Antenna device, power supply device, and power supply method

Abstract

The invention provides an antenna device which can easily calculate the phase adjustment amount of a power transmission signal in a plurality of antenna elements of an array antenna according to the position of a power receiving antenna so as to increase the power receiving power. The antenna device acquires a projection elevation angle, obtains a second elevation angle of the first and second end points with respect to the third axis on the basis of the coordinates of the first and second end points of the mark image and the focal distance of the fisheye lens, and obtains a first distance between the mark center point and the fisheye lens. A second distance between the first end point and the fisheye lens and a second distance between the second end point and the fisheye lens are calculated based on a second elevation angle of the first end point and the second end point relative to the third axis and the third axis coordinate. The phase adjustment amounts of the three antenna elements in each of the first axial direction and the second axial direction are set, and the phase adjustment amounts of the plurality of antenna elements arranged two-dimensionally are set by parabolic interpolation of a quadratic function.

Description

Technical Field

[0001] The invention relates to an antenna device, a power supply device and a power supply method. Background Art

[0002] Conventionally, there is a power supply device, which includes: a first detection unit that detects the direction of a power receiving device; and a control unit that controls a radiation unit that radiates power supply to perform a first radiation that wirelessly radiates the power supply to the direction of the power receiving device detected by the first detection unit, and a second radiation that wirelessly radiates the power supply while changing the direction of the power supply within a predetermined range. The radiation unit is an array antenna (for example, refer to Patent Document 1).

[0003] <Prior Art Literature>

[0004] <Patent Documents>

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-083648 Summary of the invention

[0006] <Problems to be Solved by the Invention>

[0007] However, in order to adjust the phase of the power transmission signal transmitted by the multiple antenna elements included in the array antenna according to the position of the power receiving antenna of the power receiving device so as to increase the power received by the power receiving antenna, a huge amount of calculation is required. However, the existing power supply equipment (power supply device) does not solve this problem.

[0008] Therefore, an object of the present invention is to provide an antenna device, a power supply device, and a power supply method that can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements of the array antenna according to the position of the power receiving antenna so as to increase the received power.

[0009] <Methods used to solve the problem>

[0010] The antenna device of an embodiment of the present invention includes: an array antenna, which is an array antenna having a plurality of antenna elements arranged in two dimensions along a first axis and a second axis, and transmits a power transmission signal toward a power receiving antenna arranged at the center of a mark, the mark having the same size as the array antenna when viewed from above and arranged opposite to the array antenna; a phase adjustment unit, which adjusts the phase of the power transmission signal supplied to the plurality of antenna elements in the direction of the first axis and the direction of the second axis; an image acquisition unit, which acquires an image of the mark by means of a fisheye lens arranged opposite to the mark; and a first elevation angle acquisition unit, which acquires an image of the mark based on the center of the mark in the image of the mark. a first elevation angle of the center point of the mark relative to the third axis and a projection elevation angle obtained by projecting the first elevation angle onto a plane including the first axis and the third axis based on the center point of the mark, that is, the center point of the mark image and the focal distance of the fisheye lens; a second elevation angle acquisition unit, which calculates the second elevation angle of the first and second endpoints relative to the third axis based on the coordinates of the first two endpoints of the mark in the image of the mark in the first axis direction, the coordinates of the second two endpoints of the mark in the image of the mark in the second axis direction, and the focal distance of the fisheye lens; a coordinate acquisition unit, which calculates the second elevation angle of the first and second endpoints relative to the third axis based on the coordinates of the first two endpoints of the mark in the image of the mark in the second axis direction, and the focal distance of the fisheye lens; The first distance estimating unit is configured to determine the first distance between the center point of the marker and the fisheye lens based on the first elevation angle and the coordinates of the third axis of the marker; the second distance estimating unit is configured to determine the first distance between the center point of the marker and the fisheye lens based on the second elevation angles of the first and second endpoints relative to the third axis and the coordinates of the third axis of the marker. a second distance between two end points and the fisheye lens; and a control unit, which controls the phase adjustment amount of the phase adjustment unit for adjusting the phase of the power transmission signal in the first axis direction and the second axis direction, the control unit setting the phase adjustment amount of the three antenna elements including the antenna elements at the two ends in the first axis direction and the three antenna elements including the antenna elements at the two ends in the second axis direction based on the path difference between the first distance and the second distance, and setting the phase adjustment amount of the multiple antenna elements arranged in two dimensions by parabolic interpolation of a quadratic function.

[0011] <Effects of the Invention>

[0012] An antenna device, a power supply device, and a power supply method can be provided that can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements of the array antenna according to the position of the power receiving antenna so as to increase the received power. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing an example of how the power supply device 100 according to the embodiment is used.

[0014] Figure 2 1 is a diagram showing an example of the power supply device 100 and the power receiving device 50 according to the embodiment.

[0015] Figure 3 1 is a diagram showing an example of the configuration of the power supply device 100 according to the embodiment.

[0016] Figure 4A This is a diagram showing a two-dimensional phase distribution when radio waves are radiated in the same direction from each antenna element assuming long-distance power transmission.

[0017] Figure 4B This is a diagram showing a two-dimensional phase distribution when radio waves are radiated in the same direction from each antenna element assuming short-distance power transmission.

[0018] Figure 5 1 is a diagram showing an example of the positional relationship between the array antenna 110 including (2N+1) antenna elements 111 arranged one-dimensionally along the X axis and the power receiving antenna 51 in XZ coordinates.

[0019] Figure 6 is a diagram for explaining the normalized path difference length θ of the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis. iX A diagram showing an example of a setting method for .

[0020] Fig. 7A 1 is a diagram showing an example of the positional relationship between the array antenna 110 and the power receiving device 50 .

[0021] Figure 7B 1 is a diagram showing an example of the positional relationship between the array antenna 110 and the power receiving device 50 .

[0022] Figure 8 : is a diagram showing a polar coordinate system of array antenna 110 .

[0023] Fig.9A : is a figure which shows an example of the distribution of the normalized path difference length calculated in the X direction and the Y direction.

[0024] Fig. 9B : is a figure which shows an example of the distribution of the normalized path difference length calculated in the X direction and the Y direction.

[0025] Fig. 10A 1 is a diagram showing an example of a simulation result of the transmission antenna gain observed at the position of the power receiving antenna 51 .

[0026] Fig. 10B 1 is a diagram showing an example of a simulation result of the power received by the power receiving antenna 51 . DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of an antenna device, a power supply device, and a power supply method to which the present invention is applied will be described.

[0028] <Implementation Method>

[0029] Figure 1 This is a diagram showing an example of how the power supply device 100 of the embodiment is used. The power supply device 100 has an array antenna and is, for example, mounted on an AGV (Automatic Guided Vehicle) 20 and is movable. The power supply device 100 moves to a position opposite to a power receiving device 50 installed on a power supply object 10, and transmits a power transmission signal to the power receiving device 50. The positions of the power receiving device 50 and the power supply object 10 are fixed.

