≠q, θ rp = k 0p * θd (22-1)

[0267] p=q, θ rp = (k 0p + r) * θd (22-2)

[0268] E2 p and E2sum can be calculated by the following equation.

[0269] E2 p = E0*exp(j(φp+θ rp -θ 0p +(p-Nm)*ε2) (23)

[0270] E 2sum =∑E 2 p

[0271] = E0*∑exp(j(φp+θ rp -θ 0p +(p-Nm)*ε2) (24)

[0272]

[0273] θ2sum =sin -1 (∑sin(φp+θ rp -θ 0p +(p-Nm)*ε2) / |E 2sum|) (26)

[0274] The transmission antenna 50 arranges the element antennas 8 in two dimensions. The case where the direction in which the element antennas 8 are arranged and the locus of the moving body 60 are not in the same plane is examined. Here, the case where the direction in which the element antennas 8 are arranged in the transmission antenna 50 coincides with the north-south direction and the east-west direction is examined. The following variables are defined. In addition, the moving body 60 moves on a straight line extending in the decided direction.

[0275] ψ AZ : Azimuth component of the direction from the wireless power transmission device 1 toward the moving body 60. In the case of facing north, ψ AZ = 0. In the clockwise direction, ψ AZ > 0. It is called the azimuth angle.

[0276] ψ EL: Elevation component of the direction from the wireless power transmission device 1 toward the mobile body 60. In the case of facing the zenith, ψ EL = 0. This is called the altitude angle.

[0277] ψ AZ0 : Azimuth component of the direction from the wireless power transmission device 1 toward the mobile body 60 at the time point when the REV method is started.

[0278] ψ EL0 : Altitude angle of the direction from the wireless power transmission device 1 toward the mobile body 60 at the time point when the REV method is started.

[0279] V0: Speed of the mobile body 60. Fixed value.

[0280] ξ AZ0 : Angle difference between the moving direction of the mobile body 60 and the north-south direction.

[0281] ξ EL0 : Angle difference between the moving direction of the mobile body 60 and the direction toward the zenith.

[0282] With respect to the distance and direction to the mobile body 60, the following holds. With respect to the position of the north-south direction of the mobile body 60, Equation (27) holds.

[0283] G0*sin(ψ ELO )*cos(ψ AZ0 )+V0*t*sin(ξ EL0 )*cos(ξ AZ0 )

[0284] =G*sin(ψ EL )*cos(ψ AZ ) (27)

[0285] With respect to the position of the east-west direction of the mobile body 60, Equation (28) holds.

[0286] G θ *sin(ψ EL0 )*sin(ψ AZθ )+V0*t*sin(ξ EL0 )*sin(ξ AZ0 )

[0287] =G*sin(ψ EL )*sin(ψ AZ ) (28)

[0288] With respect to the height at which the mobile body 60 exists, Equation (29) holds.

[0289] G θ *cos(ψ EL0) + V0 * t * cos (ξ EL0 )

[0290] = G * cos (ψ EL ) (29)

[0291] From equations (27) to (29), the following is obtained.

[0292]

[0293]

[0294]

[0295] In the power transmission antenna 50, N 2 element antennas 8 are arranged in the longitudinal direction and the lateral direction, respectively, by N. The interval of the element antennas 8 is set to be the same L in the longitudinal direction and the lateral direction. The following variables are defined to examine the amount of phase shift provided to each element antenna 8 in order to radiate the power transmission wave 2 in the power transmission direction (ψ AZ , ψ EL ).

[0296] xp: subscript in the lateral direction (east-west direction) of the element antenna 8.

[0297] yp: subscript in the longitudinal direction (north-south direction) of the element antenna 8.

[0298] θ xp，yp : direction change phase shift amount of the element antenna 8 with respect to the number (xp, yp) in the power transmission direction (ψ AZ , ψ EL ).

[0299] k xp，yp : phase shift amount in the phase shifter 13 with respect to the number (xp, yp) of the direction change phase shift amount θ xp，yp .

[0300] θ xp，yp and k xp，yp can be calculated by the following equations.

[0301] θ xp，yp = (2 * π) * (L / λ) * sin (ψ EL ) * ((xp - Nm) * sin (ψ AZ ) + (yp - Nm) * cos (ψ AZ )) (33)

[0302] k xp，yp = int ((θ xp，yp / θd) + 0.5) (34)

[0303] The operation is described.Figure 8 This is a flowchart illustrating the power transmission steps of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 1. In step S01, the wireless power transmission device 1 transmits power in the power transmission direction (ψ). AZ , ψ EL ) Radiated electrical waves 2. The receiving device 3 of the moving body 60 receives the electrical waves 2.

[0304] More specifically, the power transmission processing based on transmission wave 2 is explained. Control device 10 calculates the command values ​​for the phase and amplitude of each element module 9. The command values ​​for the phase and amplitude of each element module 9 are calculated in such a way that the radiation direction of the transmission antenna 50 is oriented towards the power transmission direction. The power transmission control signal is the command value for the phase and amplitude of each element module. Each element module 9 generates an element transmission signal with adjusted phase and amplitude according to the power transmission control signal, which is transmitted from its corresponding element antenna 8. p Radiation as a component electromagnetic wave 2E p Antenna 8, which provides the transmitting signal from each component module 9, p Radiation of element electromagnetic waves 2E whose phase is adjusted according to the direction of power transmission p This enhances the transmission waves radiated along the transmission direction. Additionally, the antennas of each component are adjusted. p Radiated element electromagnetic waves 2E p The amplitude of the beam can be adjusted to allow for a more favorable beam shape. As a result, the wireless power transmission device 1 can transmit power efficiently along the transmission direction.

[0305] In step S02, the transmitted electromagnetic wave 2 received by the receiving device 3 is converted into power, which is consumed as power for the movement of the mobile body 60. The power transmission and reception between the wireless power transmission device 1 and the mobile body 60 (S01) and the power consumption of the received power in the mobile body 60 (S02) are performed in parallel. Regarding the power transmitted by the wireless power transmission device 1 at a certain point in time, it is performed in the order of S01 and S02. Therefore, in the flowchart, it is shown that S02 is executed after S01.

[0306] In parallel with S01 and S02, in step S03, the timing of the mobile body 60 transmitting the received power value to the wireless power transmission device 1 is checked. The received power value of the mobile body 60 is transmitted to the wireless power transmission device 1, for example, every 30 seconds. If the timing of transmitting the received power value is not met ("No" in S03), return to S03.

[0307] In the case where it is the timing to transmit the received power value (YES in S03), in step S04, the mobile body 60 transmits the received power value to the control device 10, and the control device 10 receives the received power value. In step S05, the control device 10 judges whether or not it is necessary to execute the REV method, based on the time course of the received power value. In the case where it is judged that it is not necessary to execute the REV method (NO in S05), the process returns to S03.

[0308] The REV method necessity judging section 26 has a table of thresholds of the received power value with respect to the distance to the mobile body 60. The REV method necessity judging section 26 retrieves the table with the distance G to the current mobile body 60 and acquires the threshold. Then, it is checked whether or not the current received power value is less than the threshold. In the case where the current received power value decreases to be less than the threshold, the REV method necessity judging section 26 judges that it is necessary to execute the REV method. Also, in the case where the decided time has elapsed since the last execution of the REV method, it is judged that it is necessary to execute the REV method. It is also possible to judge whether or not it is necessary to execute the REV method by the mobile body of the wireless power transmission.

[0309] In the case where it is judged that it is necessary to execute the REV method (YES in S05), in step S06, the REV method is executed. By the REV method, the element antennas 8 p element electric wave 2E p caused by the phase difference between the element electric field vectors, and calculates a phase shift value for compensating the phase difference. In step S07, the phase shift value obtained by the REV method is set in each phase shifter 13. After S07 is executed, the process returns to S03.

[0310] The process of steps Sll to S13 is executed in parallel with S01 to S02 and S03 to S07. In Sll, the pilot transmitter 5 possessed by the mobile body 60 transmits the pilot signal 4. The pilot antenna 6 possessed by the wireless power transmission device 1 receives the pilot signal 4 and generates a pilot reception signal. In step S12, the arrival direction detecting section 7 detects the arrival direction 78 of the pilot signal 4 by monopulse squinting the pilot reception signal. In step S13, the radiation direction deciding section 33 decides the power transmission direction (ψ AZ , ψ EL ) based on the arrival direction 78. The power transmission direction is set to the opposite direction of the arrival direction. It is also possible to predict the position of the mobile body 60 after the decided time based on the arrival direction and the moving speed of the mobile body 60, and set the direction toward the predicted position as the power transmission direction. In S01, the power transmission antenna 50 radiates the power transmission electric wave 2 in the power transmission direction (ψ AZ , ψ EL ) decided in S13.

[0311] After the execution of S13, return to Sll. The processes of Sll to S13 are executed in synchronization with a decided period. The length of one period is decided so that even in the case where the mobile body 60 moves at the assumed maximum moving speed, the length of one period can be within the range allowed by the difference between the last calculated direction of arrival and the current direction of arrival.

[0312] The pilot signal 4 is transmitted from the mobile body 60, and the wireless power transmission device 1 radiates the power transmission wave 2 in the direction from which the pilot signal 4 comes, so that the power receiving device 3 of the mobile body 60 can efficiently receive the power transmission wave 2.

[0313] Reference Figure 9 The steps of executing the REV method will be described. Figure 9 is a flowchart illustrating the steps of calculating the element electric field vectors of the waves radiated from the element antennas in the wireless power transmission device according to Embodiment 1 using the REV method.

[0314] First, in step S31, the control device 10 transmits a data acquisition command 73 to the on-board control device 19.

[0315] In step S32, the data acquisition command interpretation section 63 interprets the data acquisition command 73 and stores the measurement period data 70 for specifying the start and end times of measurement in the data storage device 21. The p-th measurement period is expressed by a variable Tp. In step S33, set p = 0, and the REV method execution section 27 sets only the direction changing phase shift amount in the phase shift amounts of the respective phase shifters 13. The measurement period Tp is a period including one REV method unit period. In Figure 9 In the flowchart shown in the figure, all the measurement periods Tp required for one data acquisition command 73 are set. One data acquisition command 73 can execute at least one measurement period Tp.

[0316] In step S34, set p = p + 1, and the REV method execution section 27 selects a phase shifter 13 in the order specified in the REV method scheme 74. The selected phase shifter 13 is denoted as phase shifter 13p. The phase shifter 13p is an operating phase shifter that is a part of the phase shifters that change the phase shift amount. In step S35, the REV method execution section 27 changes the operating phase shift amount of the phase shifter 13p during the measurement period Tp based on the REV method scheme 74 and records the phase operation data 75. In addition, when the sequence of changing the operating phase shift amount of the phase shifter 13p is completed, the phase shift amount of the phase shifter 13p is only the direction changing phase shift amount. In the measurement period Tp, step S36 is executed as a process executed in parallel with S35. In S36, the monitoring antenna 17 receives the wave and measures the electric field intensity Cp as the detection data 71 of the measurement period Tp.

[0317] In step S37, the mobile body communication device 20 transmits the electric field intensity Cp during the measurement period Tp from the mobile body 60 to the control device 10. The transmission data generating section 64 compresses the electric field intensity Cp and transmits it so that the same content can be transmitted with a smaller amount of data. Also, the processing of transmitting the electric field intensity Cp in S37 can be performed without waiting for the processing of the electric field intensity Cp in the measurement S36 to complete. The electric field intensity Cp in the measurement period Tp is electric field change data indicating the change in the electric field in the measurement period Tp.

[0318] In step S38, the communication machine 30 receives the electric field intensity Cp.

[0319] In step S39, the measurement data analysis section 35 finds the time tpmax at which the electric field intensity Cp measured in the measurement period Tp takes the maximum value Cpmax and the time tpmin at which it takes the minimum value Cpmin. S39 can be performed after all the electric field intensities Cp in the measurement period Tp are input, or the time tpmax and the time tpmin can be detected by the element electric field calculating section 29 each time the electric field intensity Cp is input. The time tpmax and the time tpmin are the times at which the phase shift amount of the phase shifter 13p is detected as an operation. The electric field intensity Cp in the measurement period Tp is the operation phase shifter corresponding wave data, which is a set of the detection data 71 in the REV method unit period at the operation phase shift amount of the phase shifter 13p.

[0320] In step S40, the operation phase shift amount acquiring section 36 refers to the phase operation data 75 and detects the operation phase shift amount spmax of the phase shifter 13p at the time tpmax and the operation phase shift amount spmin of the phase shifter 13p at the time tpmin.

[0321] In step S41, the element electric field vector calculating section 37 calculates the phase and the amplitude of the element electric field vector Ep based on the operation phase shift amount spmax, the operation phase shift amount spmin, and the maximum value Cpmax and the minimum value Cpmin of the electric field intensity Cp.

[0322] Here, the ratio of the maximum value Cpmax to the minimum value Cpmin of the electric field intensity Cp is set to r 2 , and the operation phase shift amount spmax or the operation phase shift amount spmin or the average value is set to Δ0. Δ0 is the operation phase shift amount. The ratio of the maximum value Cpmax to the minimum value Cpmin is called the electric field intensity change ratio. In the method shown in Patent Literature 2, the value k obtained by dividing the phase offset value X and the amplitude of the element electric field vector by the amplitude of the resultant electric field vector can be calculated as follows. r, p, k are values that match the variables in Patent Literature 2. r, p, k are used in different meanings elsewhere in this specification.

[0323]

[0324] X = tan -1 (sin Δ0 / (cos Δ0 + p) (36)

[0325] Here, r, p, Δ0 are determined as follows.

[0326] r 2 = |C pmax| / |C pmin| (37)

[0327] p = (r - 1) / (r + 1) (38)

[0328] Δ0 is determined by any one of the following three equations. Regardless of which equation is used, Δ0 in the range of 0 ≤ Δ0 < 180 is obtained.

[0329] Δ0 = s pmax - 180 * int(s pmax / 180) (39-1)

[0330] Δ0 = s pmin - 180 * int(s pmin / 180) (39-2)

[0331] Δ0 = (s pmax - 180 * int(s pmax / 180)

[0332] + s pmin - 180 * int(s pmin / 180) / 2 (39-3)

[0333] In addition, the phase shift value X can be simply calculated using the following equation. The phase shift value X can be calculated based on at least Δ0.

[0334] X = Δ0 (40)

[0335] In step S42, it is checked whether there is an unprocessed phase shifter 13. In the case where there is an unprocessed phase shifter 13 (YES in S42), the process returns to step S34.

[0336] When there is no unprocessed phase shifter 13 (NO in S42), the process ends.

[0337] By performing the REV method, the phase shift value 77 is calculated and set in the phase shifter 13 possessed by each element module. By the phase shift value 77, the phase reference of each element module can be made the same (uniform).

[0338] By the operation example, the effect of the power transmission beam tracking the moving body 60 in the process of performing the REV method is shown. Let Td = 1.00 msec as a parameter of the REV method. The time required for one round of the REV method is N * nd * Td = 10 * 128 * 1.00 = 1280 msec.

[0339] The parameters of the mobile body 60 are set to G0= 1000 m, ψ0= 0 degrees, V0= -30 m / sec, and ξ0= 90 degrees. This is a case where the mobile body 60 moves horizontally at a speed of 30 meters per second in the air 1000 meters above the wireless power transmission device 1. In addition, in the case where ψ0> 0 degrees, the mobile body 60 moves in the direction of ascent.

[0340] Phase error φ p Mode 1 below is set. The unit of the phase error is degrees. The phase error φ p is an object calculated by the REV method.

[0341] (Mode 1 of phase error)

[0342] (φ1, φ2, φ3, φ4, φ5, φ6, φ7, φ8, φ9, φ 10 )

[0343] = (-45, 51, -36, 39, -27, 27, -18, 15, -9, 3)

[0344] Figure 10 The trajectory of the resultant electric field vector Esum in the wireless power transmission device 1 that tracks the mobile body in the direction of power transmission during the process of the REV method in the action example is shown. Figure 11 The time variation of the amplitude |Esum| and the phase θsum of the resultant electric field vector in the wireless power transmission device 1 in the action example is shown. In Figure 11 , the time is expressed in units of the period (128 msec) during which the operation phase shift amount is changed in one element module 9. The period during which the operation phase shift amount is changed in one element module 9 is referred to as the REV method unit period. Figure 10 In, the trajectory of the resultant electric field vector in the odd-numbered REV method unit periods is indicated by a solid line, and the trajectory in the even-numbered REV method unit periods is indicated by a broken line. In addition, the time points of the start and end of the REV method, and the time points of 0.25 and 0.75 of each REV method unit period are marked with diamonds. In Figure 11 , the variation of the amplitude is indicated by a solid line, and the variation of the phase is indicated by a broken line. In Figure 11 , the REV method is not implemented, and the amplitude |Esum0| and the phase θsum0 when the phase shift amount of each phase shifter 13 is set to only the direction changing phase shift amount are also indicated by thin solid or broken lines. The REV method unit period is the operation phase shifter corresponding period, which is the period during which each operation phase shift amount is changed for each operation phase shifter.

[0345] In Figure 10In the trajectory shown, the direction-changing phase shift changes every 10 ms, resulting in abrupt changes in the amplitude of the composite electric field vector. When the phase error φp is not zero, the composite electric field vector Esum over one REV unit period becomes an ellipse centered at a position deviating from the real axis. The center of the trajectory of the composite electric field vector Esum over one REV unit period is called the unit trajectory center. In a REV unit period with a positive phase error φp, the imaginary part Y of the unit trajectory center is positive. In a REV unit period with a negative phase error φp, the imaginary part Y of the unit trajectory center is negative. The larger the absolute value of the phase error φp, the farther the unit trajectory center is from the real axis (the straight line Y = 0). The positions where the elliptical trajectory intersects the real axis are basically the same across all REV units. The trajectory of the composite electric field vector changes significantly due to the phase error φp of the phase shifter 13p, which acts as the operating phase shifter, in each REV unit period. Figure 11 In the REV method, if the unit period changes, the changes in amplitude |Esum| and phase θsum will vary significantly. When tracking a moving body, the amplitude |Esum| of the synthesized electric field vector is essentially the shape obtained by adding the change caused by the manipulated phase shift to a fixed value.

[0346] Figure 12 The trajectory of the composite electric field vector E2sum in the wireless transmission device is shown when the transmission direction does not track the moving body during the execution of the REV method in the action example. Figure 13 The temporal variations of the amplitude |E²sum| and phase θ²sum of the synthetic electric field vector in the wireless transmission device of the comparative example are shown. Figure 13 In the diagram, the amplitude |E2sum0| and phase θ2sum0 when there is no change caused by the phase shift are also represented by thin solid or dashed lines. In the comparative example where the transmission direction does not track the moving body, since the amplitude |E2sum0| of the resultant electric field vector when there is no change caused by the phase shift gradually decreases, the trajectory of E2sum moves towards... Figure 12 Move to the left in the diagram.

[0347] like Figure 13 As shown, the amplitude |E2sum| of the composite electric field vector in the comparative example's wireless transmission device increases or decreases gradually in order to change the operating phase shift of the phase shifter in the REV method. The phase θ2sum of the composite electric field vector in the comparative example gradually increases amidst fluctuations.

[0348] exist Figure 14In the action example, the time variation of the amplitude |Esum| of the resultant electric field vector in the wireless power transmission device 1 and the amplitude |E2sum| of the resultant electric field vector in the comparative example are shown on a large scale. In |Esum| and |E2sum|, the times at which the maximum value and the minimum value are taken are different. Therefore, in the wireless power transmission device 1 and the comparative example, the element electric field vectors calculated by the REV method are different.

[0349] Figure 15 is a graph showing the phase shift offset values and the residual phase errors after correction obtained in the wireless power transmission device according to Embodiment 1 and the comparative example. Figure 15 (A) shows the set phase error and the phase shift offset value, Figure 15 (B) shows the residual phase error. The set value of the phase error is shown by a thin solid line, the phase shift offset value calculated when the power transmission direction is tracked with the moving body (with movement correction) during the process of performing the REV method is shown by a thick solid line, and the phase shift offset value when the power transmission direction is not tracked with the moving body (without movement correction) is shown by a thick dashed line. Figure 15 (B) shows the residual phase error obtained by subtracting the phase shift offset value from the set phase error. Figure 15 The average value of the phase shift offset value with respect to each phase shifter 13p and the average value of the residual phase error are shown to be zero.

[0350] The phase shift offset value in the case with movement correction can be calculated when the difference from the set phase error φp is about 5 degrees or less. The phase shift offset value in the case without movement correction becomes larger than the phase shift offset value calculated and the set phase error φp after the 6th REV method unit period. In the example shown in the graph, an error of about -35 degrees occurs in the 6th REV method unit period, and an error of about +55 degrees occurs in the 10th REV method unit period.

[0351] Figure 16 is a graph showing the absolute values of the amplitudes of the resultant electric field vectors after correction in the wireless power transmission device according to Embodiment 1 and the comparative example. When the phases of the element electric waves 2E p of the element antennas 8 p are unified, |Esum| = 10. In Figure 15In the pattern 1 of the phase error shown in the drawing, |Esum| is reduced to 8.6 before the REV method is executed. In the REV method with movement correction, |Esum| is 9.95 after correction. In the REV method without movement correction, |Esum| is 9.33 after correction. It is understood that by tracking the moving body in the direction of power transmission during execution of the REV method, the phase error can be eliminated with high accuracy by the REV method. In the case where the direction of power transmission does not track the moving body during execution of the REV method, the amplitude of the resultant electric field vector after execution of the REV method is restored to only about 7% less than the original amplitude. In the case where the direction of power transmission does not track the moving body during execution of the REV method, the accuracy of the REV method is not high enough, and the effect of the REV method is not sufficient.

[0352] In actual execution of the REV method, the phase error φp is not known before execution of the REV method. Referring to Figures 17 to 20 The difference in accuracy of the REV method caused by the pattern of the phase error φp is described. Figure 17 is a drawing illustrating a pattern of the phase error for investigating the influence of the phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example. Figure 18 is a drawing illustrating a pattern of the phase error for investigating the influence of the phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example. Figure 19 is a drawing illustrating a pattern of the phase error for investigating the influence of the phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example. Figure 20 is a drawing illustrating a pattern of the phase error for investigating the influence of the phase error pattern in the wireless power transmission device according to Embodiment 1 and the comparative example.

[0353] Figure 17 The patterns of the phase error φp shown in the drawing are the pattern 1 shown above and the two patterns shown below. Figures 17 to 20 In the drawing, the pattern 1 is indicated by a reference numeral PT1, the pattern 2 is indicated by a reference numeral PT2, and the pattern 3 is indicated by a reference numeral PT3. Figure 17 In the drawing, the pattern 1 is indicated by a solid line, the pattern 2 is indicated by a broken line, and the pattern 3 is indicated by a one-dot chain line.