[0030] Even if the center of the array antenna is offset in any of the vertical or horizontal directions relative to the center of the power receiving antenna of the power receiving device 50 , the power supply device 100 can efficiently transmit power by adjusting the phase of the radio waves radiated from each antenna element of the array antenna.

[0031] In addition, if the power supply device 100 transmits a power transmission signal not only when the AGV 20 is stopped relative to the power receiving device 50, but also when it approaches or retreats, it is possible to perform efficient power transmission, especially when there are multiple power receiving devices 50 and power supply objects 10. In this case, as long as the phase of the radio wave radiated from each antenna element of the array antenna of the power supply device 100 is adjusted according to the distance between the power supply device 100 and the power receiving device 50 so that the power transmission efficiency becomes good, more efficient power transmission can be performed.

[0032] Figure 2 1 is a diagram showing an example of the power supply device 100 and the power receiving device 50 according to the embodiment. Figure 3 1 is a diagram showing an example of the configuration of the power supply device 100 according to the embodiment.

[0033] In the following description, an XYZ coordinate system is used. The so-called top view refers to an XY top view. In addition, the X axis is an example of a first axis, the Y axis is an example of a second axis, and the Z axis is an example of a third axis.

[0034] <Configurations of Power Supply Device 100 and Power Receiving Device 50 >

[0035] exist Figure 2, a power receiving device 50 is shown which is arranged opposite to an array antenna 110. The array antenna 110 has a plurality of antenna elements 111, and the plurality of antenna elements 111 are arranged in an array along the X-axis and the Y-axis. The array antenna 110 is a super-multi-element phased array. As an example, the number of antenna elements 111 included in the array antenna 110 as a super-multi-element phased array is about 200 to 1000.

[0036] The distance (opposing distance) between the array antenna 110 and the power receiving device 50 in the Z direction is, for example, about 1 to 2 meters. The power supply device 100 transmits a power transmission signal from the array antenna 110 to the power receiving device 50 by microwave wireless power supply. The transmission of the power transmission signal from the array antenna 110 to the power receiving device 50 is synonymous with the array antenna 110 supplying power to the power receiving device 50.

[0037] The power receiving device 50 includes a power receiving antenna 51 and a position marker 52. Figure 2 , the arrangement of the plurality of antenna elements 111, the power receiving antenna 51, and the position mark 52 is shown for easy viewing, but in reality, the power receiving antenna 51 and the position mark 52 are arranged along the X-axis and the Y-axis like the plurality of antenna elements 111. The size of the position mark 52 when viewed from above is the same as the size of the array antenna 110 when viewed from above.

[0038] The array antenna 110 forms a beam using radio waves output from a plurality of antenna elements 111 and scans the angle of the beam as a power transmission signal, thereby transmitting the power transmission signal to the power receiving antenna 51 of the power receiving device 50 .

[0039] The power receiving device 50 supplies the power of the power transmission signal received by the power receiving antenna 51 from the array antenna 110 to the power supply object 10. The power supply object 10 may be any device as long as it consumes power. As an example, one power supply object 10 is connected to one power receiving antenna 51.

[0040] <Structure of Power Supply Device 100 >

[0041] like Figure 3 As shown in FIG. 1 , the power supply device 100 includes an array antenna 110, a phase shifter 120, a microwave source 130, a camera 140, and a control device 150. The antenna device 100A of the embodiment is a device in which the microwave source 130 is removed from the power supply device 100. Figure 2 In the figure, the phase shifter 120 and the microwave source 130 are omitted.

[0042] <Configuration of Array Antenna 110 >

[0043] As an example, the array antenna 110 includes (2N+1)×(2N+1) antenna elements 111. N is an integer greater than or equal to 2. (2N+1) of the (2N+1)×(2N+1) antenna elements 111 are arranged in the X direction (first axis direction) and (2N+1) in the Y direction (second axis direction). That is, the (2N+1)×(2N+1) antenna elements 111 are arranged in (2N+1) rows×(2N+1) columns. The -Nth (#-N) to the Nth (#N) in the X direction are shown. The antenna element 111 is a patch antenna that is rectangular in shape when viewed from above. The array antenna 110 may also have a ground plate maintained at a ground potential on the -Z direction side of the antenna element 111. In addition, as an example, the center of the position of the (2N+1)×(2N+1) antenna elements 111 coincides with the origin of the XYZ coordinate system. The center of the positions of the (2N+1)×(2N+1) antenna elements 111 is an example of a reference position of the array antenna.

[0044] <Structure of Phase Shifter 120>

[0045] One phase shifter 120 is connected to each of the (2N+1)×(2N+1) antenna elements 111. The phase shifter 120 is an example of a phase adjustment unit that adjusts the phase, and is an example of a phase shifter. A power transmission signal of the same phase is supplied to each phase shifter 120. In addition, the phases of the power transmission signals output by the (2N+1)×(2N+1) phase shifters 120 to the (2N+1)×(2N+1) antenna elements 111 are different from each other. Therefore, it is possible to control the angle of the beam formed by the radio waves radiated from the (2N+1)×(2N+1) antenna elements 111 in the horizontal direction and the vertical direction.

[0046] The beam formed by the radio waves radiated from the (2N+1)×(2N+1) antenna elements 111 is synonymous with the beam output by the array antenna 110. The beam output by the array antenna 110 is synonymous with the beam output by the antenna device 100A and the power supply device 100. The beam is a power transmission signal.

[0047] <Structure of microwave generating source 130>

[0048] The microwave source 130 is connected to (2N+1)×(2N+1) phase shifters 120 to supply microwaves of a predetermined power. The microwave source 130 is an example of an electric wave source. As an example, the frequency of the microwave is a frequency of the quasi-millimeter wave 24 GHz band. In addition, the power supply device 100 includes the microwave source 130, but it is not limited to microwaves, as long as it is an electric wave of a predetermined frequency.

[0049] <Structure of camera 140>

[0050] The camera 140 is arranged at the position of the 0th antenna element 111 among the -Nth to Nth antenna elements 111 in the X direction, and at the position of the 0th antenna element 111 among the -Nth to Nth antenna elements 111 in the Y direction. The 0th antenna element 111 in the X direction is the same as the 0th antenna element 111 in the Y direction, and is the antenna element 111 located at the center among the (2N+1)×(2N+1) antenna elements 111. In addition, in order to obtain the phase adjustment amount in each antenna element 111, the following description assumes that there is an antenna element 111 located at the center among the (2N+1)×(2N+1) antenna elements 111, but the fisheye lens 141 of the camera 140 may be arranged without providing the antenna element 111 located at the center among the (2N+1)×(2N+1) antenna elements 111. Furthermore, the positions of the (2N+1)×(2N+1) antenna elements 111 or the fisheye lens 141 may be arranged at different positions to the extent that the calculation for obtaining the phase adjustment amount in each antenna element 111 is not hindered. Furthermore, the fisheye lens 141 may be arranged at a position offset from the array antenna 110, and a beam may be radiated toward a position taking into account the position offset amount between the fisheye lens 141 and the array antenna 110 with respect to the position of the mark 52 observed from the fisheye lens 141.