[0354] (Pattern 2 of the phase error)

[0355] (φ1, φ2, φ3, φ4, φ5, φ6, φ7, φ8, φ9, φ 10 )

[0356] = (-45, 51, -9, 3, -36, 39, -18, 15, -27, 27)

[0357] (Mode 3 of phase error)

[0358] (φ1,φ2,φ3,φ4,φ5,φ6,φ7,φ8,φ9,φ 10 )

[0359] = (3, -9, 15, -18, 27, -27, 39, -36, 51, -45)

[0360] The conditions associated with the moving body are G0 = 1000m, ψ0 = 0 degrees, and ξ0 = 90 degrees, which causes the moving body's speed V0 to vary within the range of 60 to -60 (m / sec). Figure 18 In the middle, there are motion-corrected |Esum| and |Esum| 2 Solid lines are used to represent the values, while dashed lines are used before the REV method. Regarding |E²sum| without shift correction and |E²sum| 2 Mode 1 is represented by a solid line, Mode 2 by a dashed line, and Mode 3 by a single-dot dashed line. With motion correction, |Esum| can be calculated as |Esum|≥9.88 in all modes and when the movement speed |V0|≤60. Without motion correction, |E2sum| decreases when |V0| is large. The range of |E2sum| above |Esum| before the REV method is 40>V0>-40 in Mode 1, 40>V0>-40 in Mode 2, and 50>V0>-50 in Mode 3.

[0361] Within the range |V0|≤35, the difference in |E2sum| caused by different patterns is less than 0.14. The patterns that maximize and minimize |E2sum| vary depending on the value of V0. Within the range |V0|≥40, the difference in |E2sum| caused by different patterns increases, reaching a maximum difference of about 1 depending on the pattern. The patterns that maximize and minimize |E2sum| also vary even within the range V0≥40.

[0362] The influence of the magnitude of the phase error φp under the same mode is as follows: Figure 19 and Figure 20 As shown. The case where the amplitude of mode 2 is 2 / 3 is designated as mode 4, and the case where the amplitude of mode 2 is 1 / 3 is designated as mode 5. Figure 19 and Figure 20 In the diagram, mode 4 is denoted by the label PT4, and mode 5 is denoted by the label PT5. Figure 19 In the diagram, mode 1 is represented by a solid line, mode 2 by a dashed line, and mode 5 by a single-dot dashed line. Figure 20 In the process, |Esum| and |Esum| before executing the REV method in modes 2, 4, and 5 are considered. 2 Use dashed lines to represent this.

[0363] (Pattern 4 of phase error)

[0364] (φ1, φ2, φ3, φ4, φ5, φ6, φ7, φ8, φ9, φ 10 )

[0365] = (-30, 34, -6, 2, -24, 26, -12, 10, -18, 18)

[0366] (Pattern 5 of phase error)

[0367] (φ1, φ2, φ3, φ4, φ5, φ6, φ7, φ8, φ9, φ 10 )

[0368] = (-15, 17, -3, 1, -12, 13, -6, 5, -9, 9)

[0369] In Figure 20 , |Esum| with movement correction in each pattern and movement speed |V0| ≤ 60 can be calculated by |Esum| ≥ 9.92. |E2sum| without movement correction in each pattern in the range of V0≤ 30 is about 0.19 or less. In V0≥ 30, the difference in each pattern becomes large, and the size of the difference fluctuates. In the case without movement correction, the correction accuracy of the phase error is not good regardless of the size of the phase error . If the movement speed |V0| is large, in the case without movement correction, the power transmission efficiency is reduced by performing the REV method compared to before the REV method.

[0370] Referring to Figure 21 , the influence of the direction of the moving body existing at the time point when the REV method is started, that is, the power transmission direction ψ0, is investigated. Figure 21 is a graph showing a comparison of the direction of the moving body existing at the time point when the REV method is started, and the change in the amplitude and power value of the corrected electric field vector with respect to the movement speed of the moving body in the wireless power transmission device according to Embodiment 1 and the comparative example. In Figure 21 , the phase error φp is Pattern 3, and G0= 1000 m. The movement direction ξ0of the moving body is orthogonal to the power transmission direction ψ0. In the following three cases, the movement speed V0is changed in the range of 60 ~ -60 (m / sec).

[0371] Case 1: (ψ0, ξ0) = (0 degree, 90 degree)

[0372] Case 2: (ψ0, ξ0) = (15 degree, 105 degree)

[0373] Case 3: (ψ0, ξ0) = (30 degree, 120 degree)

[0374] Figure 21 In the case 1, ψ0=0 degree is indicated, in the case 2, ψ0=15 degrees is indicated, and in the case 3, ψ0=30 degrees is indicated. Figure 21 In the case 1, |Esum| with the movement correction and |Esum| 2 Indicated by a solid line, and indicated by a dotted line before the REV method. Regarding |E2sum| without the movement correction and |E2sum| 2 , ψ0=0 degree is indicated by a solid line, ψ0=15 degrees is indicated by a dotted line, and ψ0=30 degrees is indicated by a one-dot chain line.

[0375] In Figure 21 In the case 1, |Esum| with the movement correction at each angle of the power transmission direction ψ0 of the moving body and the moving speed |V0|≤60 can be calculated by |Esum|≥9.94. |E2sum| without the movement correction is larger at ψ0=30 degrees than at ψ0=0 degree and ψ0=15 degrees in the entire speed range. At V0=-35 degrees and V0=-40 degrees, |E2sum| at ψ0=15 degrees is smaller than |E2sum| at ψ0=0 degree. At other speeds, |E2sum| at ψ0=15 degrees is larger than |E2sum| at ψ0=0 degree. It can be considered that, for |E2sum| without the phase correction, the smaller |ψ0| is, the larger the amount of decrease compared with |Esum| is. The smaller |ψ0| is, the larger the effect of the power transmission beam to track the moving body in the process of performing the REV method is.

[0376] Referring to Figure 22 , the influence of the angle difference between the power transmission direction ψ0 of the moving body and the moving direction of the moving body at the time point when the REV method is started is investigated. Figure 22 is a graph illustrating a comparison of the angle difference between the direction in which the moving body exists and the moving direction of the moving body at the time point when the REV method is started and the change in the amplitude and the power value of the corrected electric field vector of the wireless power transmission device according to Embodiment 1 and the comparative example with respect to the moving speed of the moving body. In Figure 22 In the case 1, the phase error φp is Pattern 3, G0=1000 m, and ψ0=0 degree. In three cases where the moving direction ξ0 of the moving body is ξ0=90 degrees, ξ0=75 degrees, and ξ0=60 degrees, the moving speed V0 is changed in the range of 60 to -60 (m / sec) Figure 22 In the case 1, |Esum| with the movement correction and |Esum| 2 Indicated by a solid line, and indicated by a dotted line before the REV method. Regarding |E2sum| without the movement correction and |E2sum| 2 , ξ0=90 degrees is indicated by a solid line, ξ0=75 degrees is indicated by a dotted line, and ξ0=60 degrees is indicated by a one-dot chain line.

[0377] InFigure 22 |Esum| with the movement correction can be calculated by |Esum| ≥ 9.94 at the angle of each movement direction ξ0 and the movement speed |V0| ≤ 60. |E2sum| without the movement correction is substantially the same at V0≤ 15, ξ0= 90 degrees and ξ0= 75 degrees. The difference is less than or equal to about 0.07. Except for the case of V0= 60, |Esum| at ξ0= 60 degrees is larger than that at ξ0= 90 degrees and ξ0= 75 degrees.

[0378] As shown in FIG. 6, in the process of executing the REV method, the power transmission beam is tracked by the moving body, so that the phase reference of each phase shifter 13p is unified by the REV method, without depending on the pattern of the phase error φp, the power transmission direction ψ0 of the moving body at the time point at which the REV method is started, the movement direction ξ0 of the moving body, and the speed V0 of the moving body. As a result, the amplitude |Esum| of the resultant electric field vector after the REV method is executed can be set to the maximum value that can be obtained in theory. Figure 18 Figures 20 to 22 In the process of executing the REV method, the transmission direction of the power transmission wave 2 is controlled so as to be directed toward the moving body 60. Therefore, the REV method can be executed with high precision, and the power transmission wave 2 can be radiated in the radiation direction with high precision at the time of power transmission to the moving body. Further, since the time point data 72 is included in the detection data 71 used at the time of execution of the REV method, the correspondence between the phase shift amount and the detection data 71 can be correctly decided on the basis of the time point data, so that the REV method can be executed with high precision.

[0379] In the process of executing the REV method, the transmission direction of the power transmission wave 2 is controlled so as to be directed toward the moving body 60. By doing so, the following effects can be expected.

[0380] (1) The influence on the received intensity in the process of executing the REV method due to the deviation of the power transmission direction from the moving body 60 is reduced, and the precision of the REV method executed on the moving moving body is improved. The power transmission beam formed after the REV method is executed becomes a more ideal shape, and the power transmission efficiency is improved.

[0381] (2) By improving the precision of the REV method result, a more ideal beam is formed, and the power transmission wave is prevented from being radiated in an unnecessary direction. Therefore, the influence of interference on other equipment is small.

[0382] (3) The power transmission wave is radiated in the direction of the moving body, so that the power transmission efficiency is improved.

[0383] ​(3) Since the power transmission efficiency becomes higher after the REV method is executed, the period until the received intensity decreases to the extent that the REV needs to be executed next can be extended. By lengthening the interval at which the REV method is executed, the proportion of the period during which the REV method is executed to the entire period during which power transmission should be performed becomes smaller. The power transmission efficiency decreases during the execution of the REV method. By reducing the proportion of the period during which the REV method is executed to the entire period during which power transmission should be performed, the power transmission efficiency is improved.

[0384] The simulation results in the case where the distance from the wireless power transmission device to the power receiving device is a distance at which the far field is established are shown. Even if the distance is shorter than the distance at which the far field is established (near field), by controlling the power transmission direction of the power transmission wave 2 so as to be directed toward the direction of the mobile body 60 during the execution of the REV method, the accuracy of the REV method is improved as compared with the case where the power transmission direction of the power transmission wave 2 is not changed during the execution of the REV method. In the case where the distance from the wireless power transmission device to the power receiving device is a distance that becomes the near field, the phase difference of the element wave 2E p radiated by the element antenna 8 of the power receiving device, the calculation in the REV method, and the like can be calculated using the calculation formula in the near field. p

[0385] By pulse-modulating the pilot signal 4, the detection data 71 can be transmitted from the mobile body 60 to the control device 10 through the pilot signal 4. The communication between the mobile body 60 and the control device 10 can be arbitrary communication as long as the communication can be performed at a desired speed.

[0386] The pilot signal 4 is transmitted from the mobile body 60, and the wireless power transmission device 1 radiates the power transmission wave 2 in the direction from which the pilot signal 4 comes, so the power receiving device 3 of the mobile body 60 can efficiently receive the power transmission wave 2.

[0387] Instead of transmitting the detection data 71 during the execution of the REV method as the electric field change data from the on-board control device 19, electric field change data generated on the basis of the detection data 71 can be transmitted. By this, the amount of data transmitted from the on-board control device to the wireless power transmission device can be reduced. In addition, the on-board control device can be provided with an element electric field calculation section, and the element electric field vector can be calculated by the on-board control device. In addition, the detection data 71 itself is also included in the electric field change data generated on the basis of the detection data 71.

[0388] The power transmission antenna can also have a mechanism that changes the radiation direction by mechanical driving. By combining mechanical driving and electrically changing the radiation direction to change the radiation direction, power can be transmitted to the mobile body even if the mobile body moves more greatly.

[0389] ​Although the element module is provided for each element antenna, the element module can be provided for each two or more element antennas. The element module can be provided for each of the determined number of element antennas, respectively.

[0390] The above can also apply to other embodiments.

[0391] Embodiment 2.

[0392] In the wireless power transmission device according to Embodiment 2, the power transmission antenna has a plurality of power transmission antenna units. Figure 23 is a diagram illustrating a brief configuration of a wireless power transmission system using the wireless power transmission device according to Embodiment 2. The wireless power transmission device 1A has a power transmission antenna 50A. The power transmission antenna 50A has four power transmission antenna units 51. Two of the four power transmission antenna units 51 are arranged longitudinally adjacent to each other, and two of the four power transmission antenna units 51 are arranged transversely adjacent to each other. One power transmission antenna 50A is configured by the four power transmission antenna units 51. Two, three, or five or more power transmission antenna units can configure a power transmission antenna.

[0393] The power transmission antenna unit 51 has two types of element modules 9: a primary element module 9P and a secondary element module 9S. The power transmission antenna unit 51 has one transmission signal generation section 11, one primary element module 9P, one distribution circuit 12, and the same number of secondary element modules 9S as the element antennas 8. The primary element module 9P and the secondary element module 9S are the same configuration, and have a phase shifter 13 and an amplifier 14. The transmission signal output from the transmission signal generation section 11 is input to the primary element module 9P. The transmission signal output from the primary element module 9P is distributed by the distribution circuit 12 and input to each secondary element module 9S. The transmission signal output from each secondary element module 9S is input to the corresponding one element antenna 8.

[0394] Since the REV method is executed by performing power transmission using the power transmission antenna 50A having the primary element module 9P and the secondary element module 9S, the control device 10A is also changed. Figure 24 is a block diagram illustrating a functional configuration of the wireless power transmission device and the mobile body according to Embodiment 2. In the control device 10A, the REV method execution section 27A, the data storage section 25A, and the wave radiation control section 34A are changed. The REV method execution section 27A executes the REV method in the secondary stage using the REV method targeting the secondary element module 9S and the REV method targeting the primary element module 9P. The REV method scheme 74A can execute the REV method targeting the secondary element module 9S and the REV method targeting the primary element module 9P. The data storage section 25A stores the REV method scheme 74A. The wave radiation control section 34A separately sets the phase shift amount for radiating the power transmission wave 2 in the power transmission direction in the primary element module 9P and the secondary element module 9S.

[0395] Explain the actions. Figure 25 This is a flowchart illustrating the power transmission steps of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 2. Regarding... Figure 25 Regarding the case of implementation method 1 Figure 8 The differences will be explained.

[0396] If it is determined that the REV method needs to be executed ("Yes" in S05), the REV method is executed in step S06A, targeting the secondary component module 9S. The REV method is used to calculate the antenna values ​​of each component 8. p Radiated element electromagnetic waves 2E p The phase difference between the electric field vectors caused by the radiation from each transmission antenna element 51 is calculated, and the phase shift value of the secondary element module 9S used to compensate for the phase difference is calculated. In step S07A, the phase shift value obtained by the REV method is set in the phase shifter 13 of each secondary element module 9S. In step S08, the REV method is performed on the primary element module 9P. The phase difference between the electric field vectors caused by the radiation from each transmission antenna element 51 is calculated by the REV method, and the phase shift value of the primary element module 9P used to compensate for the phase difference is calculated. In step S09, the phase shift value obtained by the REV method is set in the phase shifter 13 of each primary element module 9P. After executing S09, the process returns to S03.

[0397] The steps of performing the REV method in S06A and S08 are as described in Implementation Method 1. Figure 9 same.

[0398] Wireless transmission device 1A operates in the same manner as wireless transmission device 1, achieving the same effect. Since the transmission beam tracks the moving body 60 even during the execution of the REV method, the accuracy of the REV method can be improved.

[0399] Implementation method 3.

[0400] Implementation 3 is a modification of Implementation 1, in which the power transmission antenna can be mechanically driven to change the power transmission direction. Figure 26 This is a schematic diagram illustrating the structure of a wireless power transmission system that uses the wireless power transmission device according to Embodiment 3 to transmit power to a mobile body. Regarding... Figure 26 In the case of implementation method 1 Figure 1 The differences will be explained below. The transmission antenna 50B is mounted on an azimuth rotation bracket 52 that allows for azimuth angle adjustment, and its opening surface is tilted. The transmission antenna 50B is mounted on the azimuth rotation bracket 52 such that its opening surface forms an angle of, for example, 30 degrees with respect to the horizontal plane. Figure 26The diagram shows a case where the arrival direction detection device 7 and the control device 10B are also mounted on the azimuth rotation bracket 52. The arrival direction detection device 7 and the control device 10B may not be mounted on the azimuth rotation bracket 52.

[0401] Figure 27 This is a diagram illustrating a simplified structure of a wireless power transmission system that uses the wireless power transmission device according to Embodiment 3 to transmit power to a mobile body. (Regarding...) Figure 27 Regarding the case of implementation method 1 Figure 2 The differences will be explained below. The wireless power transmission device 1B has an azimuth rotation bracket 52. The azimuth rotation bracket 52 can rotate about a vertical azimuth rotation axis. The azimuth rotation bracket 52 can rotate infinitely clockwise and counterclockwise. The power transmission antenna 50B (including the pilot antenna 6) is mounted on the azimuth rotation bracket 52. When the azimuth rotation bracket 52 rotates, the power transmission antenna 50B and the pilot antenna 6 rotate in the same manner. The control device 10B also controls the azimuth rotation bracket 52. The pilot antenna 6 can be mounted separately from the power transmission antenna 50B.

[0402] The azimuth rotation bracket 52 is a power transmission antenna drive device that changes the radiation direction by mechanically moving the power transmission antenna 50B. The azimuth rotation bracket 52 supports the power transmission antenna 50B at an angle relative to the horizontal plane, using the horizontal plane as a reference plane. The azimuth rotation bracket 52 causes the power transmission antenna 50B to rotate around a rotation axis perpendicular to the reference plane, namely the azimuth rotation axis.

[0403] Figure 28 This is a block diagram illustrating the functional structure of the wireless power transmission device and the mobile body involved in Embodiment 3. Regarding... Figure 28 Regarding the case of implementation method 1 Figure 5 The differences will be explained. The control device 10B also has a bracket control unit 38 for controlling the azimuth angle rotation bracket 52. Radiation direction determination unit 33B.

[0404] The following variables are defined to describe the operation of the radiation direction determination unit 33B and the support control unit 38.

[0405] ψ AZM : The azimuth angle of the azimuth rotation bracket 52.

[0406] ψ AzE : The azimuth component of the power transmission direction relative to the frontal direction of the power transmission antenna 50B.

[0407] ψ AZE =ψ AZ -ψ AZM (41)

[0408] ψ ELM: The tilt angle of the azimuth rotation bracket 52. The angle formed by the horizontal plane and the opening of the transmission antenna 50B. Here, let ψ be... ELM =30 degrees.

[0409] ψ ELE The elevation angle is the angle between the transmission direction and the frontal direction of the transmission antenna 50B. The elevation angle is the angle formed by the transmission direction and the direction towards the zenith.

[0410] ψ ELE =ψ EL -ψ ELM (42)

[0411] ψ AZmax : Targeting |ψ AZE The upper limit of |. For example, set it to 45 degrees.

[0412] ψ ELmax Regarding the elevation angle ψ ELE The upper limit. For example, set it to 45 degrees.

[0413] ψ ELmin Regarding the elevation angle ψ ELE The lower limit value. For example, set it to -45 degrees.

[0414] In the wireless power transmission device 1B, the pilot antenna 6 and the direction of arrival detection device 7 detect the direction of arrival based on the direction of the opening surface of the power transmission antenna 50B. The direction of arrival detection device 7 detects the direction of arrival (ψ). AZE , ψ ELE Therefore, it will move towards the direction of arrival (ψ). AZE , ψ ELE The direction of ψ is set as the radiation direction of the transmission wave 2. AZE , ψ ELE When the direction of a moving body (ψ) is detected without using pilot signals. AZ , ψ EL When ), the existence of direction (ψ) is determined by equations (41) and (42). AZ , ψ EL ) converted to direction (ψ) AZE , ψ ELE ). The direction (ψ) AZE , ψ ELE The direction of ) is set as the radiation direction of the transmission wave 2.

[0415] The bracket control unit 38 controls the azimuth angle rotation of the bracket 52, oriented in the direction ψ. AZM , making ψ AZE and ψ ELE All satisfy equations (43) and (44). The transmission direction (ψ) that satisfies all equations (43) and (44) is... AZE , ψELE ) is called a proper angle range.

[0416] |ψ AZE |≤ψ AZnax (43)

[0417] ψ ELmin ≤ψ ELE ≤ψ ELnax (44)

[0418] When substituting Equation (41) into Equation (43), the following is obtained.

[0419] |ψ AZ -ψ AZM |≤ψ AZnax (45)

[0420] When substituting Equation (42) into Equation (44), the following is obtained.

[0421] ψ ELmin +ψ ELN ≤ψ EL ≤ψ ELmax +ψ ELM (46)

[0422] It is also possible to not monitor the power transmission directions (ψ AZE , ψ ELE ) and monitor whether the power transmission directions (ψ AZ , ψ EL ) satisfy Equations (45) and (46).

[0423] Several methods of controlling the azimuth angle rotation support 52 by the support control section 38 can be considered. Here, the azimuth angle of the azimuth angle rotation support 52 is changed only when the power transmission directions (ψ AZE , ψ ELE ) deviate from the proper angle range. Changing the power transmission directions (ψ AZE , ψ ELE ) by electricity enables the radiation direction to be changed more quickly than rotating the azimuth angle rotation support 52. After a large change in ψ AZE occurs, the azimuth angle rotation support 52 can be caused to rotate slowly so that ψ AZE approaches zero.

[0424] The support control section 38 monitors ψ AZE and ψ ELE and checks whether Equations (43) and (44) are satisfied. In the case where Equation (43) is not satisfied, the azimuth angle rotation support 52 is caused to rotate so that Equation (43) is satisfied. In the case where ψ AZE < -ψ AZmax , the azimuth angle rotation support 52 is caused to rotate counterclockwise. In the case where ψ AZE > ψAZmax In the case where ψ AZE = 0, the azimuthal rotation support 52 is rotated clockwise. During the rotation of the azimuthal rotation support 52, ψ AZE and ψ ELE are controlled so that the power transmission direction is directed toward the presence direction of the mobile body 60.

[0425] In the case where ψ ELE > ψ ELmax and the condition (44) is not satisfied, it means that the mobile body 60 is present at a low elevation angle (the altitude angle ψ EL is large). There is no other way to satisfy the condition (44) except that the mobile body 60 moves to a position having a higher elevation angle. In the case where ψ ELE > ψ ELmax is detected, the power transmission to the mobile body 60 is stopped. In the case where ψ ELE ≤ ψ ELmax is detected, the power transmission to the mobile body 60 is restarted.

[0426] In the case where ψ ELE < ψ ELmin and the condition (44) is not satisfied, the azimuthal rotation support 52 is rotated. When the azimuthal rotation support 52 is rotated by 180 degrees, ψ EL < 0 changes to -ψ EL > 0, so that ψ ELE = -ψ EL - ψ ELM > -ψ ELM > ψELmin, the condition (44) is satisfied.

[0427] In the case where ψ ELE < ψ ELmin is detected by the support control section 38, the azimuthal rotation support 52 is rotated so that ψ AZE = 0 and ψ ELE ≥ ψ ELmin . The direction of rotation of the azimuthal rotation support 52 is decided so as to reduce the rotation angle of the azimuthal rotation support 52 until ψ AZE = 0 and ψ ELE ≥ ψ ELmin . In the case where ψ AZE ≥ 0, the azimuthal rotation support 52 is rotated counterclockwise. In the case where ψ AZE < 0, the azimuthal rotation support 52 is rotated clockwise. Until ψ AZE = 0 and ψ ELE ≥ ψ ELmin , a period in which |ψ AZE | > ψ AZmax is generated. In the case where |ψ AZE | > ψAZmax During the period of time, the emission of the power transmission wave 2 is stopped, and the azimuthal rotation support 52 is rotated at the highest speed. By rotating the azimuthal rotation support 52 at the highest speed, the period of time during which the emission of the power transmission wave 2 is stopped is shortened as much as possible. During the period of time, the azimuthal angle ψ AZE Azmax During the period of time, the azimuthal angle ψ AZE and the azimuthal angle ψ ELE are controlled so that the power transmission direction is directed toward the presence direction of the moving body 60.

[0428] The power transmission antenna 50B is capable of forming a power transmission beam having a low elevation angle and a half-value width smaller than that of the power transmission antenna 50. Figure 29 is a graph showing the change of the amplitude attenuation ratio γ with respect to the deviation angle δ in the phased array antenna possessed by the wireless power transmission apparatus according to Embodiment 3. Figure 29 During the period of time, the azimuthal angle ψ AZE = 0 degrees, the azimuthal angle ψ EL = 0 degrees, 30 degrees, and 60 degrees. The graph for the case where the azimuthal angle ψ EL = 0 degrees is represented by a solid line, the graph for the case where the azimuthal angle ψ EL = 30 degrees is represented by a dashed line, and the graph for the case where the azimuthal angle ψ = 60 degrees is represented by a one-dot chain line. In the case where the azimuthal angle ψ EL = 0 degrees, the half-value width is about 8.0 degrees. In the case where the azimuthal angle ψ EL = 30 degrees, the half-value width is about 6.8 degrees. In the case where the azimuthal angle ψ EL = 60 degrees, the half-value width is about 8.0 degrees. In comparison with Figure 6 , the half-value width in the case where the azimuthal angle ψ EL = 60 degrees is smaller.

[0429] The operation will be described. Figure 30 is a flowchart illustrating a power transmission step of performing power transmission to a moving body by using the wireless power transmission apparatus according to Embodiment 3. With regard to Figure 30 , the differences from Figure 8 in the case of Embodiment 1 will be described. After S13 of deciding the power transmission direction (ψ AZ , ψ EL ), steps S14 to S16 are added. In S14, the power transmission direction (ψ AZ , ψ EL ) of the power transmission antenna 50B is decided in accordance with the power transmission direction (ψ AZE , ψ ELE ). There is a relationship between the power transmission direction (ψ AZ , ψ EL ) and the power transmission direction (ψ AZE , ψ ELE ) between Expression (41) and Expression (42). ​

[0430] In step S15, the transmission direction (ψ) of the transmission antenna 50B is checked. AZE , ψ ELE Is it within the appropriate angle range? If it is within the appropriate angle range ("Yes" in S15), return to S11. If it is not within the appropriate angle range ("No" in S15), in step S16, rotate the azimuth rotation bracket 52 so that the transmission direction (ψ) is within the appropriate angle range. AZE , ψ ELE Within the appropriate angle range. After executing S16, return to S11.

[0431] Reference Figure 31 Explain the transmission direction (ψ) in S16 that is not within the appropriate angle range. AZE , ψ ELE The step is to return to the appropriate angle range. In step S61, it is checked whether ψ ELE >ψ ELmax In ψ ELE >ψ ELmax If (S61 is "Yes"), then in step S62, the radiation of transmission wave 2 is stopped. In step S63, it is checked whether ψ ELE ≤ψ ELmax In ψ ELE ≤ψ ELmax If (S63 is "Yes"), the radiation of transmission wave 2 restarts in step S64. The process ends after executing S64. If it is not ψ ELE ≤ψ ELmax If (in S63 it is "No"), S63 is executed repeatedly at the determined cycle.

[0432] Not ψ ELE >ψ ELmax If (no) is true in S61, in step S65, check whether it is ψ. ELE <ψ ELmin In is ψ ELE <ψ ELmin If (S65 is "Yes"), the rotation direction of the azimuth rotation bracket 62 is determined in step S66. If ψ AZE When ≥0, the direction is determined counterclockwise, and when ψ AZE If the value is less than 0, the direction is determined clockwise. In step S67, the azimuth rotation bracket 62 is rotated. In step S68, it is checked whether |ψ AZE |≤ψ AZmax 。 is |ψ AZE |≤ψ Azmax When (in S68 it is "yes"), control ψ AZE and ψ ELEso that the power transmission direction is directed toward the direction of the existence of the mobile body 60. After S69 is executed, return to S68.

[0433] In the case where ψ AZE |≤ ψ AZmax (S68: "No"), in step S70, the emission of the power transmission wave 2 is stopped and the rotation speed of the azimuthal rotation support 62 is made maximum. In step S71, it is checked whether ψ AZE |≤ ψ AZmax . In the case where ψ AZE |≤ ψ AZmax (S71: "Yes"), in step S72, the emission of the power transmission wave 2 is restarted and the rotation speed of the azimuthal rotation support 62 is made to the normal speed. In step S73, ψ AZE and ψ ELE are controlled so that the power transmission direction is directed toward the direction of the existence of the mobile body 60. In step S74, it is checked whether ψ AZE = 0 degree. In the case where ψ AZE ≠ 0 degree (S74: "No"), S74 is repeatedly executed at a decided cycle. In the case where ψ AZE = 0 degree (S74: "Yes"), in step S75, the rotation of the azimuthal rotation support 62 is stopped. After S75 is executed, the process is ended.

[0434] In the case where ψ ELE < ψ ELmin (S65: "No"), in step S76, it is checked whether | ψ AZE | > ψ AZmax . In the case where | ψ AZE | > ψ AZmax (S76: "No"), the process is ended. In the case where | ψ AZE | > ψ AZmax (S76: "Yes"), in step S77, the rotation direction of the azimuthal rotation support 62 is decided. In the case where ψ AZE ≥ 0, it is decided in the counterclockwise direction, and in the case where ψ AZE < 0, it is decided in the clockwise direction. In step S78, the azimuthal rotation support 62 is rotated. In step S79, it is checked whether | ψ AZE | ≤ ψ AZmax . In the case where | ψ AZE | ≤ ψ AZmax (S79: "No"), S79 is repeatedly executed at a decided cycle. In the case where | ψ AZE | ≤ ψ AZmax (S79: "Yes"), proceed to S73.

[0435] The wireless power transmission device 1B can change the elevation angle in the direction in which the opening surface of the power transmission antenna 50B faces using the azimuth angle rotating stand 52, and can arrange the power transmission antenna 50B obliquely to the horizontal plane. Therefore, the wireless power transmission device 1B can transmit power to the mobile body 60 in a wider range of the azimuth angle and the elevation angle than the wireless power transmission device 1. The wireless power transmission device 1B can form a power transmission beam having a narrower half-value width at a low elevation angle than the wireless power transmission device 1.

[0436] The elevation angle in the direction in which the opening surface of the power transmission antenna faces can be mechanically changed. It is only necessary that the power transmission antenna can change the radiation direction by combining the mechanical change and the electrical change of the radiation direction.

[0437] Embodiment 4.

[0438] In Embodiment 1, as a means of tracking the mobile body, a method of performing single-pulse tracking of the pilot signal transmitted from the power receiving side on the power transmission side is adopted. In Embodiment 4, the pilot signal is stepwise tracked. In the stepwise tracking, the pointing direction of the pilot antenna that receives the pilot signal is changed tentatively while detection is performed, and the power transmission direction of the power transmission wave is changed in the direction in which the reception intensity of the pilot signal increases. The pointing direction of the pilot antenna is changed also in the direction in which the reception intensity decreases, but the power transmission direction of the power transmission wave is tracked only in the direction in which the reception intensity increases.

[0439] Reference Figure 32 and Figure 33 explain the structure of the wireless power transmission device 1C and the mobile body 60. Figure 32 is a diagram explaining the outline structure of a wireless power transmission system that uses the wireless power transmission device according to Embodiment 4 to transmit power to the mobile body. Regarding Figure 32 , the differences from Figure 2 in the case of Embodiment 1 are explained. The incoming direction detection device 7C and the control device 10C are changed. The incoming direction detection device 7C has a signal strength measurer 39 instead of the pilot receiver 24. The signal strength measurer 39 measures the signal strength of the pilot reception signal. The pilot antenna control section 23C is changed. The pilot antenna control section 23C controls the pilot antenna stand 22 by stepwise tracking.

[0440] Figure 33 is a block diagram explaining the functional structure of the wireless power transmission device according to Embodiment 4 and the mobile body. Regarding Figure 33 , the differences from Figure 5 in the case of Embodiment 1 are explained. The control device 10C transmits the data acquisition command 73C for each period of the specified phase shift amount by the REV method scheme 74C, and acquires one detection data 71C. The data storage section 25C stores the REV method scheme 74C.

[0441] The signal strength of the pilot received signal measured by the signal strength measurer 39 is called a pilot signal strength. The pilot antenna control section 23C takes the pointing direction of the pilot antenna 6 in the previous cycle as a reference direction, and changes the pointing direction of the pilot antenna 6 only by an angle temporarily decided in a plurality of directions. The signal strength measurer 39 measures the pilot signal strength in a state where the pointing direction of the pilot antenna 6 is directed toward a direction changed from the reference direction. The pilot antenna control section 23C takes the direction in which the pilot signal strength becomes the largest among the temporarily changed directions as a new reference direction of the pointing direction of the pilot antenna 6. The pilot antenna control section 23C repeats such processing to change the reference direction of the pointing direction of the pilot antenna 6. The pilot antenna control section 23C notifies the control device 10C of the reference direction of the pointing direction of the pilot antenna 6 as the arrival direction. The arrival direction detection device 7C detects the arrival direction for a longer cycle than the arrival direction detection device 7.

[0442] The control device 10C changes the data acquisition command generation section 28C and the radiation direction decision section 33C. The radiation direction decision section 33C updates the radiation direction data 81C at a cycle shorter than the cycle of the update of the arrival direction data 79. The radiation direction decision section 33C interpolates and generates the radiation direction data 81C at a time point at which the arrival direction data 79 is not present. Specifically, the radiation direction decision section 33C estimates the speed of change of the arrival direction data 79, estimates the arrival direction data 79 based on the estimated speed, and updates the radiation direction data 81C.

[0443] The data acquisition command 73C is generated with respect to the operation phase shift amount (r*θd) specified by the REV method scheme 74C for each of the phase shifters 13p r , r = 1,..., nd for each measurement period Tp

[0444] One measurement period data 70C is data indicating the start time and the end time of the measurement period Tp r , r = 1,..., nd. One measurement period data 70C is set each time the data acquisition command 73C is received. The data command generation section 28C of the control device 10C generates the data acquisition command 73C every measurement period Tp r . The on-board control device 19C generates the average value of the electric field intensity of the measurement period specified by the data acquisition command 73C as the detection data 71. The on-board control device 19C transmits the detection data 71 for each measurement period Tp r to the control device 10C. The measurement period Tp r is a period in which one operation phase shift amount is acquired by the phase shifter 13p as the operation phase shifter.

[0445] The operation is described. Figure 34is a flowchart illustrating a power transmission step of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 4. Regarding Figure 34 , the difference from Figure 8 in the case of Embodiment 1 will be described. The steps S06C, S12C, and S13C are changed.

[0446] In S06C, the monitoring antenna 17 receives the electric wave every other measurement period Tp r , r = 1,..., nd, the data acquisition command 73C and the detection data 71 are acquired, and the REV method is executed. In S12C, the arrival direction detection device 7C determines the arrival direction of the pilot signal 4 by step tracking the pilot signal 4. In S13C, the change speed of the arrival direction data 79 of the pilot signal 4 is estimated, and the radiation direction data 81C is estimated and updated at a shorter period than the update period of the arrival direction data 79.

[0447] Referring to Figure 35 , the steps of executing the REV method in Embodiment 4 will be described. Regarding Figure 35 , the difference from Figure 9 in the case of Embodiment 1 will be described. Without S31, S32, in step S33, p = 0 is set, and the REV method execution unit 27 sets the phase shift amount of each phase shifter 13 to only the direction change phase shift amount. In step S34, p = p + 1 is set, and r = 0 is set, and one phase shifter 13p is selected in the order specified in the REV method scheme. As the next step of S34C, in step S43, r = r + 1 is set. In step S44, the control device 10C acquires the detection data 71 every other measurement period Tp r , and transmits the data acquisition command 73C to the on-board controller 19C. In step S45, the data acquisition command interpretation unit 63C interprets the data acquisition command 73C, and acquires one measurement period data 70C specifying the time of starting and ending the measurement of the electric field intensity, and Tp r correspondingly stored in the data storage device 21C.

[0448] As the next step of S45, in step S35C, the REV method execution unit 27C changes the phase shifter 13p in the measurement period Tp r based on the REV method scheme 74C to obtain the operation phase shift amount sp r , and records the phase operation data 75. In parallel with S35C, in step S36C, the monitoring antenna 17 receives the electric wave, and measures the detection data 71, that is, the electric field intensity Cp r in the measurement period Tp r . The average value of the electric field intensity Cp r in the measurement period Tp r is calculated.

[0449] In step S37C, the mobile body communication machine 20 transmits the average value of the electric field intensity Cp r during the measurement period Tp r to the control device 10C from the mobile body 60. The electric field intensity Cp r during the measurement period Tp r is the electric field variation data indicating the electric field variation during the measurement period Tp r . In step S38C, the communication machine 30 receives the electric field intensity Cp r .

[0450] After S38C, in step S46, it is checked whether r = nd holds. In the case where r = nd, one phase shifter 13 takes all the operation phase shift amounts sp r . In the case where r = nd (YES in S46), it proceeds to S39. In the case where r ≠ nd (NO in S46), it returns to S43.

[0451] The wireless power transmission device 1C acts similarly to the wireless power transmission device 1, and obtains the same effect. Since the power transmission beam tracks the mobile body 60 even during the execution of the REV method, it is possible to improve the accuracy of the REV method. Since the signal strength measurer 39 that outputs the received signal strength is used, the structure of the arrival direction detection device becomes simple. Therefore, it is possible to realize the miniaturization of the arrival direction detection device.

[0452] Embodiment 5

[0453] Embodiment 5 is a case where the tracking method of the mobile body is changed from Embodiment 4. In Embodiment 4, as a means of tracking the mobile body, the pilot signal transmitted from the power receiving side on the power transmission side is stepwise tracked. In Embodiment 5, the pointing direction of the pilot antenna is changed in the vicinity of the arrival direction of the pilot signal, and the received intensity is measured. From the change in the received intensity and the pointing direction that is intentionally changed, the error of the arrival direction is estimated, and the most accurate arrival direction is estimated based on the estimated error. The tracking method in Embodiment 5 is called vicinity search tracking. The most accurate arrival direction is notified to the control device 10C. The control device 10C is the same as that in Embodiment 4.

[0454] Figure 36 is a diagram that explains the simple structure of the wireless power transmission system that uses the wireless power transmission device related to Embodiment 5 to perform power transmission to the mobile body. Regarding Figure 36 , the difference from Figure 32 in the case of Embodiment 4 is explained. The arrival direction detection device 7D changes the pilot antenna control section 23D. The pilot antenna control section 23D changes the pointing direction of the pilot antenna 26 so as to become the vicinity search tracking.

[0455] The operation is described. Figure 37 is a flowchart illustrating a power transmission step of transmitting power to the mobile body using the wireless power transmission device according to Embodiment 5. As for Figure 37 , the difference from the case of Embodiment 4 is described. In Step S12D, the direction-of-arrival detection device 7D detects the direction of arrival of the pilot signal 4 by nearby search tracking. Figure 34

[0456] The wireless power transmission device 1D operates similarly to the wireless power transmission device 1, and achieves the same effects. Since the power transmission beam tracks the mobile body 60 even during the execution of the REV method, the accuracy of the REV method can be improved. In Embodiment 5, the structure of the direction-of-arrival detection device can also be simplified, and miniaturization of the direction-of-arrival detection device can be achieved.

[0457] Embodiment 6.

[0458] Embodiment 6 is a case where the mobile body measures its own position and posture and notifies the wireless power transmission device, and the wireless power transmission device decides the direction of power transmission based on the position and posture of the mobile body. Embodiment 6 modifies Embodiment 1. Modification can also be made based on Embodiments 2 to 5 or other embodiments.

[0459] Referring to Figure 38 and Figure 40 , the structure of the wireless power transmission device 1E and the mobile body 60E is described. Figure 38 is a schematic diagram illustrating the structure of a wireless power transmission system that transmits power to a mobile body using the wireless power transmission device according to Embodiment 6. Figure 39 is a diagram illustrating the simple structure of a wireless power transmission system that transmits power to a mobile body using the wireless power transmission device according to Embodiment 6. Figure 40 ​is a block diagram illustrating functional configuration of the wireless power transmission device and the mobile object involved in Embodiment 6. In Embodiment 6, the pilot transmitter 5 and the incoming direction detection device are not needed. The mobile object 60E does not have the pilot transmitter 5. The mobile object 60E has a position sensor 65, a posture sensor 66, and a mobile object position transmission section 67. The position sensor 65 measures the position of the mobile object 60E. The position sensor 65 functions as the time device 16. The position sensor 65 is, for example, a GPS receiver. Even if it is not a GPS receiver, as long as it can measure the position of the mobile object 60E in three-dimensional space, it can function as the position sensor 65. The posture sensor 66 measures the posture of the mobile object 60E. The mobile object position transmission section 67 performs processing of periodically transmitting the mobile object position 81 measured by the position sensor 65 and the posture data 82 measured by the position sensor 66 to the control device 10E. In a case where the mobile object position measured by the position sensor 65 is away from the position of the power receiving device 3, the control device 10E corrects the mobile object position using the posture measured by the posture sensor 66 and the structure data indicating the structure of the mobile object 60E, and decides the position of the power receiving device 3. In a case where the mobile object 60E is small, and the position of the mobile object 60E in three-dimensional space is regarded as the position of the power receiving device 3, the posture sensor 66 can not be included.

[0460] The mobile object 60E makes a change to the data storage device 21E. The data storage device 21E also stores the mobile object position 81 and the posture data 82. The mobile object position 81 is the three-dimensional position of the mobile object 60E measured by the position sensor 65. The posture data 82 is data indicating the posture of the mobile object 60E measured by the posture sensor 66.

[0461] The control device 10E has a position sensor 40 and a mobile object position decision section 41. The position sensor 40 measures the position of the wireless power transmission device 1E. The position sensor 40 functions as the time device 15. The mobile object position decision section 41 decides the position of the mobile object 60E from the mobile object position and the posture data of the mobile object 60E transmitted from the mobile object 60E. When the position of the mobile object 60E is decided, the existence direction, which is the direction in which the mobile object 60E exists, is also decided from the position of the power transmission antenna 50. The mobile object position decision section 41 is an existence direction decision section that decides the existence direction. The position sensor 40 is, for example, a GPS receiver. Even if it is not a GPS receiver, as long as it can measure the position of the wireless power transmission device 1E in three-dimensional space, it can function as the position sensor 40. In a case where the wireless power transmission device 1E does not move, the position sensor 40 can not be included.

[0462] In the control device 10E, the data storage section 25E, the radiation direction decision section 33E, and the electric wave radiation control section 34E are changed. The data storage section 25E has a mobile body structure data 83, a power transmission device position 84, a mobile body position 81, a posture data 82, and a power receiving device position 85. The mobile body position 81 records the position data of the mobile body 60E measured by the positioning sensor 65 and transmitted from the mobile body 60E. The posture data 82 records the posture data of the mobile body 60E measured by the posture sensor 66 and transmitted from the mobile body 60E. The posture data 82 is, for example, the direction (nose direction) toward which the mobile body 60E is directed. The power receiving device position 85 records the position of the power receiving device 3 decided by the mobile body position decision section 41. In the mobile body structure data 83, data indicating the structure of the mobile body 60E used when the power receiving device position 85 is calculated from the mobile body position 81 and the posture data 82 is recorded. The mobile body structure data 83 is data indicating, for example, that the position of the power receiving device 3 exists at a position 10 m behind the nose direction closer to the position of the positioning sensor 65. The data storage section 25E is a mobile body data storage section storing the mobile body structure data.

[0463] The mobile body position decision section 41 is a power receiving device position decision section that decides the power receiving device position 85 by using the mobile body structure data 83, the mobile body position 81, and the posture data 82. In the case where the posture data 82 is, for example, the nose direction of the mobile body 60E, the position of the positional relationship designated by the mobile body structure data 83 in the direction indicated by the posture data 82 with respect to the mobile body position 81 becomes the power receiving device position 85. The power transmission device position 84 is the position of the wireless power transmission device 1E (strictly speaking, the power transmission antenna 50) measured by the positioning sensor 40. The mobile body position decision section can decide the mobile body position measured by the positioning sensor 65. The power transmission device position 84 is the position of the power transmission antenna 50, that is, the power transmission antenna position.

[0464] The radiation direction decision section 33E decides the radiation direction (power transmission direction) of the power transmission electric wave 2 toward the power receiving device 3 based on the power receiving device position 85 and the power transmission device position 84. The electric wave radiation control section 34E also decides the phase and amplitude of the element electric wave 2E p radiated by each element antenna 8 p using the distance (power transmission distance) between the wireless power transmission device 1E and the power receiving device 3, and controls each element module 9 to achieve the decided phase and amplitude. For the case of the far field, the power transmission distance can not be used. In addition, when the power transmission distance cannot be considered as the far field, it is also necessary to consider the power transmission distance to decide the phase and amplitude of the element electric wave 2E p radiated by each element antenna 8 p .