[0051] The camera 140 includes a fisheye lens 141 and a camera body 142. The camera 140 is an example of an image acquisition unit. The camera 140 is used when estimating the position of the position marker 52 by image processing. Estimating the position of the position marker 52 by image processing is called vision sensing.

[0052] The fisheye lens 141 is a lens that uses an equidistant projection method. As an example, the position of the center of the fisheye lens 141 coincides with the center of (2N+1)×(2N+1) antenna elements 111 and the origin of the XYZ coordinate system. The position of the center of the fisheye lens 141 is an example of a reference position of the image acquisition unit. The camera body 142 is the portion of the camera 140 other than the fisheye lens 141, and may also be a camera including a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or an infrared camera.

[0053] The camera 140 acquires an image including the position mark 52 through the fisheye lens 141, and outputs the image data to the control device 150. The position mark 52 is attached to the power receiving device 50 of the power receiving antenna 50B which is the target to be irradiated with the beam output by the antenna device 100A and the power supply device 100. The antenna device 100A and the power supply device 100 obtain the position of the position mark 52 included in the image acquired by the camera 140, and irradiate the beam toward the power receiving antenna 50B.

[0054] The camera body 142 includes an imaging element, and acquires image data by capturing images through the fisheye lens 141. The camera body 142 performs image processing such as binarization processing on the acquired image data, and outputs a pixel index to the control device 150. The pixel index is an XY coordinate value (address) indicating the position of the position mark 52 on the imaging screen.

[0055] Furthermore, the camera body 142 performs processing for obtaining the contour of the position mark 52 and processing for obtaining the maximum contour, and outputs data indicating the coordinates of the position mark 52 to the control device 150 .

[0056] The process of obtaining the contour of the position marker 52 is a process of extracting one or more contours based on the distribution of pixel indices obtained by binarizing the image data acquired by the camera body 142 .

[0057] The process of finding the maximum contour is a process of finding the largest contour from one or more contours extracted based on the distribution of pixel indices (maximum contour extraction process based on counting the number of pixels in the contour). By finding the largest contour, the influence of noise and the like can be eliminated.

[0058] The process of reading the coordinates of the position marker 52 is a process of reading the coordinates of the position marker 52 from the maximum contour obtained by the process of obtaining the maximum contour. The camera body 142 outputs the read coordinates of the position marker 52 to the control device 150.

[0059] <Configuration of Control Device 150 >

[0060] The control device 150 is implemented by a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive), an input / output interface, an internal bus, and the like.

[0061] The control device 150 uses parabolic interpolation of a quadratic function to obtain the phase adjustment amount set in all phase shifters 120, and sets the obtained phase adjustment amount in each phase shifter 120. The control device 150 has a memory 155 to store the obtained phase adjustment amount. In addition, the control device 150 stores the normalized path difference length generated in the process of obtaining the phase adjustment amount in the memory 155. The normalized path difference length is a physical quantity equivalent to the phase adjustment amount, and the details will be described later.

[0062] The control device 150 includes an elevation angle acquisition unit 151, a coordinate acquisition unit 152, a distance estimation unit 153, a control unit 154, and a memory 155. The elevation angle acquisition unit 151, the coordinate acquisition unit 152, the distance estimation unit 153, and the control unit 154 are elements that show the functions of the program executed by the control device 150 as functional blocks. In addition, the memory 155 is an element that functionally shows the memory of the control device 150. The elevation angle acquisition unit 151 is an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit. The distance estimation unit 153 is an example of a first distance estimation unit and a second distance estimation unit.

[0063] The details of the processing of the elevation angle acquisition unit 151, the coordinate acquisition unit 152, the distance estimation unit 153 and the control unit 154 are mainly used. Figure 8 This will be described later.

[0064] <Comparison of power transmission signal phase distribution (comparison explanation)>

[0065] Here, Figure 4A and Figure 4B is a diagram showing the phase distribution when radio waves are radiated from each antenna element toward the receiving antenna using long-distance power transmission and short-distance power transmission. Figure 2 The difference in power transmission (communication) between long-distance power transmission and short-distance power transmission is described in the same manner as the array antenna 110 having multiple antenna elements 111 and the power receiving antenna 51 shown. Figure 4A as well as Figure 4B The description of the following equations (1) to (6) is for the comparative array antenna and the comparative power receiving antenna, and is not included in the embodiment.

[0066] Figure 4AThis is a diagram showing the two-dimensional phase distribution when radio waves are radiated in the same direction from each antenna element in which long-distance power transmission is assumed. Long-distance power transmission refers to power transmission when the distance to the power receiving antenna is long enough relative to the wavelength and the direction of the power receiving antenna as viewed from each antenna element can be considered the same. Since the power receiving antenna is located in the front direction of each antenna element of the array antenna, the phase difference between the antenna elements is zero. Therefore, the phase when radio waves are radiated in the same direction from each antenna element in which long-distance power transmission is assumed becomes the same phase.

[0067] Figure 4B This is a diagram showing the two-dimensional phase distribution when radio waves are radiated in the same direction from each antenna element assuming short-distance power transmission. The so-called short-distance power transmission refers to power transmission in which the path difference from each antenna element to the receiving antenna is so large that it does not change linearly relative to the position of the antenna element, and the phase of the power transmission signal transmitted from each antenna element needs to be adjusted. It can be seen that when the receiving antenna is opposite to the center position of the antenna array, the distance from the peripheral antenna elements to the receiving antenna becomes longer than the central antenna element, so the phase adjustment amount changes.

[0068] In short-distance power transmission, such as Figure 4B As shown, by appropriately adjusting the phase of the radio waves output from each antenna element, the phases of the radio waves arriving from all antenna elements become equal at the position of the power receiving antenna, and the power received by the power receiving antenna is maximized.

[0069] In the case where the array antenna is a multi-element phased array, in order to estimate the path difference from each antenna element to the power receiving antenna, the phase adjustment amount for adjusting the phase of the radio wave in each antenna element is set. It is necessary to send a test signal from each antenna element, measure the phase on the power receiving antenna side, and return the phase measurement value to the power transmitting side. Therefore, in this direct method, the amount of calculation is huge and difficult to implement. In addition, since the power transmission signal from the antenna element is very weak, there is also a problem that the measurement accuracy is not sufficient. Specifically, the phase adjustment amount for adjusting the phase of the radio wave in each antenna element is calculated as follows.

[0070] Here, when the super-multi-element phased array has (2N+1)×(2N+1) array antennas in the X direction×Y direction, the index of each antenna element is (i X ,i Y ), set the (X, Y, Z) coordinates of its coordinate point to (di X ,di Y ,0). The center coordinates of the array antenna are (0,0,0). The range of the index (integer) of the antenna element is -N≦i X ≦N, -N≦i Y≦N. N is an integer greater than 1. In addition, when the coordinates of the receiving antenna are set to (T X ,T Y ,T Z ), the distance from each antenna element to the power receiving antenna is expressed by the following equation (1).

[0071] [Formula 1]

[0072]

[0073] When the distance from the center of the array antenna to the power receiving antenna is set as the reference distance R ref When the reference distance R ref It is represented by the following formula (2).

[0074] [Formula 2]

[0075]

[0076] Relative to the reference distance R ref The path difference length τ iX,iY It is represented by the following formula (3).

[0077] [Formula 3]

[0078]

[0079] The path difference length τ iX,iY The normalized path difference length η obtained by normalizing with the wavelength λ iX,iY This becomes the following formula (4).

[0080] [Formula 4]

[0081]

[0082] The normalized path difference η is obtained from each antenna element to the power receiving antenna. iX,iY The phase shift (including rotation of 2π or more) is accordingly caused, so in order to cancel the phase shift, a phase adjustment amount is given to the radio wave outputted by the antenna element. When the phase adjustment amount in the antenna element is expressed as a complex number, it is expressed by the following equation (5).

[0083] [Formula 5]

[0084]

[0085] The phase ω(i X ,i Y ) is represented by the following formula (6).

[0086] [Formula 6]

[0087]

[0088] The phase of a complex number ω(i X ,i Y ) is represented by [-π, π].

[0089] For each antenna element of the array antenna, which is a super-multi-element phased array, such a complex phase ω(i X ,i Y ), the amount of calculation is huge and difficult to implement.

[0090] Therefore, in the embodiment, an antenna device 100A, a power supply device 100, and a power supply method are provided that can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements 111 of the array antenna 110 according to the position of the power receiving antenna so as to increase the received power. The details are described below.

[0091] To simplify the description, consider (2N+1) antenna elements arranged one-dimensionally along the X-axis. Figure 5 1 is a diagram showing an example of the positional relationship between the array antenna 110 including (2N+1) antenna elements 111 arranged one-dimensionally along the X axis and the power receiving antenna 51 in XZ coordinates.

[0092] The index of the antenna element 111 is set to i X , set the (X,Z) coordinates to (d iX ,d iZ ). iZ =0. The center coordinates of the array antenna 110 are (0,0). The index i of the antenna element 111 is X (Integer) range is -N≦i X ≦N. In addition, the (X, Z) coordinates of the power receiving antenna 51 are set to (T X ,T Z ).

[0093] The distance R from each antenna element 111 to the power receiving antenna 51 iX It is represented by the following formula (7).

[0094] [Formula 7]

[0095]

[0096] Assuming that the distance from the center of the array antenna 110 to the power receiving antenna 51 is a reference distance R ref When the reference distance R ref It is represented by the following formula (8).

[0097] [Formula 8]

[0098]

[0099] Relative to the reference distance Rref The path difference length τ iX It is represented by the following formula (9).

[0100] [Formula 9]

[0101]

[0102] If the distance R iX and reference distance R ref By transforming them respectively, we can obtain the following equations (10) and (11).

[0103] [Formula 10]

[0104]

[0105] [Formula 11]

[0106]

[0107] Here, if equations (10) and (11) are applied to the Taylor expansion formula represented by the following equation (12), the following equations (13) and (14) can be obtained.

[0108] [Formula 12]

[0109]

[0110] [Formula 13]

[0111]

[0112] [Formula 14]

[0113]

[0114] In equations (13) and (14), if the second term is taken into account, the path difference length τ iX It can be expressed by the following formula (15).

[0115] [Formula 15]

[0116]

[0117] Thus, for the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis, the path difference length τ can be expressed by a quadratic function: iX Therefore, the index i of the antenna element 111 is X , the path difference length τ iX The normalized path difference length θ obtained by normalizing with wavelength iX It can also be represented by a quadratic function. The index i of the center antenna element 111 among the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis isX = 0. Since the distance from the central antenna element 111 among the (2N+1) antenna elements 111 arranged one-dimensionally along the X axis to the power receiving antenna 51 is the reference distance R ref , so for index i X The normalized path difference length θ(0) of the antenna element 111 with an index i being 0 is 0. X The phase corresponding to the normalized path difference length θ(0) of the antenna element 111 being 0 is an example of the first reference phase.

[0118] Figure 6 is a diagram for explaining the normalized path difference length θ of the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis. iX An example of the setting method of Figure 6 As shown, if we use index i X The antenna elements 111 at both ends of -N and N and the index i X The normalized path difference length θ of the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis can be set by parabolic interpolation of a quadratic function. iX . Let the index i of the antenna element 111 at the three points be X for (i s ,i m ,i e ), according to their respective standardized path difference lengths (θ is ,θ im ,θ ie ), the normalized path difference length θ for the remaining antenna elements 111 is estimated by parabolic interpolation of the quadratic function as shown in equation (16): X(i) .

[0119] [Formula 16]

[0120]

[0121] Here, the coefficient c s (i) c m (i) and c) e (i) is given by the following formula (17).

[0122] [Formula 17]

[0123]

[0124] Specifically, set i s =-N、i m =0 and i e = N. For i at the reference distance m= 0, the normalized path difference length θ(0) is always 0. Therefore, for the two antenna elements 111 at both ends, an appropriate normalized path difference length is obtained and set by visual perception.

[0125] Due to the symmetry of the array antenna 110 in the X direction and the Y direction, the concepts of the above-mentioned equations (7) to (17) are also applicable to the (2N+1) antenna elements 111 arranged one-dimensionally along the Y axis.

[0126] Then, the normalized path difference length θ(i) for the two-dimensionally arranged array antenna 110 obtained by taking the sum of the normalized path difference lengths in the X direction and the Y direction is set as in the following equation (18): X ,i Y ).

[0127] [Formula 18]

[0128] θ(i X ,i Y )=θ X (i X )+θ Y (i Y ) (18)

[0129] Then, the normalized path difference length θ(i X ,i Y ) is transformed into the phase adjustment amount wi X ,i Y The phase shifter 120 connected to each of the two-dimensionally arranged (2N+1)×(2N+1) antenna elements 111 uses the phase adjustment amount wi X ,i Y Adjust the phase of the radio wave to transmit the power signal.

[0130] [Formula 19]

[0131]

[0132] Fig. 7A as well as Figure 7B is a diagram showing an example of the positional relationship between the array antenna 110 and the power receiving device 50. Fig. 7A as well as Figure 7B In FIG. 5 , the position of the array antenna 110 is offset relative to the power receiving device 50 in the X direction. Fig. 7A as well as Figure 7B The positional relationship between the array antenna 110 and the power receiving device 50 shown in FIG. Fig. 7A as well as Figure 7BThe description is made using the positional relationship in the left-right direction. In addition, the description is made using the positional relationship in the up-down direction. The up direction is the +Y direction, and the down direction is the -Y direction.