[0465] The operation is explained. Figure 41This is a flowchart illustrating the power transmission steps of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 6. Regarding... Figure 41 Regarding the case of implementation method 1 Figure 8 The differences will be explained below. Instead of S11-S13, steps S21-S26 are included. In step S21, the positioning sensor 65 of the moving body 60E measures the position of the moving body 60E, i.e., the moving body position 81, and the posture sensor 66 measures posture data 82. In step S22, the moving body 60E transmits the moving body position 81 and posture data 82, which are received by the control device 10E. In step S23, the moving body position determination unit 41 determines the receiving device position 85 using the moving body structure data 83, the moving body position 81, and the posture data 82. In step S24, the existence direction is determined based on the receiving device position 85 and the power transmission device position 84, which is the direction in which the receiving device position 85 exists as observed from the power transmission device position 84. In step S25, the radiation direction determination unit 33E determines the power transmission direction (ψ) toward the receiving device 3. AZ , ψ EL In step S26, the radio wave radiation control unit 34E uses the transmission direction (ψ) AZ ψ EL The antenna components and transmission distance determine the antenna's performance. p Radiated element electromagnetic waves 2E p The phase and amplitude of the wave are determined, and the phase shift and amplification of each component module 9 are determined to achieve the determined phase and amplitude. In S01, the wireless transmission device 1E radiates the transmission wave 2 in the transmission direction with the phase shift and amplification determined in S26. After executing S26, it returns to S21. The control device 10E repeatedly executes the processes of S21 to S26 at a determined period.

[0466] Wireless transmission device 1E operates in the same manner as wireless transmission device 1, achieving the same effect. Since the transmission beam tracks the moving body 60 even during the execution of the REV method, the accuracy of the REV method can be improved.

[0467] Since the position of the moving body 60E is measured, a pilot transmitter, pilot antenna, and direction of arrival detection device are not required. When the moving body 60 is large, the position of the power receiving device 3 is determined by considering the posture of the moving body 60E measured by the posture sensor 65, thus enabling high-precision and high-efficiency power transmission to the power receiving device 3. When the moving body 60 is small, the direction toward the position of the moving body measured by the positioning sensor 66 is defined as the presence direction.

[0468] By utilizing the distance between the mobile body 60E and the wireless power transmission device 1E, the accuracy of the REV method can be improved, and power transmission can be performed with high precision based on the position of the power receiving device 3 during power transmission.

[0469] Embodiment 7.

[0470] Embodiment 7 is a case where Embodiment 1 is changed to measure the position of the mobile body from the ground. The mobile body and the wireless power transmission device are changed.

[0471] Reference Figure 42 and Figure 44 explain the structure of the wireless power transmission device 1F and the mobile body 60F. Figure 42 is a schematic diagram explaining the structure of a wireless power transmission system that uses the wireless power transmission device related to Embodiment 7 to transmit power to the mobile body. Figure 43 is a diagram explaining the outline structure of a wireless power transmission system that uses the wireless power transmission device related to Embodiment 7 to transmit power to the mobile body. Figure 44 is a block diagram explaining the functional structure of the wireless power transmission device and the mobile body related to Embodiment 7. The mobile body 60F does not have the pilot transmitter 5. The mobile body 60F also does not have the positioning sensor or the like. The laser positioning device 42 is provided near the wireless power transmission device 1F. The laser positioning device 42 measures the position of the power receiving device 3 that the mobile body 60F has. The power receiving device position 85F that indicates the position of the power receiving device 3 positioned by the laser positioning device 42 is input to the control device 10F at a decided period during the transmission of power to the mobile body 60F. The laser positioning device 42 is a mobile body position measuring device that measures the position of the mobile body.

[0472] The laser positioning device 42 transmits laser light 43 in each direction and receives reflected laser light 44 reflected by the mobile body 60F that is the object of positioning. The direction in which the mobile body 60F exists is decided from the direction of the reflected laser light 44, and the distance to the mobile body 60F is decided from the time until the reflected laser light 44 is received after the laser light 43 is radiated. When the mobile body 60F is large and the reflected laser light 44 is measured with a width, the position of the power receiving device 3, that is, the power receiving device position 85F is also decided. The laser positioning device 42 has data indicating the reflection pattern from the mobile body 60F. The reflection pattern also contains data indicating the power receiving device position in the reflection pattern. The laser positioning device 42 decides the power receiving device position 85F by matching the pattern with the actually obtained reflected laser light 43. For the reflection pattern of the mobile body 60F, a pattern when the mobile body 60F is observed from several directions is prepared in advance. In addition, as the positioning device that measures the position of the power receiving device 3, a wave or a sound wave other than laser light can be used.

[0473] The control device 10F changes the data storage section 25F and the radiation direction decision section 33E. The data storage section 25F has the power receiving device position 85F instead of the incoming direction data 78. In the power receiving device position 85F, the power receiving device position 85F of the power receiving device 3 input from the laser positioning device 42 is set.

[0474] The radiation direction determination unit 33E has the same structure as the control device 10E and operates in the same way.

[0475] Explain the actions. Figure 45 This is a flowchart illustrating the power transmission steps of transmitting power to a mobile body using the wireless power transmission device according to Embodiment 7. Regarding... Figure 45 In the case of implementation method 6 Figure 37 The differences will be explained. S21F and S22F are changed, and S23 is deleted. In step S21F, the laser positioning device 42 measures the position 85F of the powered device. In step S22F, the position 85F of the powered device detected by the laser positioning device 42 is input to the control device 10F. S24 to S26 are different from those in Embodiment 6. Figure 37 Same. After executing S26, return to S21F. Control device 10F repeatedly executes the processes of S21F to S26 at a determined cycle.

[0476] Wireless transmission device 1F operates in the same manner as wireless transmission device 1, achieving the same effect. Since the transmission beam tracks the moving body 60 even during the execution of the REV method, the accuracy of the REV method can be improved.

[0477] The mobile device does not need to include positioning sensors and pilot transmitters. Even when the mobile device is small and the equipment it can carry is limited, the wireless power transmission device 1F can transmit power to the mobile device with high accuracy and efficiency.

[0478] The device for determining the position of a moving object can be a device that receives and uses ranging waves such as radiating laser light, non-laser light, radio waves, and ultrasonic waves reflected by the moving object as ranging reflected waves. Alternatively, it can measure the distance to the moving object based on the time elapsed from sending the ranging wave to receiving the ranging reflected wave, and then determine the position of the moving object based on the measured distance and the direction of arrival of the ranging reflected wave.

[0479] Implementation method 8.

[0480] Embodiment 8 is a modification of Embodiment 1, in which the processing of calculating the element electric field vector using the REV method is performed within the moving body to reduce the amount of data transmitted from the moving body to the control device. In Embodiment 8, compared to Embodiment 1, the control device 10G, the airborne control device 19G, and the data storage device 21G are changed. Figure 46 The structure of the power transmission system that transmits power to a mobile body using the wireless power transmission device according to Embodiment 8 will be described. Figure 46 This is a block diagram illustrating the functional structure of the wireless power transmission device and the mobile body involved in Embodiment 8. Regarding... Figure 46The difference from the case of Embodiment 1 will be described. Figure 5

[0481] The measurement period Tp is a plurality of periods notified by the data acquisition command. Each measurement period corresponds to a period in which the phase shifter is operated to change the phase shift amount. The data storage device 21G mounted on the mobile body 60G also stores the maximum and minimum time instants 86 and the maximum and minimum amplitude values 87. The maximum and minimum time instants 86 are the time instant Tpmax at which the actually detected electric field intensity Cp(t) becomes maximum and the time instant Tpmin at which the electric field intensity Cp(t) becomes minimum within the measurement period Tp. The maximum and minimum amplitude values 87 are the maximum value Cpmax and the minimum value Cpmin of the electric field intensity Cp(t) within the measurement period Tp. The maximum and minimum time instants 86 and the maximum and minimum amplitude values 87 are transmitted from the onboard controller 19G to the control device 10G as a reply to the data acquisition command 73G. The maximum and minimum time instants 86 and the maximum and minimum amplitude values 87 are electric field variation data indicating the variation of the electric field during the measurement period Tp. Only the maximum and minimum time instants 86 can be replied as the electric field variation data.

[0482] The onboard control device 19G does not have the data transmission generation section 64 but has the measurement data analysis section 35G. The measurement data analysis section 35G detects the time instant Tpmax and the time instant Tpmin from the actually measured electric field intensity Cp(t) within the measurement period Tp. In addition, the maximum value Cpmax and the minimum value Cpmax of the electric field intensity Cp(t) are also detected. The measurement period Tp is an analysis period in which the electric field intensity Cp(t) measured during the period is analyzed. In addition, the time instant Tpmax and the time instant Tpmin stored in the data storage device 21G as the maximum and minimum time instants 86 are phase shift amount detection time instants obtained by analyzing the electric field intensity Cp(t) measured during the analysis period, respectively. The measurement data analysis section 35G detects the phase shift amount detection time instants every analysis period.

[0483] The mobile body communication device 20 transmits the maximum and minimum time instants 86 and the maximum and minimum amplitude values 87 to the control device 10G. The mobile body communication device 20 does not transmit the electric field intensity Cp measured in the measurement period Tp, i.e., the detection data 71, to the control device 10G.

[0484] In the data storage section 25G possessed by the control device 10G, the maximum and minimum time instants 86 and the maximum and minimum amplitude values 87 transmitted from the mobile body 60G are stored. Since the detection data 71 is not transmitted from the mobile body 60G, the detection data 71 is not stored in the data storage section 25G.

[0485] ​The component electric field calculation unit 29G does not have a measurement data analysis unit 35. The operation phase shift acquisition unit 36 ​​calculates the operation phase shift of the phase shifter 13p recorded in the phase operation data 75 at times Tpmax and Tpmin, which are the maximum and minimum times 86. The component electric field vector calculation unit 37 calculates the phase (component electric field phase) and amplitude of the component electric field vector 76 generated by the component antenna 8 corresponding to the phase shifter 13p that causes the phase change. The component antenna 8 corresponding to the phase shifter 13p is the component antenna 8 that receives the component transmission signal output from the phase shifter 13p. The component electric field vector calculation unit 37 calculates the phase and amplitude of the component electric field vector 76 based on the operation phase shift of the phase shifter 13p recorded in the phase operation data 75 at times Tpmax and Tpmin, and the maximum value Cpmax and minimum value Cpmin of the electric field strength Cp(t). The phase offset calculation unit 31 calculates the phase offset value 77 of each phase shifter 13 based on the phase of the element electric field vector 76 of each phase shifter 13. The phase offset value setting unit 32 sets the phase offset value 77 in each phase shifter 13.

[0486] Explain the actions. Figure 47 This is a flowchart illustrating the steps of calculating the element electric field vector of the radio waves radiated by each element antenna in the wireless power transmission device according to Embodiment 8 using the REV method.

[0487] about Figure 47 In the case of implementation method 1 Figure 9 The differences will be explained. S37 is changed to S37G, and S38 is changed to S38G. Step S47 is added before step S37G. In S47, the measurement data analysis unit 35G of the moving body 60G detects the maximum value Cpmax of the electric field strength Cp during the measurement period, and the time Tpmax when the maximum value Cpmax is reached. In addition, the minimum value Cpmin of the electric field strength Cp during the measurement period, and the time Tpmin when the minimum value Cpmin is reached are detected.

[0488] S47's processing is equivalent to Figure 40 The processing of S39 in [the context]. Therefore, in [the context] Figure 47 S39 does not exist in the system.

[0489] In step S37G, the mobile body communication device 20 of the mobile body 60G sends the time Tpmax and time Tpmin as the maximum and minimum time 86, the maximum value Cpmax and the minimum value Cpmin as the maximum and minimum amplitude values ​​87, and sends them to the communication device 30 of the control device 10G.

[0490] In step S38G, the communication machine 30 receives the time Tpmax and the time Tpmin, the maximum value Cpmax and the minimum value Cpmin.

[0491] After S38G, S40 is executed. Hereafter, the same as Figure 40 applies.

[0492] In the power transmission system of the mobile body of Embodiment 8, in addition to the effects of Embodiment 1, it is possible to reduce the amount of data transmitted from the mobile body 60G for performing the REV method.

[0493] Embodiment 9.

[0494] Embodiment 9 is a case where Embodiment 1 is changed so that the processing of calculating the element electric field vector using the REV method is implemented in the mobile body to reduce the amount of data transmitted from the mobile body to the control device. In addition, in the REV method scheme, the operation phase shift amounts of the respective phase shifters are discretized, and the fixed time in each operation phase shift amount is set to an appropriate length. Therefore, it is possible to reduce the error when the operation phase shift amount is found according to the time using the REV method scheme without using the record of the change of the operation phase shift amount of the actual phase shifter.

[0495] In the wireless power transmitter 1H, the control device 10H, the on-board control device 19H, and the data storage device 21H are changed compared to the wireless power transmitter 1. The on-board control device 19H is configured to calculate the element electric field vector of each element module using the REV method scheme 74. Figure 48 The structure of the power transmission system of the wireless power transmitter related to Embodiment 9 to the mobile body is described. Figure 48 is a block diagram illustrating the functional structure of the wireless power transmitter and the mobile body related to Embodiment 9. Regarding the Figure 48 , the differences from the case of Figure 46 are described.

[0496] The data acquisition command 73H is a command to issue an instruction to calculate the element electric field vector to the on-board control device 19H. The data acquisition command 73H is transmitted from the control device 10H to the on-board control device 19H. The on-board control device 19H generates the detection data 71. The on-board control device 19H calculates the element electric field vector 76 of each element module based on the detection data 71 and the REV method scheme 74. The on-board control device 19H transmits the element electric field vector 76 to the control device 10H.

[0497] The control device 10H does not have the element electric field calculation section 29. The data acquisition command generation section 28H is changed. In addition, the data storage section 25H does not store the maximum minimum time 86 and the maximum minimum amplitude value 87. The data storage section 25H stores the REV method scheme 74H. The REV method scheme 74H is changed from the REV method scheme 74 so that the element electric field vector 76 is easily calculated even by the on-board control device 19H. The REV method scheme 74H will be described later.

[0498] The control device 10H changes the data acquisition command generation section 28H to generate the data acquisition command 73H. The data acquisition command 73H is transmitted by the moving body communication machine 20 to the on-board control device 19H. The data acquisition command 73H includes the REV method start time. The REV method start time 88 is a time at which the REV method execution section 27H of the control device 10H starts to execute the REV method scheme 74H. In the REV method scheme 74H, the execution start is a reference phenomenon, and phenomena other than this are non-reference phenomena that express time in terms of a relative time from the execution start.

[0499] In the case where the REV method scheme has a plurality of reference phenomena, the data acquisition command 73H can be transmitted a plurality of times, or a command that conveys the times of the reference phenomena once and the data acquisition command 73H once can be transmitted.

[0500] The on-board control device 19H has the data acquisition command interpretation section 63H and the element electric field calculation section 29H. The data storage device 21H stores the REV method scheme 74H, the REV method start time 88, the measurement period data 70, the detection data 71, the maximum minimum time 86, the maximum minimum amplitude value 87, and the element electric field vector 76. The REV method scheme 74H is stored in the data storage device 21H in advance before the moving body 60H takes off.

[0501] The REV method scheme 74H stored in the data storage device 21H can be the same as the scheme possessed by the control device 10H, or can include only data required by the element electric field calculation section 29H. Since the maximum minimum time 86 and the maximum minimum amplitude value 87 are data used by the element electric field calculation section 29H to obtain the element electric field vector 76, they are internal data of the element electric field calculation section 29H, and can not be stored in the data storage device 21H.

[0502] When the data acquisition command 73H is received, the data acquisition command interpretation section 63H acquires the REV method start time 88 from the data acquisition command 73H and stores it in the data storage device 21H. With reference to the REV method scheme 74H, the measurement period data 70 is set as the measurement period Tp for each operation phase shifter. In the measurement period data 70, the relative time is replaced with the time using the REV method start time 88. The plurality of measurement periods Tp is set based on the REV method start time 88 and the REV method scheme 74H, which can also be applied to Embodiment 8 and the like for finding the time Tpmax and the time Tpmin as the phase shift amount detection times using the moving body.

[0503] The detector control section 61 generates the detection data 71 in the measurement period designated by the measurement period data 70. The detection data time attaching section 62 attaches the time data 72 indicating the measured time to the detection data 71. The detection data 71 is stored in the data storage device 21H.

[0504] The element electric field operation section 29H calculates the element electric field vector 76 based on the detection data 71 measured in the period designated by the measurement period data 70 and the REV method scheme 74H. The phase operation data 75 is not transmitted from the control device 10H to the on-board controller 19H. Therefore, the element electric field operation section 29H refers to the REV method scheme 74H to replace the phase operation data 75.

[0505] The element electric field operation section 29H has the measurement data analysis section 35G, the operation phase shift amount acquisition section 36H, and the element electric field vector calculation section 37H. The measurement data analysis section 35G detects the time Tpmax and the time Tpmin at which the actually measured electric field intensity Cp(t) becomes maximum or minimum in the measurement period Tp, similarly to Embodiment 8. Instead of strictly finding the maximum or minimum time, the time near the center of the period in which the electric field intensity Cp(t) takes a value close to the maximum or minimum except for the change portion due to noise is detected as the time Tpmax and the time Tpmin. In addition, the maximum value Cpmax and the minimum value Cpmin of the electric field intensity Cp(t) are also detected. The time Tpmax and the time Tpmin are stored in the data storage device 21H as the maximum minimum time 86. The maximum value Cpmax and the minimum value Cpmin are stored in the data storage device 21H as the maximum minimum amplitude value 87.

[0506] The operation phase shift amount acquisition section 36H subtracts the REV method start time 88 from the time Tpmax and the time Tpmin, and further converts to relative times. At the time Tpmax and the time Tpmin converted to the relative times, with reference to the REV method scheme 74H, the operation phase shift amount spmax at the time Tpmax and the operation phase shift amount spmin at the time Tpmin are found. The REV method scheme 74H can be converted to times by adding the REV method start time 88 to the relative times in advance, and the REV method scheme 74H is referred to at the time Tpmax and the time Tpmin.

[0507] The element electric field vector calculation section 37H calculates the element electric field vector of each element module from the operation phase shift amount spmax, the operation phase shift amount spmin, the maximum value Cpmax, and the minimum value Cpmin.

[0508] The REV method scheme 74H is changed so that the operation phase shift amount of each phase shifter 13 is discretely changed even in a case where the phase operation data 75 is not referred to by the element electric field calculation section 29H. The phase shifter 13 sets the period during which the instructed operation phase shift amount is fixed to be longer than a decided length. That is, in the REV method scheme 74H, the phase operation pattern is defined so that the time during which the operation phase shifter (the phase shifter 13 of the operation phase shift amount) is different for each of the plurality of operation phase shift amounts is longer than a decided duration.

[0509] When the REV method execution section 27H controls the phase shifter 13 according to the REV method scheme 74H, an error can occur at the timing at which the operation phase shift amount is actually changed. Even in a case where an error occurs, since the period during which the operation phase shift amount is constant is longer than a decided length, the operation phase shift amount spmax at the time Tpmax and the operation phase shift amount spmin at the time Tpmin can be acquired in a manner that reduces the error with reference to the REV method scheme 74H. The length of the period during which the operation phase shift amount is fixed is appropriately decided in consideration of the magnitude of the error of the execution time variation.

[0510] An operation will be described. Figure 49 is a flowchart illustrating a step of calculating the element electric field vector of the electric wave radiated from each element antenna by the REV method in the wireless power transmission apparatus according to Embodiment 9.

[0511] Regarding Figure 49 , the REV method scheme 74H is different from the REV method scheme 74A in Embodiment 8. Figure 47The difference from Embodiment 7 will be described. Without S37G and S38G, steps S48 to S51 are added. S47 to S50 are processes executed by the mobile body 60H. In S47, as in the case of Embodiment 8, the measurement data analysis section 35G detects the time Tpmax and the time Tpmin. After step S47, in step S48, the operation phase shift amount acquisition section 36H refers to the REV method scheme 74H to detect the operation phase shift amount spmax of the phase shifter 13p at the time Tpmax. The operation phase shift amount spmin of the phase shifter 13p at the time Tpmin is also detected.

[0512] In step S49, the element electric field vector calculation section 37H calculates the phase and the amplitude of the element electric field vector Ep based on the operation phase shift amount spmax, the operation phase shift amount spmin, and the maximum value Cpmax and the minimum value Cpmin of the electric field intensity Cp. The phase of the element electric field vector Ep is calculated based on the average of the phase calculated from the operation phase shift amount spmax and the phase calculated from the operation phase shift amount spmin and the electric field intensity change ratio (|Cpmax| / |Cpmin|).

[0513] In step S50, the mobile body communication machine 20 mounted on the mobile body 60H transmits the element electric field vector Ep to the communication machine 30 possessed by the control device 10G. In step S51, the communication machine 30 receives the element electric field vector Ep.

[0514] After step S51, in S42, it is checked whether there is an unprocessed phase shifter 13.

[0515] In Embodiment 9, in addition to the effects produced in Embodiment 1, since the REV method is executed in the mobile body, the amount of data transmitted from the mobile body 60G can be reduced. In addition, the control device 10H can also calculate the element electric field vector Ep without using the REV method.

[0516] In the on-board control device, the process of calculating the element electric field vector Ep from the operation phase shift amount spmax and the operation phase shift amount spmin can be executed by the control device before the process of calculating the operation phase shift amount spmax and the operation phase shift amount spmin. In this case, the operation phase shift amount spmax and the operation phase shift amount spmin are transmitted from the on-board control device to the control device.

[0517] Embodiment 10.

[0518] Embodiment 10 is a wireless power transmission device radiates a power transmission wave (power transmission beam), so that not only the direction of the presence of the mobile body is measured but also the three-dimensional position of the mobile body (referred to as mobile body position) is measured and the maximum power can be received at the mobile body position. Embodiment 10 is an embodiment that can cope even in a case where the distance to the mobile body is no longer a far field due to the large-scale of the power transmission antenna or the power transmission to a mobile body at a closer distance. In Embodiment 10, the mobile body position is measured even during the process of performing the REV method, and the power transmission beam tracks the changing mobile body position. Referring to Figure 50 The structure of the wireless power transmission system for the power transmission to the mobile body according to Embodiment 10 is described. The wireless power transmission device 1J and the mobile body 60J are changed.

[0519] The wireless power transmission device 1J can transmit the pulse-modulated power transmission wave 2J. The mobile body 60J can transmit the pulse-modulated pilot signal 4J. The wireless power transmission device 1J measures the distance G between the power transmission antenna 50J and the mobile body 60J based on the time from the transmission of the pulse-modulated power transmission wave 2J to the reception of the pulse-modulated pilot signal 4J.