[0133] The positional relationship between the left end, right end, upper end and lower end of the array antenna 110 and the left end, right end, upper end and lower end of the position mark 52 is described. In the following, the left end point, right end point, upper end point and lower end point of the array antenna 110 and the left end point, right end point, upper end point and lower end point of the position mark 52 are used. The Y coordinates of the left end point and the right end point of the array antenna 110 are equal to the Y coordinate of the center of the array antenna 110. In addition, the X coordinates of the upper end point and the lower end point of the array antenna 110 are equal to the X coordinate of the center of the array antenna 110. Similarly, the Y coordinates of the left end point and the right end point of the position mark 52 are equal to the Y coordinate of the center of the position mark 52. In addition, the X coordinates of the upper end point and the lower end point of the position mark 52 are equal to the X coordinate of the center of the position mark 52.

[0134] The distance R(-N) from the left end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52 and the distance R(-N) from the fisheye lens 141 to the right end point of the position mark 52 R Similarly, the distance R(N) from the right end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52 is equal to the distance R(N) from the fisheye lens 141 to the left end point of the position mark 52. L same.

[0135] The distance that can be directly calculated (estimated) by the camera 140 is the distance R from the fisheye lens 141 to the right end point of the position mark 52. R , and the distance R from the fisheye lens 141 to the left end point of the position mark 52 L Using the above relationship, it is possible to estimate the distance R(-N) from the left end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52, and the distance R(N) from the right end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52.

[0136] Similarly, the distance from the upper end point of the array antenna 110 to the power receiving antenna 51 located at the center of the position mark 52 is the same as the distance from the fisheye lens 141 to the lower end point of the position mark 52. In addition, the distance from the lower end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52 is the same as the distance from the fisheye lens 141 to the upper end point of the position mark 52.

[0137] The distances that can be directly calculated (estimated) by the camera 140 are the distance from the fisheye lens 141 to the lower end point of the position mark 52, and the distance from the fisheye lens 141 to the upper end point of the position mark 52. If the above relationship is used, the distance from the upper end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52, and the distance from the lower end point of the array antenna 110 to the power receiving antenna 51 located at the center of the target position mark 52 can be estimated.

[0138] Since the array antenna 110 and the position marker 52 have the same size when viewed from above, the above distances can be kept in the same relationship even if the positions of the array antenna 110 and the position marker 52 are offset in any direction of the X direction, the Y direction or the Z direction.

[0139] Figure 8 is a diagram showing a polar coordinate system of the array antenna 110. Figure 8 , antenna elements 111 included in array antenna 110 and beam 115 output from array antenna 110 are shown. Figure 8 In FIG. 5 , a position mark 52 is shown on this basis, and other components are omitted. Figure 8 , a polar coordinate system on plane 1 parallel to the XY plane is shown. Plane 1 is the xy plane of the image data acquired by the camera body 142, and is equal to the xy plane used for the pixel index output from the camera body 142. The x-axis and y-axis are parallel to the X-axis and Y-axis of the XYZ coordinates, respectively, and have the same direction.

[0140] The coordinates of the center C of the position mark 52 are (T X ,T Y ,T Z ), which is equal to the coordinates of the center of the power receiving antenna 51. As an example, the coordinates of the center C of the position mark 52 (T X ,T Y ,T Z ) is offset from the Z axis to the +X direction and the +Y direction. Figure 8 , a left endpoint 52L, a right endpoint 52R, an upper endpoint 52T, and a lower endpoint 52B of the position mark 52 are shown.

[0141] In addition, the polar coordinates of the upper end point 52T are the elevation angle θ T , declination The polar coordinate of the lower end point 52B is the elevation angle θ B , declination The polar coordinate of the center C is the elevation angle θ C , declination exist Figure 8 In the figure, the polar coordinates (elevation angle θ) of the left endpoint 52L and the right endpoint 52R are omitted. Land θ R , declination as well as ).

[0142] In addition, let the point where the left end point 52L, the right end point 52R, the upper end point 52T, the lower end point 52B, and the center C are projected onto the plane 1 be P3 L 、P3 R 、P3 T 、P3 B 、P3 C . Point P3 L 、P3 R 、P3 T 、P3 B 、P3 C The xy coordinates on plane 1 are (x L ,y C )、(x R ,y C )、(x C ,y T )、(x C ,y B )、(x C ,y C ). In addition, point P3 L 、P3 R 、P3 T 、P3 B 、P3 C The radius vectors are r L 、r R 、r T 、r B 、r C .

[0143] Radius r of center C C If the focal length f of the fisheye lens 141 is used L and the elevation angle θ of the center C C , then r C =f L θ C Similarly, the radius r of the left end point 52L, the right end point 52R, the upper end point 52T, and the lower end point 52B is L 、r R 、r T 、r B By r L =f L θ L 、r R =f L θ R 、r T =f L θ T 、rB =f L θ B express.

[0144] In addition, the xy coordinates of the center C (x C ,y C ) If the radius vector r is used C and declination Then The xy coordinates of the left end point 52L, the right end point 52R, the upper end point 52T, and the lower end point 52B can also be expressed in the same manner using the radius vector and the deflection angle.

[0145] The center coordinates of the position marker 52 in the three-dimensional space are set to be the same as the center coordinates (T X ,T Y ,T Z ) are equal. If the center coordinates (T X ,T Y ,T Z ) is transformed into spherical coordinates (elevation angle θ T , azimuth ), it is expressed as follows in formula (20).

[0146] [Formula 20]

[0147]

[0148] The center coordinates (T X ,T Y ,T Z ) is projected onto the coordinates (x C ,y C ) through the focal distance f L The equidistance projection of is represented by the following equation (21). The center coordinates (T X ,T Y ,T Z ) are the coordinates of the center of gravity of the image of the position marker 52.

[0149] [Formula 21]

[0150] (x C ,y C )=(f L θ C cosφ C , f L θ C sinφ C ) (twenty one)

[0151] Since the radius rC It is represented by the square root of the sum of the squares of xc and yc, and thus represents the projected coordinates (x C ,y C ) of the elevation angle θ C It is expressed by the following equation (22). That is, the elevation angle θ C It can be transformed into polar coordinates according to the focal distance f L and projective coordinates.

[0152] [Formula 22]

[0153]

[0154] The XYZ coordinates are directed from the origin to the center coordinates (T X ,T Y ,T Z ) onto the XZ plane, the projection elevation angle (horizontal angle) θ of the line H If we assume y in equation (22) C = 0, then it is expressed by the following equation (23). H can be easily found.

[0155] [Formula 23]

[0156]

[0157] Here, the center coordinates (T X ,T Y ,T Z ) in the Z coordinate T Z If the length of the position mark 52 in the Y direction (height direction) is T h , then the Y coordinate of the upper end point 52T of the position mark 52 becomes T Y +T h / 2, so if we use the azimuth angle shown in formula (20) The azimuth of the upper end point 52T of the position mark 52 is It can be expressed by the following formula (24).

[0158] [Formula 24]

[0159]

[0160] Similarly, since the Y coordinate of the lower end point 52B of the position mark 52 is T Y -T h / 2, so if we use the azimuth angle shown in formula (20) The azimuth of the lower end point 52B of the position mark 52 is It can be expressed by the following formula (25).