[0520] The wireless power transmission device 1J changes the power transmission antenna 50J and the control device 10J compared to the wireless power transmission device 1. The power transmission device 50J transmits the pulse-modulated power transmission wave 2J. The mobile body 60J replies to the power transmission wave 2J with the pulse-modulated pilot signal 4J. The control device 10J controls the power transmission antenna 50J so that the pulse-modulated power transmission wave 2J can be transmitted. The control device 10J measures the distance G.

[0521] Referring to Figure 51 , the structure of the wireless power transmission device 1J and the mobile body 60J is described. Figure 51 is a diagram that describes the brief structure of the wireless power transmission system for the power transmission to the mobile body using the wireless power transmission device according to Embodiment 10. Regarding Figure 51 The difference from Figure 2 in the case of Embodiment 1 is described.

[0522] The wireless power transmission device 1J modifies the power transmission antenna 50J, the direction of arrival detection device 7J, and the control device 10J. The power transmission antenna 50J modifies the component module 9J. The component module 9J has a pulse modulation switch 45 for pulse modulation of the transmitted radio wave 2J. The pulse modulation switch 45 is controlled by the control device 10J to switch the "transmit / not transmit" of the transmitted radio wave 2J. By turning the pulse modulation switch 45 on and off at a predetermined period, the transmitted radio wave 2J can be pulse modulated. When the path modulation switch 45 is in the on state, the unmodulated transmitted radio wave 2J is radiated. The control device 10J controls the pulse modulation switch 45 to be on and off for a predetermined period of length T0, radiating the pulse-modulated transmitted radio wave 2J from the power transmission antenna 50J. The pulse modulation switch 45 is always in the on state and does not pulse modulate the transmitted radio wave 2J.

[0523] The direction of arrival detection device 7J changes the pilot receiver 24J. The pilot receiver 24J receives the pulse-modulated pilot signal 4J, detects the start and end portions of the pulse modulation, and notifies the control device 10J. This notified signal is called the pulse modulation detection signal 89. Figure 52 (As shown in the diagram). The control device 10J, which receives the pulse modulation detection signal 89, records the reception time of the pilot signal 4J. (Refer to...) Figure 52 Explain the changes made to control device 10J.

[0524] The mobile unit 60J modifies the pilot transmitter 5J, detector 18J, and onboard control unit 19J. The pilot transmitter 5J transmits a pulse-modulated pilot signal 4J. Although not shown, the pilot transmitter 5J internally has a switch for toggling the "transmit / not transmit" pilot signal 4J. The switch is controlled by the onboard control unit 19J. During the period when the switch is on and off at a predetermined interval, the pilot transmitter 5J transmits the pulse-modulated pilot signal 4J. During the period when the switch is continuously on and off, the pilot transmitter 5J transmits the unmodulated pilot signal 4J.

[0525] Detector 18J receives the pulse-modulated transmission wave 2J, detects the start and end of the pulse modulation, and notifies the airborne control unit 19J. Upon receiving the notification, the airborne control unit 19J records the reception time of the transmission wave 2J and controls the pilot communication unit 5J to start and end pulse modulation. After a fixed time T1 has elapsed since the detector 18J received the pulse-modulated transmission wave 2J, the pilot communication unit 5J begins transmitting the pulse-modulated pilot signal 4J. (Refer to...) Figure 52 Explain the changes made to the airborne control device 19J.

[0526] Reference Figure 52 This section describes the functional structure of the wireless power transmission device 1J and the mobile body 60J.Figure 52 is a block diagram illustrating a functional structure of the wireless power transmission device and the mobile body according to Embodiment 10. As to Figure 52 , the difference from the case of Embodiment 1 will be described. Figure 5

[0527] The on-board control device 19J adds a pulse modulation management section 68. The pulse modulation management section 68 receives a detection signal indicating a start portion and an end portion of pulse modulation of the power transmission wave 2J transmitted from the wave detector 18J, and controls whether or not to cause the pilot transmitter 5J to perform pulse modulation. The pulse modulation management section 68 acquires a reception time of a notification that the pulse modulation of the power transmission wave 2J is started (start notification time) when the notification is received. Control is performed so that the pilot transmitter 5J starts the pulse modulation of the pilot signal 4J at a time when a time T1 elapses from the start notification time. The pulse modulation management section 68 acquires a reception time of a notification that the pulse modulation of the power transmission wave 2J is ended (end notification time) when the notification is received. Control is performed so that the pilot transmitter 5J ends the pulse modulation of the pilot signal 4J at a time when a fixed time T1 elapses from the end notification time.

[0528] The control device 10J does not have the radiation direction decision section 33, but has a ranging section 46 and a radiation target position decision section 47. The control device 10J changes the data storage section 25J, the wave radiation control section 34J. The radiation target position decision section 47 decides a radiation target position decided by the radiation direction and the distance from the power transmission antenna 50J. The radiation target position is a range of positions in three-dimensional space that becomes a target of the power transmission antenna 50J to radiate a wave. The power transmission antenna 50J can radiate a wave by changing the radiation target position.

[0529] The ranging section 46 measures the distance from the power transmission antenna 50J to the mobile body 60J (strictly speaking, the power receiving device 3). The distance from the power transmission antenna 50J to the mobile body 60J is called a mobile body distance. The ranging section 46 calculates the mobile body distance from the time from transmission of the power transmission wave 2J to reception of the pilot signal 4J. The ranging section 46 is a mobile body distance measurement section that transmits a power transmission wave to a mobile body and measures a mobile body distance based on the time elapsed until the pilot signal transmitted in accordance with the power transmission wave is received by the wireless power transmission device.

[0530] The mobile body 60J observes a position existing in the mobile body distance in the existing direction from the power transmission antenna 50J. The position of the mobile body 60J in three-dimensional space is a mobile body position. The arrival direction detection device 7 and the ranging section 46 constitute a mobile body position decision section that decides a mobile body position from the existing direction and the mobile body distance. The mobile body position decision section that decides the position where the mobile body exists, that is, the mobile body position, can decide the mobile body position by other means.​

[0531] The distance measuring section 46 records the measured mobile body distance as the target position distance data 97 in the data storage section 25J, so that the mobile body position can be radiated with the power transmission wave 2J as the radiation target position. The wave radiation control section 34J controls the respective element modules 9 so that the power transmission antenna 50J radiates the power transmission wave 2J with the phases unified at the radiation target position.

[0532] In the wireless power transmission device 1J, the radiation target position is set as one point in the three-dimensional space. Setting the radiation target position as one point is an example of the radiation target position as a range of positions in the three-dimensional space. The radiation target position can be not only a position of one point but also a range of positions. The range size of the radiation target position can be decided based on the measurement accuracy of the direction of arrival and the mobile body distance. The range size of the radiation target position can be decided in accordance with the characteristics of the power transmission beam radiated by the wireless power transmission device. The range size of the radiation target position can be fixed or changed depending on the situation.

[0533] The target position distance is the distance to the point included in the radiation target position. For example, the distance to the position that becomes the center of the radiation target position can be set as the target position distance. Or, for example, the distance to the point of the decision position on the boundary of the radiation target position can be set. In the wireless power transmission device 1J, the radiation target position is decided so as to include the mobile body position, so that power can be transmitted to the mobile body.

[0534] The data storage section 25J has the radiation target position data 94 instead of the radiation direction data 79. The data storage section 25J also has the pulse transmission time 95, the pulse reception time 96, and the target position distance data 97. The radiation target position data 94 is data indicating the radiation target position, which is a position at a distance (target position distance) decided in the direction (radiation direction) decided from the power transmission antenna 50J. The radiation direction is a direction decided based on the direction of arrival data 78. The target position distance data 97 is data indicating the target position distance. The pulse transmission time 95 is data indicating a time associated with the time when the power transmission wave 2J is transmitted. The pulse reception time 96 is data indicating a time associated with the time when the pilot signal 4J is received. The distance measuring section 46 sets the pulse transmission time 95 and the pulse reception time 96, measures the mobile body distance based on the pulse transmission time 95 and the pulse reception time 96, and sets the measured mobile body distance as the target position distance data 97 to the data storage section 25J.

[0535] The distance measuring section 46 pulse-modulates the power transmission wave 2J by on-off controlling the pulse modulation switch 45. The distance measuring section 46 records the time when the pulse modulation of the power transmission wave 2J is started and ended as the pulse transmission time 95. The distance measuring section 46 sets the time when the pulse modulation detection signal 89 that has received the start and end of the pulse modulation of the pilot signal 4J as the pulse reception time 96. The distance measuring section 46 calculates the average T2 of the time difference between the pulse reception time 96 of the start and the pulse transmission time 95 and the time difference between the pulse reception time 96 of the end and the pulse transmission time 95. Further, the distance measuring section 46 calculates the time T3 = T2 - Tl after T2 is subtracted from Tl. T3 is the time for the power transmission wave 2J and the pilot signal 4J to go and come back to the mobile body 60J. The distance measuring section 46 calculates the target position distance based on T3. The target position distance is the distance obtained by correcting the distance calculated from T3 in consideration of the positional relationship between the pilot transmitter 5J and the power receiving device 3 and the like. The distance measuring section 46 sets the calculated target position distance as the target position distance data 97.

[0536] The radiation target position deciding section 47 decides the radiation target position based on the arrival direction data 78 and the target position distance data 97 and sets the decided radiation target position as the radiation target position data 94. The radiation target position deciding section 47 decides the position that is at a distance from the power transmission antenna 50J indicated by the target position distance data 97 in the direction opposite to the direction indicated by the arrival direction data 78 as the radiation target position.

[0537] The moving speed of the mobile body 60J can be estimated based on the time progression of the arrival direction data 78 and the target position distance data 97, and the radiation target position can be decided so as to include the position of the mobile body 60J estimated to exist after the time decided in consideration of the moving speed. The positions decided by the arrival direction data 78 and the target position distance data 97 of each time point can be stored as the moving positions, the position of the mobile body after the decided time can be predicted based on the time progression of the stored moving positions of the mobile body, and the radiation target position can be decided so as to include the predicted position of the mobile body.

[0538] The radiation target position deciding section 47 decides the radiation target position as the relative position with respect to the power transmission antenna position by controlling the phase shifter 13 so that the amount of change in the phase of the transmission signal, i.e., the phase shift amount, is changed in such a manner that the mobile body position is included.

[0539] The radio wave radiation control unit 34J generates a radiation command value 80, causing the transmission antenna 50J to radiate a transmission radio wave 2J with the same phase as the radiation target position stored in the radiation target position data 95. The radiation command value 80 is sent as a transmission control signal to the wireless transmission device 1. This controls each component module 9J, causing each component antenna 8 to radiate the component radio wave 2E with the phase and amplitude indicated by the radiation command value 80. p The radio wave radiation control unit 34J is a radiation target position changing unit. This unit radiates the transmission radio wave 2J to the radiation target position by controlling the phase shift of the phase shifters 13 in each component module 9J. The phase shift changed by the radio wave radiation control unit 34J is called the radiation target position changing phase shift. Since the radiation target position is determined by the radiation direction and distance, the radio wave radiation control unit 34J is also a radiation direction changing unit.

[0540] At the radiation target location, the phase uniformity of the transmission wave 2J means that the antennas of all components 8 p Radiated element electromagnetic waves 2E p The maximum phase difference at the radiation target location is below a predetermined upper limit. The desired outcome is to control the radiation at a single point so that the electromagnetic waves 2E of each component at that location are within the target's range. p The phase difference between them is zero. When the radiation target location is within a wide range, control is performed so that the electromagnetic wave 2E of each element at each point within that range is zero. p The phase difference between them is below the upper limit. It can be controlled so that the electromagnetic waves 2E of each element at a point within the radiation target location range are within the upper limit. p The phase difference between them is zero. It can be controlled so that the electromagnetic waves 2E of each element at each point within the range of the radiating target location are... p The sum of the phase differences between them is minimized. Alternatively, the following method can also be considered: Among the points contained within the range defined by the location of the radiating target, determine the phase differences between each element antenna 8. p The points with the greatest distance between their positions (maximum distance point), the points with the smallest distance (minimum distance point), and the midpoint of the line segment connecting the maximum distance point and the minimum distance point (central distance point) are identified. Control is then applied to ensure that each of the 8 antenna elements... p Radiated element electromagnetic waves 2E p The phase of each element antenna 8 p The central distance is the same.

[0541] In Embodiment 10, in order to find the distance G between the wireless power transmission device 1J and the mobile body 60J, the power transmission wave 2J, the power transmission antenna 50J, the element module 9J, the mobile body 60J, and the like are changed. These changes are irrelevant to the wireless power transmission performed by the wireless power transmission device 1J. In the part of the description of the method in which the radiation instruction value 80 is decided by the wave radiation control section 34J, the power transmission wave 2, the power transmission antenna 50, the element module 9, the mobile body 60, and the like are used.

[0542] A method in which the instruction value of the phase to each element module 9 is decided so that the phases of the element waves 2E p radiated by each element antenna 8 are unified at the radiation target position is described. Here, the following is assumed.

[0543] (A) The element antennas 8 of the power transmission antenna 50 are arranged in a linear shape in one dimension.

[0544] (B2) The distance from the mobile body 60 to the power transmission antenna 50 is shorter than the distance at which the far field is established.

[0545] (C) The variation in the power transmission direction within the plane in which the direction in which the element antennas 8 are arranged and the front direction of the power transmission antenna 50 exist is studied. In the case where the power transmission direction coincides with the front direction of the power transmission antenna 50, the angle of the power transmission direction is set to 0 degrees.

[0546] (D2) The variation in the distance between the wireless power transmission device 1J and the power receiving device 3 is also considered.

[0547] In order to describe, the following variables are defined. Variables that change in meaning are also described.

[0548] P S : The position of the wireless power transmission device 1. The position of the center (Nm position) of the power transmission antenna 50. This is called the power transmission device position or the power transmission antenna position.

[0549] P T : The radiation target position. The relative position of the power receiving device 3 with respect to the power transmission device position P S .

[0550] ψ: The power transmission direction. The angle formed between the direction from the power transmission device position P S to the radiation target position P T and the front direction of the power transmission antenna 50.

[0551] G: The radiation target position distance. The distance from the power transmission device position P S to the radiation target position P T .

[0552] Gp: The distance from each element antenna 8 p to the radiation target position P TDistance from the element antenna 8 to the deviation position P

[0553] Δp: Difference between Gp and G. Δp = Gp - G

[0554] θ G p : Target position change phase shift amount, i.e., the radiation target position P toward the power transmission direction ψ, distance G T Element antenna 8 phase change amount for the number p at the time of power transmission. Element antenna 8 p Radiated element wave 2E p From the power transmission device position P S Phase difference between the radiated element wave 2E and the radiated element wave 2E from the power transmission device position P

[0555] K G p : Relative to the target position change phase shift amount θ G p Phase shift amount in the phase shifter 13 for the number p.

[0556] P E : Deviation position. Position different from the radiation target position P T

[0557] δ: Deviation angle. Angle difference between the direction toward the deviation position P E and the power transmission direction ψ toward the radiation target position P T The direction toward the deviation position P E is (ψ + δ).

[0558] D: Deviation position distance. Distance between the deviation position P E and the power transmission device position P S

[0559] Dp: Deviation position distance. Distance from the element antenna 8 p to the deviation position P E

[0560] ε G p : Phase difference between the radiated element wave 2E detected at the deviation position P T in the state of radiation toward the radiation target position P E and the radiated element wave 2E from the power transmission device position P p p S

[0561] γ G : Amplitude of the electric field vector detected at the deviation position P E relative to the radiation target position P T ​​​​​​The ratio of the amplitudes of the detected electric field vectors. It is called the amplitude attenuation ratio.

[0562] The distance G in the power transmission direction ψ p The distance difference Δp can be calculated by the following equation.

[0563]

[0564]

[0565] According to equation (47), when G is large enough to be negligible (p-Nm)*L (G » (p-Nm)*L), Gp / G = 1, and equation (48) is equation (1).

[0566] The phase difference θ G p It can be calculated by the following equation.

[0567] θ G p = (2*π)*(Δp / λ)

[0568] = (2*π)*(L / λ)*(p-Nm)*(2*G*sin(ψ)+(p-Nm)*L) / (Gp+G)p = 1,..., N (49)

[0569] The phase is changed in the phase shifter 13 in steps of θd, and therefore, k G p It is determined as follows so that |θ G p -k G p *θd|≤(θd / 2) is satisfied.

[0570] k G p = int((θ G p / θd)+0.5) (50)

[0571] Figure 53 An example of the difference between the distance Gp from the element antenna 8 p to the radiation target position P T and the distance G from the power transmission device position P S to the radiation target position P T is shown. Here, it is assumed that N = 10, and the distances Gl, G 10 between the element antennas 81, 8 T and the radiation target position P 10 and the distance differences Δl, Δ 10 are shown. The power transmission antenna 50 transmits the power transmission wave 2 from the power transmission device position P SRadiated to the irradiation target position P T In addition, when the element antenna 8 exists at the power transmission device position P S , the element electric wave 2E Nm is radiated in the same manner as the power transmission electric wave 2 p . The phase of the element electric wave 2E p radiated by the element antenna 8 p is adjusted and radiated so as to have a phase difference k G p*θd corresponding to the distance difference Δ T from the power transmission electric wave 2. Therefore, the phase difference between the element electric waves 2E p radiated by the respective element antennas 8 p at the irradiation target position P E is (θd / 2) or less.

[0572] The phase difference ε p between the element electric wave 2E p radiated by the element antenna 8 S at the deviation position P G and the element electric wave 2E radiated from the power transmission device position P p is as follows.

[0573] ε G p = (2*π)*(L / λ)*(p-Nm)*(2*D*sin(ψ+δ)+(p-Nm)*L) / (Dp+D)-k G p*θd

[0574] = (2*7π)*(L / λ)*(p-Nm)*(2*D*sin(ψ+δ)+(p-Nm)*L) / (Dp+D)-k G p*θd (51)

[0575]

[0576] In the equations (51), (52), δ is made small, and is approximated as follows using sin(δ)≈δ and cos(δ)≈1.

[0577] ε G p = (2*π)*(L / λ)*(p-Nm)*(2*D*δ*cos(ψ)+(p-Nm)*L) / (Dp+D)-k G p*θd (53)

[0578]

[0579] The amplitude of the electric field vector detected at the deviation position P E is divided by the amplitude of the electric field vector at the irradiation target position P TThe value obtained by measuring the amplitude of the electric field vector detected at a certain point is the amplitude attenuation ratio γ. G It can be calculated in the following. Additionally, at the radiation target location P... T The reduction in transmission efficiency caused by phase change in phase shifter 13 with step size θd is ignored.

[0580] γ G = (1 / N)*∑exp(j*ε G p (55)

[0581] In equation (55), ∑ represents the sum when p = 1, ..., N. According to equation (55), γ G absolute value |γ G The following can be calculated.

[0582]

[0583] The transmission antenna 50, used as a phased array antenna, was studied under the conditions of N=10, f=5GHz, λ=60mm, L=1800mm=1.8m, nd=128, and θd=2.8125 degrees. With the radiation target positions at G=1000m and transmission direction ψ=0 degrees, 30 degrees, and 60 degrees, the curve representing the change in amplitude attenuation ratio γ relative to the deviation angle δ while maintaining G=1000m is shown below. Figure 54 As shown. Figure 54 (A) shows the range of δ from 10 degrees to -10 degrees. Figure 54 (B) The range of δ from 5 degrees to -5 degrees is shown in an expanded manner. The graphs illustrating the change in amplitude attenuation ratio γ while maintaining ψ = 0 degrees, 30 degrees, and 60 degrees and varying the distance G are shown below. Figure 55 As shown. In Figure 55 In the middle, the horizontal axis uses log. 10 (D / G) represents this. When D = G, log... 10 (D / G) = 0. In Figure 54 and Figure 55 In the graph, the curve with ψ = 0 degrees is represented by a solid line, the curve with ψ = 30 degrees is represented by a dashed line, and the curve with ψ = 60 degrees is represented by a dotted line.

[0584] exist Figure 54 As shown, when ψ = 0 degrees, the amplitude of the electric field vector decays to half its full width at half its maximum (half-value width), approximately 0.24 degrees. This applies to the far field condition. Figure 6 In this case, the half-width is approximately 6.8 degrees. When ψ = 0 degrees, the radiated transmission wave... Figure 54 Zhongyu Figure 6In contrast to the case of ψ = 0 degrees, the half-value width of the power transmission beam is reduced to about 1 / 28. The half-value width of the power transmission beam is roughly proportional to the size of the power transmission antenna 50J, which becomes about 30 times narrower. The half-value width at ψ = 30 degrees is substantially the same as that at ψ = 0 degrees. The half-value width at ψ = 60 degrees is about 0.47 degrees. At ψ = 0 degrees, peaks are produced at intervals of about 1.9 degrees in the amplitude of the electric field vector, and at ψ = 30 degrees, peaks are produced at intervals of about 2.2 degrees. At ψ = 60 degrees, a peak is produced at about 3.6 degrees on the side of the deviation angle δ < 0, and a peak is produced at about 4.0 degrees on the side of the deviation angle δ > 0, in the amplitude of the electric field vector.

[0585] In the case where the phase of the power transmission beam is controlled taking into account the distance to the irradiation target position, the variation in the amplitude attenuation ratio γ with respect to the variation in the deviation distance D becomes larger. Figure 55 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G. 10 In the case of ψ = 0 degrees as shown, the amplitude attenuation ratio γ decreases by 3 dB at (D / G) = -0.28, i.e., D = 0.53*G. On the side where the deviation distance D increases, γ decreases by 3 dB at (D / G) = 0.28, i.e., D = 10.7*G.

[0586] As a comparative example, a graph of the amplitude attenuation ratio γ when L is changed to L = 600 mm is shown in FIG. 9. Figure 56 and Figure 57 Figure 56 is a graph showing the change in the amplitude attenuation ratio γ with respect to the deviation angle δ in the power transmission antenna where L = 600 mm. Figure 57 is a graph showing the change in the amplitude attenuation ratio γ with respect to the deviation distance D in the power transmission antenna where L = 600 mm. In Figure 56 ​In the case of ψ = 0 degrees, the half-width is approximately 0.71 degrees. For ψ = 30 degrees, the half-width is approximately 0.82 degrees, and for ψ = 30 degrees, it is approximately 1.4 degrees. Since the size of the transmission antenna 50 is 1 / 3, the half-width is approximately 3 times larger. The peak intervals also widen at different angles of ψ. For ψ = 0 degrees, peaks are generated at intervals of approximately 5.7 degrees; for ψ = 30 degrees, peaks are generated at intervals of approximately 6.4 degrees. For ψ = 60 degrees, a peak of approximately 10 degrees is generated on the side where the deviation angle δ < 0, and the peak intervals are greater than 10 degrees on the side where δ > 0.

[0587] Compared to Figure 57 The change in deviation distance D shown, and the change in amplitude attenuation ratio γ, regardless of the ψ angle, are all reflected in log... 10 Within the range (D / G) > -0.5 (i.e., D > 0.32 * G), the lower limit of γ is less than 0.4 dB. For a transmission antenna with L = 600 mm, 50 is considered the distance at which the far field is valid when the transmission distance G = 1000 m. A 3 dB decrease in γ at ψ = 0 degrees is at log... 10 When (D / G)≈-0.96, i.e., D≈0.11*G, then the value of ψ=30 degrees is log... 10 When (D / G) = -1.07, i.e., D ≈ 0.085 * G, and ψ = 60 degrees, γ in log... 10 When (D / G) = -1.25, that is, when D ≈ 0.056 * G, the decrease is about 0.8 dB.

[0588] Figure 57 It can also be considered a graph showing how much the transmission efficiency of the wireless power transmission device 1 decreases at closer distances, the wireless power transmission device 1 being controlled to ensure that the radio waves 2E of each component are controlled. p Phase unification at a distance that is the far field. From Figure 57 It can be seen that in the wireless power transmission device 1, the power transmission efficiency decreases when the moving body 60 is present in the vicinity. In the wireless power transmission device 1J, the power transmission efficiency is reduced by controlling the radio waves 2E of each component. p The phase of the phased array antenna is optimized so that the amplitude of the transmitted radio wave 2 is maximized at the intrinsic radiation target location, taking into account the distance G to the moving object. This ensures that the amplitude of the transmitted radio wave is maintained at its maximum value regardless of the distance G. Even when a mobile object such as a drone equipped with a receiving device moves along the depth direction as observed from the wireless transmission device, the phase of the radio waves radiated by each element of the phased array antenna can be set to the optimal value, improving transmission efficiency.

[0589] During the execution of the REV method, the position of the moving body 60 is taken as the radiation target position P. TThe effect of transmission beam tracking on the moving body 60 is studied. For the distance G and transmission direction ψ of the moving body 60, it is assumed that the values ​​calculated by equations (9) and (10) can be measured. The variables used to illustrate the processing of the REV method are defined as follows. The already defined variables are also used.

[0590] P T t The position of the moving body 60 after time t from the start time of the REV method.

[0591] θ G rp : The phase command value relative to phase shifter 13 with number q during the execution of the REV method.

[0592] E G p Antenna 8, component number p p Radiated element electromagnetic waves 2E p The generated at the radiation target location P T The electric field vector of the element at that location.

[0593] E G sum: The sum of the electromagnetic waves 2E radiated by all the elements of antenna 8 at the radiation target location P. T The electric field vector of the element at that location.

[0594] θ G sum: Electric field vector E G The phase of sum.

[0595] In the REV method, element antenna 8, numbered q, is used in the order q = 1, ..., N. At time intervals Td, the phase is changed only by r*θd in the order r = 1, ..., nd. Furthermore, each element antenna 8 is controlled... p Radiated element electromagnetic waves 2E p The phase allows it to be directed toward the radiation target position P. T The radiating element emits electromagnetic wave 2E. At time t = m * Td, the phase command value θ in each phase shifter 13 is... G rp As shown below. Equations (57-1) and (57-2) indicate k G p *θd represents the target position change phase shift, and r*θd represents the operational phase shift. Additionally, k G p It can be calculated based on equations (50) and (49).

[0596] p≠qで、θ G rp =k G p *θd (57-1)

[0597] p = q, θ G rp = (k G p + r) * θd (57-2)

[0598] Here, the relationship shown in equations (12), (13) between q and r and m holds.

[0599] Element antenna 8 of number p p Element wave 2E radiated p has a phase error φp with respect to the target position change phase shift amount θ G p There are the following three differences.

[0600] (a) Element antenna 8 of number p p Element wave 2E radiated p has a phase error φp.

[0601] (b) The error of θ G p is approximated by an integer multiple of θd.

[0602] (c) The operating phase shift amount r * θd on the basis of the process of performing the REV method.

[0603] Therefore, the element electric field vector E G p and E G sum can be calculated as follows.

[0604] E G p = E0*exp(j(φp+θ G rp -θ G p )) (58)

[0605] E G sum = ∑E G p = E0*Σexp(j(φp+θ G rp -θ G p ) (59)

[0606]

[0607] θ G sum = sin -1 (∑sin(φp+θ G rp -θ G p ) / |EG sum|) (61)

[0608] As a comparative example, we will study the case where the moving body 60 is not tracked during the execution of the REV method. Define the following variables.

[0609] P T 0: The position of the moving body 60 at the start time of the REV method (t=0).

[0610] ψ0: Radiation direction at the start time of the REV method. From the transmission unit location P S Towards the radiation target location P T The angle formed between the direction of 0 and the frontal direction of the transmission antenna 50.

[0611] G0: Distance from the radiation target location at the start time of the REV method. From the transmission equipment location P. S To the radiation target location P T The distance is 0.

[0612] G 0p At the start time of the REV method, from element antenna 8 p To the radiation target location P T The distance is 0.

[0613] Δ 0p :G 0p The difference between G0 and G0. Δ 0p =G 0p -G0.

[0614] θ G 0p : The radiation target location P towards the start time of the REV method T 0 radiating element radio waves 2E p The phase shift amount relative to the target position of element antenna 8 with number p.

[0615] K G 0p The phase shift θ relative to the target position G 0p The phase shift amount in phase shifter 13 with number p.

[0616] ε2 G p During the execution of the REV method, the target position P is oriented towards the radiation point. T In a state of zero radiation, at position P of the moving body at 60 degrees... T Antenna 8 detected at (equivalent to the deviation position) p Radiated element electromagnetic waves 2E p With from the transmission unit location P S The phase difference between the radiating element's electromagnetic wave 2E.

[0617] E2 G p : In the process of performing the REV method toward the radiation target position P T 0, the element wave 2E radiated by all the element antennas 8 at the position P p of the mobile body 60. p In the position P T of the mobile body 60.

[0618] E2 G sum: In the process of performing the REV method toward the radiation target position P T 0, the element wave 2E radiated by all the element antennas 8 at the position P T of the mobile body 60.

[0619] θ2 G sum: The electric field vector E2 G of sum.

[0620] θ G 0p , k G 0p and ε2 G P can be calculated as follows.

[0621] θ G 0p = (2 * π) * (L / λ) * (p - Nm) * (2 * G o * sin (ψ o ) + (p - Nm) * L) / (G 0p + G o ) (62)

[0622] k G 0p = int ((θ G 0p / θd) + 0.5) (63)

[0623] ε2 G p = (2 * π) * ((Gp - G) / λ) - k G 0p * θd

[0624] = (2 * π) * (L / λ) * (p - Nm) * (2 * G * sin (ψ) + (p - Nm) * L) / (Gp + G) - k G 0p * θd (64)

[0625] When substituting equation (7) into equation (64), the following is obtained.

[0626] ε2 G p = (2 * π) * (L / λ) * (p - Nm) / (Gp + G) * (2 * (G0 * sin(ψ0) + V0 * m * Td * sin(ξ0)) + (p - Nm) * L) - k G 0p*θd (65)

[0627] In the case where the moving body 60 is not tracked during the execution of the REV method, the phase command value θ in each phase shifter 13 at time t = m * Td G rp As follows.

[0628] p≠qで、θ G rp = k G 0p *θd (66-1)

[0629] p=qで、θ G rp = (k G 0p +r) * θd (66-2)

[0630] E2 G p and E2 G sum can be calculated by the following equation.

[0631] E2 G p = E0 * exp(j(φp+θ G rp -θ G 0p +ε2 G p ) (67)

[0632] E 2sum = ∑ E2 p

[0633] = E0 * ∑ exp(j(φp+θ G rp -θ G 0p +ε2 G p ) (68)

[0634]

[0635] θ2sum = sin -1 (∑ sin(φp+θ G rp -θ G 0p+ε2 G p ) / |E 2sum|) (70)

[0636] As another comparative example, the following situation will be studied: As with wireless transmission device 1, the phase θp of each phase shifter 13p is controlled by only changing the radiation direction of the radio wave 2, and the transmission beam also tracks the moving body 60 during the execution of the REV method. The phase shift amount θp is the direction change. p It can be calculated using equation (1) shown above. Let θ p Discretized k p It can be calculated using equation (2). The phase command value θ in each phase shifter 13 during the execution of the REV method. rp It can be calculated using the formulas (11-1) and (11-2) shown above.

[0637] In phase shifter 13p, a phase difference θ calculated by equation (49) should be generated. G p However, the phase shift θ calculated by equation (1) is set. p Therefore, the electric field vector E of the element p As shown below. Additionally, θ p Used to calculate θ rp .

[0638] E p =E0*exp(j(φp+θ) rp -θ G p (71)

[0639] E sumおよびθsumは、The followingのようにcalculateできる.

[0640] E sum=∑E p =E0*∑exp(j(φp+θ) rp -θ G p (72)

[0641]

[0642] θ sum = sin -1 (∑sin(φp+θ rp -θ G p ) / |E sum|) (74)

[0643] In embodiment 10, the distance G and pointing direction (ψ) of the transmission antenna for arranging the element antenna 8 in two-dimensional space are related to the tracking of the moving body 60. AZ , ψ ELThe same applies to the formulas (31) to (32) of the formula (30).

[0644] In order to express the target position change phase shift amount of the power transmission antenna 8 arranged in the element antennas 8 in the dimensional space, the following variable is defined.

[0645] θ G xp，yp : Target position change phase shift amount of the element antenna 8 with respect to the number (xp, yp) when radiating the power transmission wave 2 toward the radiation target position as the power transmission direction (ψ AZ , ψ EL ).

[0646] k G xp，yp : Phase shift amount in the phase shifter 13 with respect to the number (xp, yp) of the target position change phase shift amount θ G xp，yp

[0647] θ G xp，yp and k G xp，yp can be calculated by the following formula.

[0648] θ G xp，yp = (2 * π) * (L / λ) * ((xp - Nm) * sin(ψ AZ + (yp - Nm) * cos(ψ AZ )) * (2 * G * sin(ψ EL + ((xp - Nm) * sin(ψ Az + (yp - Nm) * cos(ψ AZ )) * L) / (Gp + G)p = 1,..., N (75)

[0649] k G xp，yp = int((θ xp，yp / θd) + 0.5) (76)

[0650] Figure 58 and 59 shows an example in which the wireless power transmission device 1J sets the radiation target position P T according to the position of the mobile body 60 that moves. Figure 58 is a case in which the mobile body 60 moves mainly in a manner in which the direction of arrival changes. Figure 59 is a case in which the mobile body 60 moves mainly in a manner in which the distance from the wireless power transmission device 1J changes. Regardless of how the mobile body 60 moves, the wireless power transmission device 1J finds the position of the mobile body 60 and sets the radiation target position P T ​so as to include the calculated position. The wireless power transmission device 1J radiates the power transmission wave 2J in such a manner that each of the element modules 9 is controlled so as to be able to transmit the maximum power at the radiation target position P T .

[0651] An operation will be described. Figure 60 is a flowchart illustrating a power transmission step of transmitting power to a mobile body by the wireless power transmission device according to Embodiment 10. As for the Figure 60 , a difference from the case of Embodiment 1 will be described. Figure 8

[0652] In step S01J, the wireless power transmission device 1J radiates the power transmission wave 2J with a position of a transmission direction (ψ AZ , ψ EL ) at the distance G where the mobile body 60J exists as a radiation target position. The power receiving device 3 possessed by the mobile body 60J receives the power transmission wave 2J. The processing of the REV method in S06J is also slightly changed.

[0653] The processing of deciding the transmission direction in steps S11 to S13 is changed to the processing of deciding the radiation target position in steps S81 to S85. In step S81, the ranging section 46 starts pulse modulation of the power transmission wave 2J, and records a pulse transmission time point 95. The length T0 of the period during which the pulse modulation is decided, and the ranging section 46 records the start time point and the end time point of the period during which the pulse modulation is performed as the pulse transmission time point 95. In step S82, the mobile body 60J receives the pulse-modulated power transmission wave 2J, and after receiving it for T1, the pilot signal 4J is pulse-modulated. When the pulse-modulated power transmission wave 2J is no longer received, the pilot signal 4J is not pulse-modulated after T1.

[0654] In step S83, the pilot antenna 6 receives the pilot signal 4J, and the direction-of-arrival detecting device 7J detects the direction of arrival of the pilot signal 4J by monopulse angle finding. The direction-of-arrival detecting device 7J checks whether the pilot signal 4J is pulse-modulated, and transmits a pulse modulation detection signal 89 to the control device 10J at the time point when the pulse modulation is detected and the time point when the end of the pulse modulation is detected.

[0655] ​In step S84, when the control device 10J receives the start pulse modulation detection signal 89, the ranging section 46 sets the time of the point as the pulse reception time 96. Even in the case where the end pulse modulation detection signal 89 is received, the ranging section 46 sets the time of the point as the pulse reception time 96. The ranging section 46 decides the target position distance G from the time difference T3 between the pulse reception time 96 and the pulse transmission time 95, and sets the target position distance data 97. The arrival direction detected by the arrival direction detection device 7J is set in the arrival direction data 78.

[0656] In step S85, the radiation target position deciding section 47 decides the radiation target position based on the arrival direction data 78 and the target position distance data 97, and sets the decided radiation target position in the radiation target position data 94. In S01J, the wireless power transmission device 1J radiates the power transmission wave 2J toward the position indicated by the radiation target position data 95 set in S85.

[0657] After S85 is executed, return to S81. The processes of S81 to S85 are executed in synchronization with a decided period. The length of one period is decided so that even in the case where the moving body 60J moves at a supposed maximum moving speed, the length of one period can be within the range allowed by the difference between the last calculated radiation target position and the current radiation target position.

[0658] Reference Figure 61 describes the steps of the REV method executed in S06J. Figure 61 is a flowchart describing the steps of calculating the element electric field vectors of the waves radiated by the element antennas using the REV method in the wireless power transmission device related to Embodiment 10. Regarding Figure 61 , the differences from Figure 9 in the case of Embodiment 1 are described.

[0659] In S33J, only the target position change phase shift amount, not the direction change phase shift amount, is set as the phase shift amount of the phase shifter 13.

[0660] The effects of the power transmission beam tracking the moving body 60 in the process where the REV method is executed by the wireless power transmission device 1J are shown by the action example. Regarding the parameters of the power transmission antenna and the REV method, the study is conducted in the case where N = 10, f = 5 GHz, λ = 60 mm, L = 1800 mm = 1.8 m, nd = 128, θd = 2.8125 degrees. Regarding the parameters of the moving body 60J, G0= 1000 m, ψ0= 0 degrees, V0= -30 m / sec, ξ0= 90 degrees are set. Regarding the case of Embodiment 1, L = 1800 mm and ψ0= 30 degrees are changed.

[0661] Figure 62is a graph showing the phase shift offset value and the residual phase error after correction obtained in the wireless power transmission device related to Embodiment 10 and the comparative example in the action example of L = 1800 mm. As the comparative example, a case where the power transmission beam does not track the moving body in the process of performing the REV method (without movement correction), and a case where the moving body is tracked in the process of performing the REV method by the wireless power transmission device 1 that radiates the power transmission wave in the power transmission direction (with direction correction) are shown. Figure 62 (A) shows the set phase error and the phase shift offset value obtained by performing the REV method, Figure 62 (B) shows the residual phase error. The set value of the phase error is shown by a thin solid line, the phase shift offset value calculated when the radiating target position tracks the moving body in the process of performing the REV method (with movement correction) is shown by a thick solid line, the phase shift offset value when the radiating target position does not track the moving body (without movement correction) is shown by a thick dashed line, and the phase shift offset value when the power transmission direction tracks the moving body (with direction correction) is shown by a thin dashed line. Figure 62 (B) shows the residual phase error obtained by subtracting the phase shift offset value from the set phase error. Figure 62 The average value of each phase shifter 13p shown as the phase shift offset value and the average value of the residual phase error are zero.

[0662] The phase shift offset value when there is movement correction can be calculated as the absolute value of the difference from the set phase error φp is about 9 degrees at the maximum and about 5 degrees on average. The absolute value of the difference from φp of the phase shift offset value when there is no movement correction is about 128 degrees at the maximum and about 56 degrees on average. In the case of p = 1 and p = 10 at both ends of the power transmission antenna 50, the difference from φp of the phase shift offset value when there is direction correction increases. The absolute value of the difference from φp is about 89 degrees at the maximum and about 48 degrees on average.

[0663] Figure 63 is a graph comparing the absolute value of the amplitude of the synthesized electric field vector after correction in the wireless power transmission device related to Embodiment 1 and the comparative example in the action example of L = 1800 mm. When the element antennas 8 p of the radiated element wave 2E p are in phase, |E G sum| = 10. Before the REV method is performed, |E G sum| decreases to 8.6. In the REV method with movement correction, |E G sum| after correction = 9.95. In the REV method without movement correction, |E2 G sum| after correction = 4.8. In the REV method with direction correction, |Esum| after correction = 6.2. In the case where there is no movement correction and there is direction correction, the amplitude of the synthesized electric field vector after correction decreases compared to before the REV method is performed.

[0664] It is known that by tracking the mobile body in the direction of power transmission during the execution of the REV method, it is possible to eliminate the phase error with high precision using the REV method. During the execution of the REV method, when the radiation target position does not track the mobile body, it is not possible to correct the phase error using the REV method. It can be considered that when L = 1800 mm, G = 1000 m, the electric wave radiated by the power transmission antenna 50 cannot be calculated using the far field formula. Among the distances at which the electric field cannot be calculated using the far field formula, it is not possible to correct the phase error by the REV method even if only the power transmission direction to the mobile body is changed.

[0665] As another case, the result when the REV method is executed with L = 600 m is shown in FIG. 6 and FIG. 7. The phase shift value when there is mobile correction can be calculated from the absolute value of the difference between the phase shift value and the set phase error φp, which is approximately 7.4 degrees at the maximum and approximately 4.1 degrees on average. The absolute value of the difference between the phase shift value when there is direction correction and φp is approximately 9.8 degrees at the maximum and approximately 5.2 degrees on average. As shown in FIG. 6, when L = 600 mm, the amplitude of the resultant electric field vector |Esum| = 9.97 in the case where there is direction correction. It is considered that L = 600 mm is a case where G = 1000 m is a far field, and even in the case where the REV method that corrects only the direction is executed, it is possible to correct the phase error by the REV method. Figure 64 Figure 65 Figure 65 As shown in FIG. 6, when L = 600 mm, the amplitude of the resultant electric field vector |Esum| = 9.97 in the case where there is direction correction. It is considered that L = 600 mm is a case where G = 1000 m is a far field, and even in the case where the REV method that corrects only the direction is executed, it is possible to correct the phase error by the REV method.

[0666] The wireless power transmission device 1J operates similarly to the wireless power transmission device 1 and achieves the same effects. Since the power transmission beam also tracks the mobile body 60 during the execution of the REV method, it is possible to improve the precision of the REV method. Since the phase of the element electric wave 2E radiated by each element antenna 8 is controlled taking into account the distance to the mobile body 60, it is possible to improve the power transmission efficiency compared to the case where only the radiation direction is made to track the mobile body by controlling the phase so that the power transmission antenna 50 is large or the distance to the mobile body 60 is small. p p The wireless power transmission device 1J operates similarly to the wireless power transmission device 1 and achieves the same effects. Since the power transmission beam also tracks the mobile body 60 during the execution of the REV method, it is possible to improve the precision of the REV method. Since the phase of the element electric wave 2E radiated by each element antenna 8 is controlled taking into account the distance to the mobile body 60, it is possible to improve the power transmission efficiency compared to the case where only the radiation direction is made to track the mobile body by controlling the phase so that the power transmission antenna 50 is large or the distance to the mobile body 60 is small.

[0667] Figures 62 to 65 is an example of a case where the phase error φp is another pattern. Although not shown in the drawing or the like, similarly to the wireless power transmission device 1, the REV can be executed with high precision even if the phase error φp is another pattern.

[0668] Referring to FIG. 8, Figure 66 the amplitude of the resultant electric field vector after the execution of the REV method when the distance L between the element antennas 8, which is an index of the size of the power transmission antenna 50, is changed with G = 1000 m is investigated for several cases of the power transmission direction ψ0. Figure 66 ​​​|E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. Figure 66 |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. 10 |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position.

[0669] |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position.

[0670] |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. sum |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position.

[0671] |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. G |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position.

[0672] |E2sum| is indicated by a thick solid line. The amplitude |E2sum| of the resultant electric field vector obtained by executing the REV method while the irradiation target position is set to the position of the mobile body 60 at the time point at which the REV method is started and the power transmission beam is fixed at this position. Gsum |, in the case of ψ0= 30 degrees, starts to decrease from log 10 (L / λ) = -0.25, i.e., L = 0.56*λ = 33 mm or so, and decreases to |E2 10 (L / λ) = 0.2, i.e., L = 1.59*λ = 96 mm, and decreases to |E2 G sum = 9. The L at which the decrease starts is smaller in the case of ψ0= 0 degrees than in the case of ψ0= 30 degrees. In the case of ψ0= 0 degrees, |E2 10 (L / λ) = -0.4, i.e., L = 0.4*λ = 24 mm or so, and decreases to |E2 10 (L / λ) = 0.08, i.e., L = 1.19*λ = 72 mm, and decreases to |E2 G sum = 9. The L at which the decrease starts is larger in the case of ψ0= 60 degrees than in the case of ψ0= 30 degrees. In the case of ψ0= 60 degrees, |E2 10 (L / λ) = 0.15, i.e., L = 1.4*λ = 84 mm or so, and decreases to |E2 10 (L / λ) = 0.65, i.e., L = 1.19*λ = 72 mm, and decreases to |E2 G sum = 9. When |E2 G sum | decreases to less than 6 or so, |E2 G sum | fluctuates randomly with respect to the increase in L. |E2 G sum The pattern in which |E2

[0673] In the case where L is small with respect to λ (e.g., L < λ), the phase change of the electric wave 4 caused by the movement of the irradiation target position is small, and the REV method can be performed with high accuracy even if the electric wave beam is fixed at the position at the start time point of the REV method. This case holds true regardless of the direction of power transmission ψ0to the position of the moving body 60 at the start time point of the REV method.