[0161] [Formula 25]

[0162]

[0163] The length T of the position mark 52 in the Y direction (height direction) h Based on equations (24) and (25), it is expressed by the following equation (26).

[0164] [Formula 26]

[0165] T h =T X (tanφ T -tanφ B ) (26)

[0166] If equation (26) is rearranged, the X coordinate T of the center of the position mark 52 is X It is expressed by the following formula (27).

[0167] [Formula 27]

[0168]

[0169] Therefore, the Z coordinate T of the center of the position mark 52 is Z It is expressed by the following equation (28). Thus, using equation (28), the Z coordinate T of the center of the position marker 52 can be estimated based on the image. Z The Z coordinate T of the center of the position mark 52 Z For x in formula (28), C Avoid zero to calculate. In addition, the projection elevation angle θ H It can be obtained according to formula (23).

[0170] [Formula 28]

[0171]

[0172] According to equation (20), the following relationship (29) can be derived.

[0173] [Formula 29]

[0174]

[0175] If we square both sides of equation (29) and add T Z 2 , then we get the following formula (30).

[0176] [Formula 30]

[0177] T X 2 +T Y2 +T Z 2 =T Z 2 ·tan 2 θ C +T Z 2 (30)

[0178] If the square roots of both sides of equation (30) are taken, the reference distance Rref is obtained, which is expressed by the following equation (31).

[0179] [Formula 31]

[0180]

[0181] Similarly, the coordinates of the left end point 52L of the position marker 52 are (T X -T w / 2,T Y ,T Z ). If the left end point P3 of the position marker 52 on the xy plane of the image data of the camera 140 is L The corresponding point P3 L The coordinates (x L ,y C ), find the elevation angle θ of the left end point 52L of the position marker 52 L , then the path length of the left end point 52L of the position marker 52 is the length R L It is expressed by the following formula (32).

[0182] [Formula 32]

[0183]

[0184] Path length R L The reference distance R ref The path length difference τ L It is expressed by the following formula (33).

[0185] [Formula 33]

[0186]

[0187] The path length difference τ L The normalized path difference length η is obtained by dividing by the wavelength λ L It is expressed by the following formula (34).

[0188] [Formula 34]

[0189]

[0190] Here, the projected coordinates (x C ,yC ) of the elevation angle θ C It can be obtained according to formula (22). In addition, the elevation angle θ of the left end point 52L is L According to the coordinates (x R ,y C ) is expressed by the following formula (35) through polar coordinate transformation.

[0191] [Formula 35]

[0192]

[0193] Similarly, if the point P3 on the xy plane of the image data of the camera 140 corresponding to the right end point 52R, the upper end point 52T, and the lower end point 52B of the position mark 52 is R 、P3 T 、P3 B The coordinates (x R ,y C )、(x C ,y T )、(x C ,y B ) By polar coordinate transformation, the elevation angle θ of the right end point 52R, the upper end point 52T and the lower end point 52B of the position mark 52 is obtained. R ,θ T and θ B , then the standardized path difference length represented by the following equations (36) to (38) can be calculated.

[0194] [Formula 36]

[0195]

[0196] [Formula 37]

[0197]

[0198] [Formula 38]

[0199]

[0200] Therefore, the normalized path difference length η between the left endpoint 52L and the right endpoint 52R is used. L and η R , and the normalized path difference length (η0=0) of the antenna element 111 located at the center in the X direction, the two-dimensional phase adjustment amount may be set in the phase shifter 120 connected to all the antenna elements 111 in the left-right direction (X direction).

[0201] In addition, the normalized path difference length η between the upper endpoint 52T and the lower endpoint 52B is used. Tand η B , and the normalized path difference length (η0=0) of the antenna element 111 located at the center in the Y direction, the two-dimensional phase adjustment amount can be set in the phase shifter 120 connected to all the antenna elements 111 in the up and down direction (Y direction).

[0202] More specifically, the normalized path difference length η between the left endpoint 52L and the right endpoint 52R is used. L and η R , and the normalized path difference length (η0=0) of the antenna element 111 located at the center in the X direction, and the normalized path difference length θ of all antenna elements 111 in the left and right direction (X direction) is obtained by parabolic interpolation of the quadratic function. X(i) .

[0203] Similarly, the normalized path difference length η between the upper endpoint 52T and the lower endpoint 52B is used. T and η B , and the normalized path difference length (η0=0) of the antenna element 111 located at the center in the Y direction, and the normalized path difference length θ of all antenna elements 111 in the vertical direction (Y direction) is obtained by parabolic interpolation of the quadratic function. Y(i) .

[0204] The above use Figure 8 The processing of the instructions is summarized as follows.

[0205] <Summary of the Processing of the Elevation Angle Acquisition Unit 151>

[0206] The elevation angle acquisition unit 151 obtains the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ) and the focal distance f of the fisheye lens 141 L , to obtain the first elevation angle θ of the mark center point of the position mark 52 relative to the Z axis C And the first elevation angle θ C The projection elevation angle θ obtained by projecting onto the plane containing the X-axis and the Z-axis H .

[0207] The elevation angle acquisition unit 151 calculates the elevation angle based on the projection coordinates of the first two end points 52L and 52R of the position mark 52 in the image in the X-axis direction, the projection coordinates of the second two end points 52T and 52B of the position mark 52 in the image in the Y-axis direction, and the focal length f of the fisheye lens 141. L , to find the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axisT ,θ B ,θ L ,θ R .

[0208] <Summary of Processing by Coordinate Acquisition Unit 152>

[0209] The coordinate acquisition unit 152 calculates the projection elevation angle θ based on the projection elevation angle θ. H , the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ), any one of the projection coordinates of the second two end points 52T, 52B, and the length T of the position mark 52 in the direction connecting the second two end points 52T, 52B h , to find the Z-axis coordinate T of the position mark 52 Z .

[0210] <Summary of Processing of Distance Estimation Unit 153>

[0211] The distance estimating unit 153 estimates the distance based on the first elevation angle θ. C and the Z-axis coordinate T of the position mark 52 Z , to obtain the first distance Rref between the center point of the marker and the fisheye lens 141. In addition, the distance estimation unit 153 calculates the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axis. T ,θ B ,θ L ,θ R , and the Z-axis coordinate T of the position mark 52 Z , to find the second distance R between the first two end points 52L, 52R and the second two end points 52T, 52B and the fisheye lens 141 T , R B , R L , R R .

[0212] <Summary of Processing by Control Unit 154>

[0213] The control unit 154 determines the first distance Rref and the second distance R T , R B , R L , R RThe phase adjustment amounts of the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction are set according to the path difference, and the phase adjustment amounts of the multiple antenna elements 111 arranged in two dimensions are set by parabolic interpolation of the quadratic function.