[0674] In the case where ψ0is large, |E2 G The reasons why sum|≥ 9 can be maintained until a larger L is reached are the following two.

[0675] (a) When ψ0is large, the beam width of the electric wave beam is large.

[0676] (b) Since ξ0= 90 degrees, the larger ψ0is, the smaller the amount of change in the direction of existence accompanying the movement of the moving body 60 is.

[0677] |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) 10 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) G |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1)

[0678] |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1)

[0679] |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) Figure 67 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) Figure 68 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) Figure 67 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) G |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) Figure 68 |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) G |Esum| = |E1| + |E2| = 2|E1|cos(ψ0 / 2) (1) sum|Esum| is shown for v0 = -30 (m / sec), v0 = -60 (m / sec), and v0 = -15 (m / sec). Figure 67 and Figure 68 |E2 G sum |E2 G sum |E2 G sum |E2 sum |E2 sum |E2 sum |E2

[0680] |E2 G sum |Esum| is shown for v0 = -30 (m / sec), v0 = -60 (m / sec), and v0 = -15 (m / sec). G |Esum| is shown for v0 = -30 (m / sec), v0 = -60 (m / sec), and v0 = -15 (m / sec). G |Esum| is shown for v0 = -30 (m / sec), v0 = -60 (m / sec), and v0 = -15 (m / sec).

[0681] |E2 Figure 67 and Figure 68 |E2 G sum |E2 Figure 66 |E2 G sum |E2 Figure 67 |E2 G |Esum| is smaller than that for v0 = -30 (m / sec). In the case of v0 = -60 (m / sec), |Esum| starts to decrease from log 10 (L / λ) = -0.7, i.e., L = 0.2 * λ = 12 mm or so, and decreases to |E2 10 (L / λ) = -0.06, i.e., L = 0.88 * λ = 53 mm.G sum |=9. The L that begins to decrease is larger at v0=-15 (m / sec) than at v0=-30 (m / sec). At v0=-15 (m / sec), from log… 10 (L / λ) = 0.15, which means L = 1.4 * λ = 84 mm, at which point the descent begins. 10 When (L / λ) = 0.49, i.e., L = 3.09 * λ = 185 mm, the temperature drops to |E2. G sum |=9. When |E2 G sum When it drops to around 6, then |E2 G sum |It fluctuates randomly up and down relative to the increase of L.

[0682] When L is relatively small compared to λ (e.g., L < λ), the phase change of the transmission wave 4 caused by the movement of the radiation target position is small, and the REV method can be performed with high precision even if the transmission beam is fixed at the position of the start time point of the REV method. This condition is independent of the moving speed v0 of the moving body 60.

[0683] When the movement speed v0 is relatively small, |E2 G The reason why sum|≥9 can be maintained up to a larger L is as follows.

[0684] (c) When the moving speed v0 is small, the change in the moving distance and the change in the direction of existence of the moving body 60 during the execution of the REV method is small.

[0685] exist Figure 67 and Figure 68 In the case where only the radiation direction of the transmission beam tracks the moving body and the REV method is applied, the amplitude |E of the resultant electric field vector at v0 = -30 (m / sec) is... sum | curve and Figure 66 When ψ0 = 30 degrees, |E sum The curves are the same. For example... Figure 68 As shown, |E| is calculated when v0 = -60 (m / sec) and when v0 = -15 (m / sec). sum The curve for | is basically the same as the curve for v0 = -30 (m / sec). It decreases to |E within the range of v0 = -15 to -60 (m / sec). sum L = 9 is log 10 (L / λ) = 1.27 to 1.32, which means L = 18.8*λ to 20.7*λ = 1130 to 1240 mm.

[0686] In the action example shown here, regardless of the moving speed v0, in the case where L≤600 mm, it is considered that the power transmission wave 2 can be calculated with the calculation formula for the far field at a distance of G=1000 m.

[0687] Referring to Figure 69 and Figure 70 , the amplitude of the resultant electric field vector after the REV method execution when the distance L between the element antennas 8 is changed at G=1000 m is investigated for each case of the moving direction ξ0 of the moving body 60. For easy observation of the graphs, Figure 69 |E2 G sum | is shown for the cases where the moving direction ξ0 satisfies ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees, while |Esum| is shown only for the case where ξ0=90 degrees. Figure 70 |E2 G sum | is shown for the cases where the moving direction ξ0 satisfies ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees, while |Esum| is shown only for the case where ξ0=90 degrees. Figure 69 and Figure 70 |E2 G sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. G sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. G sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees.

[0688] |E G sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. G | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. G | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees.

[0689] In Figure 69 and Figure 70 , the graph of |E2 G sum | is shown for the case where the moving direction ξ0 satisfies ξ0=90 degrees, while |Esum| is shown for the cases where ξ0=90 degrees, ξ0=120 degrees, and ξ0=60 degrees. Figure 66|E2 when ψ0 = 30 degrees G sum The graphs are the same. For example... Figure 69 As shown, the descent L begins at ξ0 = 120 degrees, where |E2 G sum It is smaller than when ξ0 = 90. When ξ0 = 120 degrees, from log... 10 (L / λ) = -0.35, which means L = 0.45 * λ = 27 mm, at which point the descent begins. 10 When (L / λ) = 0.13, i.e., L = 1.36 * λ = 81 mm, the temperature drops to |E2. G sum |=9. The initial decrease in L is larger at ξ0=60 degrees than at ξ0=90 degrees. At ξ0=60 degrees, from log… 10 (L / λ) = -0.1, meaning L = 0.79 * λ = 47 mm, at which point the descent begins. (The last part, "log", appears to be a typo and can be omitted.) 10 When (L / λ) = 0.41, i.e., L = 2.58 * λ = 155 mm, the temperature drops to |E2. G sum |=9. When |E2 G sum When it drops to around 6, then |E2 G sum |It fluctuates randomly up and down relative to the increase of L.

[0690] When L is relatively small compared to λ (e.g., L < λ), the phase change of the transmission wave 4 caused by the movement of the radiation target position is small, and the REV method can be performed with high precision even if the transmission beam is fixed at the position of the start time point of the REV method. This condition is independent of the movement direction ξ0 of the moving body 60.

[0691] When the direction of movement ξ0 is small, |E2 G sum The reason why |≥9 can be maintained up to a larger L is as follows.

[0692] (d) Since the power transmission direction ψ0 = 30 degrees, the smaller ξ0 is, the smaller the change in the direction of the movement of the moving body 60.

[0693] exist Figure 69 and Figure 70 In the case where only the radiation direction of the transmission beam tracks the moving body and the REV method is applied, the amplitude of the resultant electric field vector |E| when ξ0 = 90 degrees is calculated. sum | curve and Figure 66 When ψ0 = 30 degrees, |E sum The curves are the same. For example... Figure 68|E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees. sum |E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees. sum |E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees. 10 |E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees.

[0694] In the action example shown here, regardless of the moving direction ξ0, it is considered that the power transmission wave 2 can be calculated using the far field calculation formula at a distance of G = 1000 m in the case of L < 600 mm.

[0695] In the wireless power transmission device that grasps the position of the mobile body 60 using the direction and distance and controls in a manner that the phases of the power transmission waves are unified at the position where the mobile body 60 exists, by tracking the mobile body and executing the REV method in the process of executing the REV method, it is possible to execute the REV method with high precision regardless of the distance L between the element antennas 8 that determine the size of the power transmission antenna, the power transmission direction ψ, the distance G to the mobile body, the moving speed v0 of the mobile body, and the moving direction ξ0. In addition, after the REV method is implemented, regardless of the distance L between the antennas 8, the power transmission direction ψ, the distance G, the moving speed v0, and the moving direction ξ0, it is possible to efficiently perform wireless power transmission to the radiated target position determined by the power transmission direction ψ and the distance G.

[0696] In the wireless power transmission device that grasps the position of the mobile body 60 using the direction and distance and controls in a manner that the phases of the power transmission waves are unified at the position where the mobile body 60 exists, by tracking the mobile body and executing the REV method in the process of executing the REV method, it is possible to execute the REV method with high precision regardless of the distance L between the element antennas 8 that determine the size of the power transmission antenna, the power transmission direction ψ, the distance G to the mobile body, the moving speed v0 of the mobile body, and the moving direction ξ0. In addition, after the REV method is implemented, regardless of the distance L between the antennas 8, the power transmission direction ψ, the distance G, the moving speed v0, and the moving direction ξ0, it is possible to efficiently perform wireless power transmission to the radiated target position determined by the power transmission direction ψ and the distance G. p |E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees. p |E| of ξ0 = 120 degrees and that of ξ0 = 60 degrees are also substantially the same as that of ξ0 = 90 degrees. |E| is reduced to |E| = 9 in the range of ξ0 = 60 to 120 degrees.

[0697] Not only whether the power transmission wave is pulse-modulated, but also a modulated wave in which timing information is included as a digital signal in the power transmission wave radiated from the power transmission section can be transmitted. The mobile body can demodulate the power transmission wave and transmit the demodulated information through the pilot signal. When certain processing is performed in the mobile body, if the time required for the processing performed by the mobile body is fixed, the time taken for the round trip between the wireless power transmission device and the mobile body can be measured by subtracting the fixed time.

[0698] The mobile body distance can be measured based on the propagation time, which is the time required for the communication wave used for communication between the wireless power transmission device and the mobile body to propagate round trip or one way between the communication machine 30 and the mobile body communication machine 20.

[0699] The distance measurer that measures the distance from the position of the power transmission antenna to the position of the mobile body can be a device that radiates a ranging wave such as laser light, non-laser light, an electric wave, an ultrasonic wave, and the like, is reflected by the mobile body, and is received as a ranging reflected wave. It can also be a device that measures the distance to the mobile body based on the elapsed time from the transmission of the ranging wave to the reception of the ranging reflected wave. The distance is measured based on the measured elapsed time and the speed of the radiated ranging wave. The received signal can be amplified in the mobile body, rather than simply reflected in the mobile body, and the amplified signal can be radiated in the direction of the wireless power transmission device.

[0700] Instead of measuring the round trip time difference to the mobile body, the wireless power transmission device can measure the time at which the electric wave arrives at the wireless power transmission device and measure the distance to the mobile body by radiating an electric wave or the like from the mobile body. The distance can be measured by the mobile body based on the time taken for the electric wave or the like to be emitted from the mobile body and to return to the wireless power transmission device. The distance measured by the mobile body can be transmitted by the mobile body communication machine or transmitted by modulating the pilot signal.

[0701] The electric wave or the like can also be spread in the frequency spectrum using pseudo-random number symbols, and the propagation time of the electric wave or the like can be measured from the symbol position that can be inverse spread.

[0702] In addition to the direction in which the mobile body exists, a method of measuring the position in which the mobile body exists, that is, the mobile body position, and setting the mobile body position as the radiating target position can also be used.

[0703] The above can also be applied to other embodiments.

[0704] Embodiment 11.

[0705] Embodiment 11 is a modification of Embodiment 10 in which at least two pilot antennas that perform single-pulse angle measurement are used to measure the mobile body position. Referring to Figures 71 to 73The structure of the wireless power transmission system for transmitting power to the mobile body according to Embodiment 11 will be described. In Embodiment 11, the mobile body is not changed. Only the wireless transmission device is changed.

[0706] The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 71 The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 1 The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 72 The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 2 The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 72 The pilot antenna 6, 62 is disposed at a different site. The pilot antenna 62 is the same antenna as the pilot antenna 6. The pilot antenna 62 receives the pilot signal 4 and generates a pilot reception signal. The arrival direction detection device 72 has the same structure as the arrival direction detection device 7. The arrival direction detection device 72 performs monopulse angle finding on the pilot reception signal from the pilot antenna 62 to determine the arrival direction data 782 and outputs it to the control device 10K.

[0707] The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 73 The difference from the case of Embodiment 1 will be described. The wireless power transmission device 1K has the control device 10K. The wireless power transmission device 1K has the pilot antenna 62 and another arrival direction detection device 72 (shown in FIG. 62) at a position apart from the power transmission antenna 50 in addition to the pilot antenna 6 disposed at the center of the power transmission antenna 50. Figure 5 The control device 10K does not have the radiation direction determination section 33 but has a radiation target position determination section 47K. The radiation target position determination section 47K determines the radiation target position determined by the radiation direction and the distance from the power transmission antenna 50. The control device 10K changes the data storage section 25K, the radio wave radiation control section 34J. The radio wave radiation control section 34J is the same control section as the control section the control device 10J has.

[0708] The data storage section 25K has the radiation target position data 94 instead of the radiation direction data 79. The radiation target position data 94 is data indicating the radiation target position that is the target of the radiation of the radio wave by the power transmission antenna 50. The radiation target position data 94 is the same data as the data the data storage section 25J has. The data storage section 25K also has the arrival direction data 782 and the pilot antenna position 98. The arrival direction data 782 is the arrival direction of the pilot signal 4 at the position of the pilot antenna 62 detected by the arrival direction detection device 72. The pilot antenna position 98 is data indicating the positions of the pilot antennas 6 and 62 relative to the power transmission antenna 50.

[0709] The pilot antenna position 98 is pilot antenna installation site data that is data indicating a pilot antenna installation site that is a site where the pilot antenna 6, 62 is installed. The data storage section 25K is an installation site data storage section that stores the pilot antenna installation site data.

[0710] The radiation target position decision section 47K decides the position of the mobile body 60 (mobile body position) by triangulation using the direction of arrival data 78, 782 and the pilot antenna position 98. The radiation target position decision section 47K decides the position of the mobile body 60 with the pilot antenna 6 as a reference as the radiation target position. The radiation target position decision section 47K sets the decided radiation target position as the radiation target position data 94 in the data storage section 25K. Here, it is assumed that the pilot transmitter 5 and the power receiving device 3 are located in the vicinity in the mobile body 60, and the position of the pilot transmitter 5 is set as the radiation target position.

[0711] The method by which the radiation target position decision section 47K decides the position of the pilot transmitter 5 from the direction of arrival data 78, 782 and the pilot antenna position 98 will be described.

[0712] The following variables are defined.

[0713] Point PA1: The position of the pilot antenna 6 set in the pilot antenna position 98.

[0714] Point PA2: The position of the pilot antenna 62 set in the pilot antenna position 98.

[0715] VA1: Direction vector indicated by the direction of arrival data 78.

[0716] VA2: Direction vector indicated by the direction of arrival data 782.

[0717] Point P0: Assumed position of the pilot transmitter 5

[0718] VB1: Direction vector from the point PA1 toward the point P0.

[0719] VB2: Direction vector from the point PA2 toward the point P0.

[0720] EV(P0): Evaluation function of the error of the direction vector decided by the point P0.

[0721] Here, it is assumed that the magnitudes of the direction vectors VA1, VA2, VB1, VB2 are all the same. That is, the following holds.

[0722] |VA1| = |VA2| = |VB1| = |VB2| (77)

[0723] EV(P0) is set as follows.

[0724] EV(P o ) = |VA1-VB1| 2 + |VA2-VB2| 2 (78)

[0725] The position P0 of the pilot transmitter 5 is determined so that EV(P0) calculated by Expression (78) is minimum.

[0726] In the case where the pilot antenna 6 is Na antennas, EV(P0) is changed as shown below.

[0727] EV(P0) =∑|VA k -VB k | 2 (79)

[0728] In Expression (79), ∑ indicates summation for k = 1, 2,..., Na. The position P0 that makes Expression (79) minimum is set as the position of the pilot transmitter 5.

[0729] The radiation target position determining section 47K is a mobile body position determining section that determines a mobile body position based on at least two arrival directions and pilot antenna installation site data. The radiation target position determining section 47K is an existence direction determining section that determines an existence direction based on a power transmission antenna position and a mobile body position. The radiation target position determining section 47K is a mobile body distance measuring section that measures a mobile body distance based on a power transmission antenna position and a mobile body position.

[0730] The operation will be described. Figure 74 is a flowchart that explains a power transmission step of transmitting power to a mobile body by the wireless power transmission apparatus according to Embodiment 11. Regarding Figure 74 , the difference from Figure 8 in the case of Embodiment 1 will be described.

[0731] As with the wireless power transmission apparatus 1J, the wireless power transmission apparatus 1K also changes S0J and S06J. In Step S01J, the wireless power transmission apparatus 1K radiates a power transmission wave 2 at a position of a transmission direction (ψ AZ , ψ EL ) at which the mobile body 60 exists at a distance G. A power receiving apparatus 3 possessed by the mobile body 60 receives the power transmission wave 2. The processing of the REV method in S06J is performed as with the wireless power transmission apparatus 1J, as shown in Figure 61 .

[0732] The steps SllK to S13K are changed. In SllK, the pilot transmitter 5 possessed by the mobile body 60 transmits the pilot signal 4. The pilot antennas 6, 62 possessed by the wireless power transmission device 1 receive the pilot signal 4, and generate a pilot reception signal. In S12K, the direction-of-arrival detection device 7, 72 detects the direction of arrival of the pilot signal 4 by monopulse squinting the pilot reception signal. In S13K, the radiation target position determination section 47K determines the mobile body position based on the direction-of-arrival data 78, 782. Further, the mobile body position is converted into a relative position with the pilot antenna 2 as a reference, and the radiation target position 84 is determined. The radiation target position is a point at which the power transmission direction (ψ AZ , ψ EL ) and the distance G are determined. The power transmission direction is a direction from the pilot antenna 6 toward the radiation target position. In addition, the pilot antenna 6 is disposed at the center of the opening surface of the power transmission antenna 50. It is also possible to predict the position of the mobile body 60 after a determined time based on the radiation target position and the moving speed of the mobile body 60, and to set the predicted position as the radiation target position. In S01J, the power transmission antenna 50 radiates the power transmission wave 2 to the radiation target position determined in S13K.

[0733] After S13K is executed, return to SllK. The processes of SllK to S13K are executed in synchronization with a determined period. The length of one period is determined so that even if the mobile body 60 moves at a supposed maximum moving speed, the length of one period can be within a range allowed by the difference between the radiation target position calculated last time and the current radiation target position.

[0734] The wireless power transmission device IK acts similarly to the wireless power transmission device IJ, and obtains the same effect. Since the power transmission beam tracks the mobile body 60 even during execution of the REV method, it is possible to improve the accuracy of the REV method.

[0735] Embodiment 12

[0736] Embodiment 12 is a case where Embodiment 10 is changed to use three or more optical distance meters disposed at mutually different positions to measure the mobile body position. In Embodiment 12, similarly to Embodiment 7, a mobile body that does not have a pilot transmitter is used. The wireless power transmission device is changed. Refer to Figures 75 to 77 The structure of the wireless power transmission system for transmitting power to a mobile body, the wireless power transmission device, and the structure of the mobile body related to Embodiment 12 are described.

[0737] Regarding Figure 75 , the differences from Figure 1 in the case of Embodiment 1 are described. Regarding Figure 76 , the differences from Figure 2The differences are explained below. The mobile unit 60F does not have a pilot transmitter 5 and does not transmit pilot signals 4. The mobile unit 60F also does not carry position sensors, etc. The wireless power transmission device 1L does not have a pilot antenna 6.

[0738] The wireless power transmission device 1L has three laser distance measuring devices 481, 482, and 483. Each laser distance measuring device 481, 482, and 483 measures the distance from its own position to the moving body 60F. Each laser distance measuring device 481, 482, and 483 radiates lasers 431, 432, and 433, respectively. Each laser 431, 432, and 433 is reflected by the moving body 60F, thus becoming reflected lasers 441, 442, and 443, respectively. Each laser distance measuring device 481, 482, and 483 measures the time from radiating laser 431, 432, and 433 to receiving reflected laser 441, 442, and 443, respectively. Based on the measured time, each laser distance measuring device 481, 482, and 483 calculates the distances GA1, GA2, and GA3 from its own position to the moving body 60F. Each laser distance measuring device 481, 482, and 483 sends the measured distances GA1, GA2, and GA3 to the control device 10L.

[0739] The control device 10L determines the position of the moving body 60 based on data from the distances to GA1, GA2, GA3 and the locations of each laser distance measuring device 481, 482, 483. Here, the point at which the distance from each laser distance measuring device 481, 482, 483 to GA1, GA2, GA3 is uniquely determined, and this point is the position of the moving body 60. Furthermore, it is preferable that the locations of the laser distance measuring devices 481, 482, 483 are sufficiently separated from each other to determine the position of the moving body 60 with high accuracy.

[0740] about Figure 77 In the case of implementation method 1 Figure 5 The differences will be explained below. The control device 10L does not have a radiation direction determination unit 33, but instead has a radiation target position determination unit 47L. The control device 10L has a positioning sensor 40. The radiation target position determination unit 47L uses the distance to the moving body 60F measured by laser distance measuring devices 481, 482, and 483 to determine the position of the moving body 60. The laser distance measuring devices 481, 482, and 483, along with the radiation target position determination unit 47L, constitute a moving body position measuring unit for measuring the position of the moving body. The radiation target position determination unit 47L transforms the moving body position into a radiation target position, which is a relative position relative to the position of the transmission antenna. The radiation target position is represented by the radiation direction and the distance to the radiation target position.

[0741] The control device 10L changes the data storage section 25L and the electric wave radiation control section 34J. The electric wave radiation control section 34J is the same control section as that of the control device 10J.

[0742] The data storage section 25L has the radiation target position data 94 instead of the radiation direction data 79. The data storage section 25L also has the power transmission device position 84, the target position distance data 971, 972, 972, and the distance measurer position 99. The power transmission device position 84 is the position of the power transmission antenna 50J measured by the positioning sensor 40. The target position distance data 971, 972, 972 are the distances GA1, GA2, GA3 measured by the laser distance measurers 481, 482, 483. The distance measurer position 99 is data indicating the setting place of the laser distance measurers 481, 482, 483.

[0743] The distance measurer position 99 is data indicating the setting place of the laser distance measurers 481, 482, 483, i.e., distance measurer setting place data. The data storage section 25L is a setting place data storage section storing the distance measurer setting place data.

[0744] The radiation target position decision section 47L decides the position o...