[0214] In addition, the control unit 154 sets the phase adjustment amount of the antenna element 111 at the center point of the two ends in the X-axis direction to the first reference phase, and sets the phase adjustment amount of the antenna element 111 at the two ends in the X-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the first two end points 52L, 52R. In addition, the control unit 154 sets the phase adjustment amount of the antenna element 111 at the center point of the two ends in the Y-axis direction to the second reference phase, and sets the phase adjustment amount of the antenna element 111 at the two ends in the Y-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the second two end points 52T, 52B.

[0215] More specifically, the control unit 154 sets the phase adjustment amounts of the plurality of antenna elements 111 in the X-axis direction by parabolic interpolation of a quadratic function, while setting the phase adjustment amount of the antenna element 111 at the center point of the two ends in the X-axis direction to the first reference phase and the phase adjustment amount of the antenna element 111 at the two ends in the X-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the first two end points 52L and 52R. In addition, the control unit 154 sets the phase adjustment amounts of the plurality of antenna elements 111 in the Y-axis direction by parabolic interpolation of a quadratic function, while setting the phase adjustment amount of the antenna element 111 at the center point of the two ends in the Y-axis direction to the second reference phase and the phase adjustment amount of the antenna element 111 at the two ends in the Y-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the second two end points 52T and 52B.

[0216] <An example of the distribution of normalized path difference length>

[0217] Fig.9A as well as Fig. 9B : is a figure which shows an example of the distribution of the normalized path difference length calculated in the X direction and the Y direction.

[0218] Fig.9A It shows that for the antenna elements 111 located at both ends in the X direction, the normalized path difference length θ is set X (-N) = (η R ),θ X (N) = (η L), a diagram showing an example of the distribution of the normalized path difference lengths of the antenna elements 111 located at the -N+1th to -1th and 1st to N-1th positions in the X direction is calculated by performing parabolic interpolation of a quadratic function.

[0219] Fig. 9B It shows that for the antenna elements 111 located at both ends in the Y direction, the normalized path difference length θ is set Y (-N) = (η T ),θ Y (N) = (η B ), a graph showing an example of the distribution of the normalized path difference lengths of the antenna elements 111 located at the -N+1th to -1th and 1st to N-1th positions in the Y direction is calculated by performing parabolic interpolation of a quadratic function.

[0220] Then, according to equation (18), the normalized path difference length θ(i X ,i Y ). Then, according to formula (19), the normalized path difference length θ(i X ,i Y ) is transformed into the phase adjustment amount wi X ,i Y , the phase shifter 120 connected to each of the (2N+1)×(2N+1) antenna elements 111 arranged in a two-dimensional manner adjusts the phase by the amount wi X ,i Y Just adjust the phase of the radio wave and transmit the power signal.

[0221] In this way, the beam 115 of the power transmission signal can be transmitted from the array antenna 110 in a state where the power received by the power receiving antenna 51 is increased according to the position of the position marker 52 .

[0222] <Simulation results>

[0223] use Fig. 10A as well as Fig. 10B Here, the simulation results are described. Here, a comparative power supply device is simulated similarly to the power supply device 100 of the embodiment. The comparative power supply device is a power supply device that radiates a beam in the direction of the receiving antenna 51 relative to the center of the array antenna 110 without adjusting the phase of the radio waves in each antenna element 111 of the array antenna 110.

[0224] Fig. 10A : is a diagram showing an example of a simulation result of the transmission antenna gain observed at the position of the power receiving antenna 51. Fig. 10AIn FIG. 5 , the horizontal axis represents the facing distance (m), and the vertical axis represents the transmission antenna gain (dBi) observed at the position of the power receiving antenna 51 .

[0225] When the facing distance is more than 2m, the difference in the transmission antenna gain between the power supply device 100 of the embodiment and the comparative power supply device is less than 1dB, but when the facing distance is less than about 1m, the transmission antenna gain of the comparative power supply device decreases sharply. In contrast, the transmission antenna gain of the power supply device 100 of the embodiment does not decrease and remains constant even when the facing distance is as short as 0.3m.

[0226] Fig. 10B is a diagram showing an example of simulation results of the power received by the power receiving antenna 51. Fig. 10B In FIG. 1 , the horizontal axis represents the facing distance (m), and the vertical axis represents the received power (dBm) when the power receiving antenna 51 having a power receiving antenna gain of 15 dBi is used.

[0227] When the facing distance is 2m or more, the difference in the received power between the power supply device 100 of the embodiment and the comparative power supply device is less than 1dB, but when the facing distance is less than about 1m, the increase rate of the received power of the comparative power supply device decreases. In contrast, the received power of the power supply device 100 of the embodiment tends to increase in rate because the distance attenuation of the power receiving decreases as the facing distance becomes shorter.

[0228] As described above, the power supply device 100 of the embodiment can optimize the phase adjustment amount of the radio waves in all the antenna elements 111 by performing parabolic interpolation based on the quadratic function of the normalized path difference lengths at both ends of the array antenna 110 in the X direction and the Y direction, thereby maximizing the received power in the receiving antenna 51.

[0229] <Effect>

[0230] The antenna device 100A includes an array antenna 110, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, and transmits a power transmission signal toward a power receiving antenna 51 arranged at the center of a position mark 52, which has the same size as the array antenna 110 when viewed from above and is arranged opposite to the array antenna 110. The phase shifter 120 adjusts the phase of the power transmission signal supplied to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction. The camera 140 acquires an image of the position mark 52 through a fisheye lens 141 arranged opposite to the position mark 52. The elevation angle acquisition unit 151 acquires an image of the position mark 52 based on the center coordinates (T X ,T Y , T Z ) is projected to obtain the projected coordinates (x C ,y C ) and the focal distance f of the fisheye lens 141 L , to obtain the first elevation angle θ of the mark center point of the position mark 52 relative to the Z axis C And the first elevation angle θ C The projection elevation angle θ obtained by projecting onto the plane containing the X-axis and the Z-axis H The elevation angle acquisition unit 151 is based on the projection coordinates of the first two end points 52L and 52R of the position mark 52 in the image in the X-axis direction, the projection coordinates of the second two end points 52T and 52B of the position mark 52 in the image in the Y-axis direction, and the focal length f of the fisheye lens 141. L , to find the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axis T ,θ B ,θ L ,θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ based on the projection elevation angle θ. H , the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ), any one of the projection coordinates of the second two end points 52T, 52B, and the length T of the position mark 52 in the direction connecting the second two end points 52T, 52B h , to find the Z-axis coordinate T of the position mark 52 Z The distance estimating unit 153 calculates the distance based on the first elevation angle θ.C and the Z-axis coordinate T of the position marker 52 Z , to obtain the first distance Rref between the center point of the marker and the fisheye lens 141. In addition, the distance estimation unit 153 calculates the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axis. T ,θ B ,θ L ,θ R , and the Z-axis coordinate T of the position mark 52 Z , to find the second distance R between the first two end points 52L, 52R and the second two end points 52T, 52B and the fisheye lens 141 T , R B , R L , R R The control unit 154 controls the phase adjustment amount of the phase shifter 120 to adjust the phase of the power transmission signal in the X-axis direction and the Y-axis direction. The control unit 154 controls the phase shifter 120 to adjust the phase of the power transmission signal in the X-axis direction and the Y-axis direction based on the first distance Rref and the second distance R T , R B , R L , R R The phase adjustment amounts of the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction are set according to the path difference, and the phase adjustment amounts of the multiple antenna elements 111 arranged in two dimensions are set by parabolic interpolation of the quadratic function.