Claims

1. A wireless power transfer device, characterized by, including: a power transmission antenna that is a phased array antenna that transmits electric power by radiating an electric wave, that is capable of changing a direction of radiation of the electric wave, that is, a radiation direction, that has a plurality of element antennas that radiate the electric wave, and a plurality of element modules that are respectively provided for each group of a number of the element antennas, that respectively have a phase shifter that changes a phase of a transmission signal that is radiated as the electric wave, and an amplifier that amplifies the transmission signal; a transmission signal generation section that generates the transmission signal that is radiated from the power transmission antenna as the electric wave; a presence direction determination section that determines a direction in which a mobile body exists, that is, a presence direction, the mobile body mounting a power receiving device that receives the electric wave, a measurement antenna that receives the electric wave, a wave measurement section that measures reception electric wave data that includes an amplitude of the electric wave received by the measurement antenna, that is, an electric field intensity, and a mobile body communication machine; a radiation direction change section that changes the radiation direction of the power transmission antenna toward the presence direction by controlling an amount by which the phase of the transmission signal is changed, that is, a phase shift amount, by the phase shifter; a REV method phase control section that, based on a REV method scheme that defines a phase operation mode, operates the phase shifter so that the phase of the transmission signal is changed by an amount obtained by adding an operation phase shift amount defined by the phase operation mode to a direction change phase shift amount changed by the radiation direction change section, the phase operation mode repeatedly performing the following operation by changing the operation phase shifter in a state in which the electric wave is radiated by at least a part of the element antennas, that is, changing the phase shift amount of the operation phase shifter that is a part of the phase shifters; a phase reference adjustment section that unifies a phase reference of the transmission signal output by the element modules based on an element electric field phase that is calculated based on electric field variation data, that is a phase of an element electric field vector detected by the measurement antenna receiving the electric wave radiated by the element antenna that outputs the transmission signal output by one of the element modules, the electric field variation data being generated based on reception electric wave data received by the mobile body in a state in which the operation phase shift amount of the operation phase shifter is changed by the REV method phase control section based on the REV method scheme, that is, REV method execution time electric wave data; and a power transmission side communication machine that communicates with the mobile body communication machine.

2. The wireless power transmission device according to claim 1, further comprising a mobile body position measurement device that measures a position of the mobile body, wherein the presence direction determination section determines the presence direction based on a position of the power transmission antenna and the position of the mobile body. ​ ​ ​ 3. The wireless power transmission device according to claim 2, wherein the radiation direction changing section decides the direction changing phase shift amount taking into account a distance between the mobile body position and the power transmission antenna position.

4. The wireless power transmission device according to claim 2, wherein the mobile body position measuring device measures a position of the power receiving device mounted on the mobile body, i.e., a power receiving device position, as the mobile body position.

5. The wireless power transmission device according to claim 4, wherein the radiation direction changing section decides the direction changing phase shift amount taking into account a distance between the mobile body position and the power transmission antenna position.

6. The wireless power transmitting device of claim 1, wherein, Further comprising: a mobile body data storage section that stores mobile body structure data indicating a position of the power receiving device with respect to a position of the mobile body, i.e., a mobile body position; and a power receiving device position deciding section that decides a position of the power receiving device, i.e., a power receiving device position, based on the mobile body position measured by a positioning sensor mounted on the mobile body and transmitted from the mobile body communication machine, the mobile body structure data, and posture data measured by a posture sensor mounted on the mobile body and transmitted from the mobile body communication machine, the existence direction deciding section decides the existence direction based on the power transmission antenna position and the power receiving device position.

7. The wireless power transmission device according to claim 6, wherein the radiation direction changing section decides the direction changing phase shift amount taking into account a distance between the power receiving device position and the power transmission antenna position.

8. The wireless power transmission device according to claim 1, wherein Further comprising an existence direction predicting section that predicts the existence direction, the radiation direction changing section changes the radiation direction toward the existence direction predicted by the existence direction predicting section, i.e., a predicted existence direction.

9. The wireless power transmission device according to any one of claims 2 to 7, wherein Further comprising a mobile body position predicting section that predicts the mobile body position, the existence direction deciding section decides the existence direction based on the predicted mobile body position predicted by the mobile body position predicting section, i.e., a predicted mobile body position, and the power transmission antenna position.

10. The wireless power transmission device according to any one of claims 4, 6, and 7, wherein Further comprising a power receiving device position predicting section that predicts the power receiving device position, the existence direction deciding section decides the existence direction based on the predicted power receiving device position predicted by the power receiving device position predicting section, i.e., a predicted power receiving device position, and the power transmission antenna position.

11. The wireless power transmitting device of claim 6 or 7, wherein, Further comprising: a mobile body position history storage section that stores the mobile body position measured within a decided time range; a posture data history storage section that stores the posture data measured within the time range; and a power receiving device position prediction section that predicts the power receiving device position based on the mobile body position stored in the mobile body position history storage section, the posture data stored in the posture data history storage section, and the mobile body structure data, the presence direction decision section decides the presence direction based on the power receiving device position predicted by the power receiving device position prediction section, i.e., a predicted power receiving device position, and the power transmission antenna position.

12. The wireless power transmission device according to claim 2, wherein the mobile body position measurement section measures the mobile body position and a power receiving device position that is a position of the power receiving device mounted on the mobile body, the wireless power transmission device further includes: a mobile body position history storage section that stores the mobile body position measured within a decided time range; a power receiving device position history storage section that stores the power receiving device position measured within the time range; and a power receiving device position prediction section that predicts the power receiving device position based on the mobile body position stored in the mobile body position history storage section and the power receiving device position stored in the power receiving device position history storage section, the presence direction decision section decides the presence direction based on the power receiving device position predicted by the power receiving device position prediction section, i.e., a predicted power receiving device position, and the power transmission antenna position.

13. The wireless power transmitting device of claim 1, wherein, Further includes: a mobile body distance measurement section that measures a distance from the power transmission antenna to the mobile body, i.e., a mobile body distance; a radiation target position decision section that decides a position range in three-dimensional space, i.e., a radiation target position, that becomes a target of radiation of the electric wave, as a relative position with respect to a position of the power transmission antenna, i.e., a power transmission antenna position, so as to include a position of the mobile body in three-dimensional space, i.e., a mobile body position, decided by the presence direction and the mobile body distance; and a radiation target position changing section that radiates the electric wave by controlling a phase shift amount, i.e., a phase shift amount, by which the phase of the transmission signal is changed by the phase shifter, so that the phase is unified at the radiation target position, the REV method phase control section changes the phase of the transmission signal in the operating phase shifter by adding the operating phase shift amount, i.e., a phase shift amount specified by the phase operation mode, and the target position changing phase shift amount, i.e., a phase shift amount changed by the radiation target position changing section.

14. A wireless power transfer device comprising: includes: A power transmission antenna that is a phased array antenna that transmits electric power using a radiated electric wave, is capable of changing a position range in three-dimensional space that is a target of the radiated electric wave, i.e., a radiation target position, the phased array antenna having a plurality of element antennas that radiate the electric wave, and a plurality of element modules that are respectively provided for each group of a certain number of the element antennas, the plurality of element modules respectively having a phase shifter that changes a phase of a transmission signal that is radiated as the electric wave, and an amplifier that amplifies the transmission signal; a transmission signal generation section that generates the transmission signal that is radiated from the power transmission antenna as the electric wave; a presence direction determination section that determines a direction in which a mobile body exists, i.e., a presence direction, the mobile body mounting a power receiving device that receives the electric wave, a measurement antenna that receives the electric wave, a wave measurement section that measures received wave data including an amplitude of the electric wave received by the measurement antenna, i.e., an electric field intensity, and a mobile body communication device; a mobile body distance measurement section that measures a distance from the power transmission antenna to the mobile body, i.e., a mobile body distance; a radiation target position determination section that determines the radiation target position as a relative position with respect to a position of the power transmission antenna, i.e., a power transmission antenna position, such that a position of the mobile body in three-dimensional space, i.e., a mobile body position, determined by the presence direction and the mobile body distance is included; a radiation target position change section that radiates the electric wave by controlling an amount of change in the phase of the transmission signal, i.e., a phase shift amount, by the phase shifters, such that the phase is unified at the radiation target position; a REV method phase control section that operates the phase shifters based on a REV method scheme that defines a phase operation mode, such that the phase of the transmission signal is changed by an operation phase shift amount defined by the phase operation mode, and a target position change phase shift amount changed by the radiation target position change section, the phase operation mode repeatedly changing the phase shift amount of the operation phase shifters that are a part of the phase shifters by changing the operation phase shifters in a state in which the electric wave is radiated by at least a part of the element antennas; and a REV method phase control section that operates the phase shifters based on a REV method scheme that defines a phase operation mode, such that the phase of the transmission signal is changed by an operation phase shift amount defined by the phase operation mode, and a target position change phase shift amount changed by the radiation target position change section, the phase operation mode repeatedly changing the phase shift amount of the operation phase shifters that are a part of the phase shifters by changing the operation phase shifters in a state in which the electric wave is radiated by at least a part of the element antennas. a phase reference adjustment section that unifies a phase reference of the transmission signal output from the element module on the basis of an element electric field phase that is calculated on the basis of electric field variation data, which is a phase of an element electric field vector detected by the measurement antenna receiving the electric wave radiated by the element antenna that outputs the transmission signal of one of the element modules, and that is generated on the basis of the reception electric wave data received by the mobile body in a state in which the REV method phase control section changes the operation phase shifter amount on the basis of the REV method scheme; and a power transmission side communication device that communicates with the mobile body communication device.

15. The wireless power transmitting device of claim 13 or 14, wherein, Further comprising: a mobile body data storage section that stores mobile body structure data that indicates a position of the power receiving device with respect to a position of the mobile body; and a power receiving device position decision section that decides a position of the power receiving device, i.e., a power receiving device position, on the basis of the mobile body structure data and attitude data measured by an attitude sensor mounted on the mobile body and transmitted from the mobile body communication device, the attitude sensor measuring the attitude data that indicates an attitude of the mobile body, the presence direction decision section deciding the presence direction on the basis of the power transmission antenna position and the power receiving device position, the mobile body distance measurement section measuring the mobile body distance on the basis of the power transmission antenna position and the power receiving device position.

16. The wireless power transmission device according to claim 15, further comprising a power receiving device position prediction section that predicts the power receiving device position, the radiation target position decision section deciding the radiation target position so as to include the power receiving device position predicted by the power receiving device position prediction section, i.e., a predicted power receiving device position.

17. The wireless power transmission device according to claim 13 or 14, further comprising a mobile body position decision section that decides the position of the mobile body, the presence direction decision section deciding the presence direction on the basis of the power transmission antenna position and the mobile body position, the mobile body distance measurement section measuring the mobile body distance on the basis of the power transmission antenna position and the mobile body position. Further comprising: a mobile body data storage section that stores mobile body structure data that indicates a position of the power receiving device with respect to a position of the mobile body; 18. The wireless power transmitting device of claim 16, wherein, and a power receiving device position decision section that decides a position of the power receiving device, i.e., a power receiving device position, on the basis of the mobile body structure data and attitude data measured by an attitude sensor mounted on the mobile body and transmitted from the mobile body communication device, the attitude sensor measuring the attitude data that indicates an attitude of the mobile body, ​ ​ The presence direction determination section determines the presence direction based on the power transmission antenna position and the power receiving device position, The mobile body distance measurement section measures the mobile body distance based on the power transmission antenna position and the power receiving device position.

19. The wireless power transmission device according to claim 18, wherein Further comprising a power receiving device position prediction section that predicts the power receiving device position, The radiation target position determination section determines the radiation target position so as to include the power receiving device position predicted by the power receiving device position prediction section, which is a predicted power receiving device position.

20. The wireless power transmission device according to claim 17, wherein The mobile body position determination section is a mobile body position measurement device that radiates a ranging wave as light, an electric wave, or an ultrasonic wave, receives a ranging reflection wave formed by the ranging wave being reflected by the mobile body, measures a distance to the mobile body based on an elapsed time from when the ranging wave is transmitted to when the ranging reflection wave is received, and measures the mobile body position based on the measured distance and a direction from which the ranging reflection wave comes, The mobile body position measurement device measures a position of the power receiving device mounted on the mobile body, which is a power receiving device position, as the mobile body position.

21. The wireless power transmission device according to claim 20, wherein Further comprising a mobile body position prediction section that predicts the mobile body position, The radiation target position determination section determines the radiation target position so as to include the mobile body position predicted by the mobile body position prediction section, which is a predicted mobile body position.

22. The wireless power transmission device according to claim 13 or 14, wherein Further comprising a mobile body position prediction section that predicts the mobile body position, The radiation target position determination section determines the radiation target position so as to include the mobile body position predicted by the mobile body position prediction section, which is a predicted mobile body position.

23. The wireless power transmission device according to claim 20, wherein Further comprising a power receiving device position prediction section that predicts the power receiving device position, The radiation target position determination section determines the radiation target position so as to include the power receiving device position predicted by the power receiving device position prediction section, which is a predicted power receiving device position.

24. The wireless power transmitting device of claim 15, wherein, Further comprising: a mobile body position history storage section that stores the measured mobile body position within a determined time range; a posture data history storage section that stores the measured posture data within the time range; and and a power receiver position prediction unit that predicts the power receiver position based on the mobile body position stored in the mobile body position history storage unit and the power receiver position stored in the power receiver position history storage unit, and predicts the predicted power receiver position by adding the predicted power receiver position to the predicted mobile body position. The radiation target position determination unit determines the radiation target position so as to include the predicted power receiver position predicted by the power receiver position prediction unit.

25. The wireless power transmitting device of claim 13 or 14, wherein, Further comprising: a mobile body position measurement device that radiates a ranging wave as light, an electric wave, or an ultrasonic wave, receives a ranging reflection wave formed by the ranging wave being reflected by the mobile body, measures a distance to the mobile body based on an elapsed time from when the ranging wave is transmitted to when the ranging reflection wave is received, and measures the mobile body position and a power receiver position based on the measured distance and a direction from which the ranging reflection wave comes; a mobile body position history storage unit that stores the measured mobile body position within a determined time range; a power receiver position history storage unit that stores the measured power receiver position within the time range; and a power receiver position prediction unit that predicts the power receiver position based on the mobile body position stored in the mobile body position history storage unit and the power receiver position stored in the power receiver position history storage unit, and predicts the predicted power receiver position by adding the predicted power receiver position to the predicted mobile body position. The radiation target position determination unit determines the radiation target position so as to include the predicted power receiver position predicted by the power receiver position prediction unit.

26. The wireless power transmission device according to claim 25, wherein the power receiver position history storage unit stores a relative position with respect to the mobile body position as the power receiver position, the power receiver position prediction unit predicts the mobile body position based on the mobile body position stored in the mobile body position history storage unit, predicts the relative position with respect to the mobile body position as the power receiver position based on the power receiver position stored in the power receiver position history storage unit, and predicts the predicted power receiver position by adding the predicted power receiver position to the predicted mobile body position.

27. The wireless power transmission device according to claim 1 or 14, wherein further comprising a REV method analysis unit that calculates the element electric field phase for each of the element modules based on the electric field variation data and the REV method scheme.

28. The wireless power transmission device according to claim 27, wherein the electric field variation data is electric wave data at the time of execution of the REV method, The REV method analysis section has: a measurement data analysis section that detects, for each of the operation phase shifters, a phase shift amount detection time at which the electric field strength takes a maximum value or a minimum value in operation phase shifter corresponding electric wave data for each of the operation phase shifters, the operation phase shifter corresponding electric wave data being electric wave data at the time of the REV method execution for each of the operation phase shifters at each of the operation phase shift amounts related to the operation phase shifter; an operation phase shift amount acquisition section that acquires the operation phase shift amount at the phase shift amount detection time; and an element electric field phase calculation section that calculates the element electric field phase based on at least the operation phase shift amount.

29. The wireless power transmitter of claim 28, wherein The electric field variation data is the REV method execution time electric wave data obtained during a period including at least one operation phase shifter corresponding period, the operation phase shifter corresponding period being a period in which each of the operation phase shift amounts related to the operation phase shifter is changed.

30. The wireless power transmitter of claim 28, wherein The electric field variation data is the REV method execution time electric wave data obtained during a period in which the operation phase shifter takes one of the operation phase shift amounts, The measurement data analysis section analyzes a set of the REV method execution time electric wave data transmitted from the mobile body communication device for each of the operation phase shifters, that is, the operation phase shifter corresponding electric wave data, and detects the phase shift amount detection time for each of the operation phase shifters.

31. The wireless power transmitter of any one of claims 28 to 30, wherein The measurement data analysis section detects, for each of the operation phase shifters, an electric field strength variation ratio that is a ratio of the maximum value of the electric field strength to the minimum value of the electric field strength in the operation phase shifter corresponding electric wave data, The element electric field phase calculation section calculates the element electric field phase for each of the operation phase shifters based on the operation phase shift amount and the electric field strength variation ratio.

32. The wireless power transmitter of claim 27, wherein The electric field variation data is a phase shift amount detection time that is a time at which the electric field strength takes a maximum value or a minimum value in operation phase shifter corresponding electric wave data detected for each of the operation phase shifters during a period including at least one operation phase shifter corresponding period, the operation phase shifter corresponding period being a period in which each of the operation phase shift amounts related to the operation phase shifter is changed, the operation phase shifter corresponding electric wave data being a set of the REV method execution time electric wave data for each of the operation phase shifters at each of the operation phase shift amounts related to the operation phase shifter, The REV method analysis section has an operation phase shift amount acquisition section that acquires the operation phase shift amount at the phase shift amount detection time, and an element electric field phase calculation section that calculates the element electric field phase based on at least the operation phase shift amount. ​ 33. The wireless power transmitter according to claim 32, wherein the electric field variation data includes an electric field intensity variation ratio, the electric field intensity variation ratio being a ratio of a maximum value to a minimum value of the electric field intensity in the operation phase shifter corresponding electric wave data, the element electric field phase calculation section calculates the element electric field phase for each of the operation phase shifters based on the operation phase shift amount and the electric field intensity variation ratio.

34. The wireless power transmitter according to any one of claims 28 to 30, wherein a phase operation record section that records phase operation data of a time variation of the operation phase shift amount of the operation phase shifter in a process of executing the REV method scheme, the operation phase shift amount acquisition section acquires the operation phase shift amount with reference to the phase operation data at the phase shift amount detection time.

35. The wireless power transmitter according to any one of claims 28 to 30, wherein in the REV method scheme, the phase operation pattern is expressed using one or more reference phenomena at a specified time, and non-reference phenomena at a time expressed in terms of a relative time from any of the reference phenomena, the operation phase shift amount acquisition section acquires the operation phase shift amount based on the time of the reference phenomena, the REV method scheme, and the phase shift amount detection time.

36. The wireless power transmitter according to claim 1 or 14, wherein the mobile body has a data storage device that stores the REV method scheme, and a REV method analysis section that calculates the element electric field phase for each of the element modules based on the REV method scheme and the REV method execution time electric wave data, the phase reference adjustment section unifies a reference of a phase of the transmission signal output from the element modules based on the element electric field phase transmitted from the mobile body.

37. The wireless power transmitter according to claim 1 or 14, wherein the phase operation pattern is defined so that the operation phase shifter takes a time of a plurality of different operation phase shift amounts for a determined duration or more, 38. A wireless power transfer device comprising: further comprising: a power transmission antenna that is a phased array antenna that transmits power using an electric wave to be radiated, and that is capable of changing a range of positions in three-dimensional space, i.e., a radiation target position, that is a target of the electric wave to be radiated, the phased array antenna having a plurality of element antennas that radiate the electric wave received by a power receiving device mounted on a mobile body, and a plurality of element modules each of which is provided for each group of a determined number of the element antennas, the plurality of element modules each having a phase shifter that changes a phase of a transmission signal to be radiated as the electric wave, and an amplifier that amplifies the transmission signal; a transmission signal generation section that generates the transmission signal to be radiated as the electric wave from the power transmission antenna. A mobile body position measuring device radiates a ranging wave that is light, an electric wave, or an ultrasonic wave, receives a ranging reflection wave that is the ranging wave reflected by a mobile body on which a power receiving device that receives the electric wave is mounted, measures a distance to the mobile body based on an elapsed time from transmission of the ranging wave to reception of the ranging reflection wave, and measures a position of the mobile body and a position of the power receiving device based on the measured distance and a direction from which the ranging reflection wave comes; a radiating target position determining section that determines the radiating target position as a relative position with respect to a position of the power transmission antenna such that the power receiving device position is included; a radiating target position changing section that changes the radiating target position by controlling a phase shifter that changes a phase of a transmission signal by a phase shift amount, thereby radiating the electric wave such that the phase is unified at the radiating target position; a mobile body position history storage section that stores the measured mobile body positions within a determined time range; a power receiving device position history storage section that stores the measured power receiving device positions within the time range; and a power receiving device position predicting section that predicts the power receiving device position based on the mobile body positions stored in the mobile body position history storage section and the power receiving device positions stored in the power receiving device position history storage section, the radiating target position determining section determines the radiating target position such that the predicted power receiving device position predicted by the power receiving device position predicting section is included.

39. A wireless power transfer device comprising: Further comprising: a power transmission antenna that is a phased array antenna that transmits electric power using an electric wave that is radiated, and that is capable of changing a radiating direction in which the electric wave is radiated, the phased array antenna having a plurality of element antennas that radiate the electric wave, and a plurality of element modules that are respectively provided for each group of a determined number of the element antennas, the plurality of element modules respectively having a phase shifter that changes a phase of a transmission signal that is radiated as the electric wave, and an amplifier that amplifies the transmission signal; a transmission signal generating section that generates the transmission signal that is radiated from the power transmission antenna as the electric wave; a presence direction determining section that determines a presence direction in which a mobile body that mounts a power receiving device that receives the electric wave is present; a mobile body position measuring device that radiates a ranging wave that is light, an electric wave, or an ultrasonic wave, receives a ranging reflection wave that is the ranging wave reflected by the mobile body, measures a distance to the mobile body based on an elapsed time from transmission of the ranging wave to reception of the ranging reflection wave, and measures a position of the mobile body and a position of the power receiving device based on the measured distance and a direction from which the ranging reflection wave comes; a radiation direction changing section that changes the radiation direction of the power transmission antenna toward the presence direction by controlling a phase shift amount by which the phase of the transmission signal is changed by the phase shifter; a mobile body position history storage section that stores the mobile body position measured within a decided time range; a power receiving device position history storage section that stores the power receiving device position measured within the time range; and a power receiving device position prediction section that predicts the power receiving device position based on the mobile body position stored in the mobile body position history storage section and the power receiving device position stored in the power receiving device position history storage section, the presence direction decision section decides the presence direction as a direction toward a predicted power receiving device position that is the power receiving device position predicted by the power receiving device position prediction section.

40. The wireless power transmission device according to claim 38 or 39, the power receiving device position history storage section stores a relative position with respect to the mobile body position as the power receiving device position, the power receiving device position prediction section predicts the mobile body position based on the mobile body position stored in the mobile body position history storage section, predicts a relative position with respect to the mobile body position as the power receiving device position based on the power receiving device position stored in the power receiving device position history storage section, and predicts the predicted power receiving device position by adding the predicted power receiving device position and the predicted mobile body position.

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