[0231] Therefore, the first distance Rref and the second distance R can be obtained by using the image of the position mark 52 having the same size as the array antenna 110 in a plan view. T , R B , R L , R R In addition, based on the path difference, the phase adjustment amounts of three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction can be set, and the phase adjustment amounts of multiple antenna elements 111 arranged in two dimensions can be set by parabolic interpolation of a quadratic function.

[0232] Therefore, it is possible to provide the antenna device 100A which can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements 111 of the array antenna 110 according to the position of the power receiving antenna 51 so as to increase the received power.

[0233] In addition, the control unit 154 sets the phase adjustment amount of the antenna element 111 at the center point of the two ends in the X-axis direction to the first reference phase, and sets the phase adjustment amount of the antenna element 111 at the two ends in the X-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance relative to the first two end points 52L and 52R, sets the phase adjustment amount of the antenna element 111 at the center point of the two ends in the Y-axis direction to the second reference phase, and sets the phase adjustment amount of the antenna element 111 at the two ends in the Y-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance relative to the second two end points 52T and 52B.

[0234] Therefore, by setting the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction to the first reference phase, and setting the phase adjustment amount of the antenna element 111 at both ends in the X-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the first two end points 52L, 52R, and by setting the phase adjustment amount of the antenna element 111 at the center point in the Y-axis direction to the second reference phase, and setting the phase adjustment amount of the antenna element 111 at both ends in the Y-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the second two end points 52T, 52B, it is possible to set the phase adjustment amount corresponding to the first distance Rref and the second distance Rref. T , R B , R L , R R By dividing the first distance Rref and the second distance R L , R R The phase adjustment amount corresponding to the path difference is set as the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction, and the first distance Rref and the second distance R T , R B The phase adjustment amount corresponding to the path difference is set as the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction, and the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction and the Y-axis direction is set as the first reference phase and the second reference phase, thereby providing an antenna device 100A that can easily calculate the phase adjustment amount of the power transmission signal in the multiple antenna elements 111 of the array antenna 110 according to the position of the power receiving antenna 51 so that the received power can be more reliably increased.

[0235] The control unit 154 sets the phase adjustment amounts of the plurality of antenna elements 111 in the X-axis direction by parabolic interpolation of a quadratic function, while setting the phase adjustment amount of the antenna element 111 at the center point of both ends in the X-axis direction to the first reference phase and the phase adjustment amount of the antenna element 111 at both ends in the X-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the first two end points 52L, 52R. In addition, the control unit 154 sets the phase adjustment amount of the plurality of antenna elements 111 in the Y-axis direction by parabolic interpolation of a quadratic function, while setting the phase adjustment amount of the antenna element 111 at the center point of both ends in the Y-axis direction to the second reference phase and the phase adjustment amount of the antenna element 111 at both ends in the Y-axis direction to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the second two end points 52T, 52B. L , R R In a state where the phase adjustment amount corresponding to the path difference is set as the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction, and the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction is set as the first reference phase, the phase adjustment amounts of the plurality of antenna elements 111 can be set to the phase adjustment amount optimized in a manner that the received power increases by parabolic interpolation of a quadratic function in the X-axis direction. T , R B In a state where the phase adjustment amount corresponding to the path difference is set as the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction, and the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction and the Y-axis direction is set to the first reference phase and the second reference phase, the phase adjustment amount of the plurality of antenna elements 111 in the Y-axis direction can be set to the phase adjustment amount optimized in a manner such that the received power increases by parabolic interpolation of a quadratic function.

[0236] Furthermore, since the first reference phase and the second reference phase are zero, calculation of parabolic interpolation based on a quadratic function becomes easier, and the phase adjustment amount of the power transmission signal supplied to each antenna element 111 can be more easily obtained, thereby increasing the power received by the power receiving antenna 51.

[0237] In addition, an odd number of antenna elements 111 are arranged two-dimensionally along each of the X-axis and the Y-axis. Therefore, in the X-direction and the Y-direction, the calculation of the parabolic interpolation based on the quadratic function becomes easier by utilizing the symmetry with respect to the antenna element 111 located at the center, and the phase adjustment amount of the power transmission signal supplied to each antenna element 111 can be more easily obtained, and the power received by the power receiving antenna 51 can be increased.

[0238] Furthermore, since the parabolic interpolation of the quadratic function is the interpolation of the quadratic function, the phase adjustment amount of the power transmission signal supplied to the antenna element 111 located between the antenna elements 111 at both ends can be easily calculated by the interpolation, and the power received by the power receiving antenna 51 can be increased.

[0239] The power supply device 100 includes an array antenna 110, a microwave source 130, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, and transmits a power transmission signal to a power receiving antenna 51 arranged at the center of a position mark 52, which has the same size as the array antenna 110 in a plan view and is arranged opposite to the array antenna 110. The phase shifter 120 is provided between the array antenna 110 and the microwave source 130, and adjusts the phase of the power transmission signal supplied from the microwave source 130 to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction. The camera 140 acquires an image of the position mark 52 through the fisheye lens 141 disposed opposite to the position mark 52. The elevation angle acquisition unit 151 acquires an image of the position mark 52 based on the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ) and the focal distance f of the fisheye lens 141 L , to obtain the first elevation angle θ of the mark center point of the position mark 52 relative to the Z axis C And the first elevation angle θ C The projection elevation angle θ obtained by projecting onto the plane containing the X-axis and the Z-axis H In addition, the elevation angle acquisition unit 151 obtains the second elevation angle θ of the first two end points 52L and 52R and the second two end points 52T and 52B with respect to the Z axis based on the coordinates of the first two end points 52L and 52R of the position marker 52 in the image of the position marker 52 in the X axis direction, the coordinates of the second two end points 52T and 52B of the position marker 52 in the Y axis direction, and the focal length of the fisheye lens 141. T ,θ B ,θ L ,θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ based on the projection elevation angle θ. H , the center coordinates (T X ,T Y ,T Z) is projected to obtain the projected coordinates (x C ,y C ), any one of the projection coordinates of the second two end points 52T, 52B, and the length T of the position mark 52 in the direction connecting the second two end points 52T, 52B h , to find the Z-axis coordinate T of the position mark 52 Z The distance estimating unit 153 calculates the distance based on the first elevation angle θ. C and the Z-axis coordinate T of the position mark 52 Z , to obtain the first distance Rref between the center point of the marker and the fisheye lens 141. In addition, the distance estimation unit 153 determines the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axis. T ,θ B ,θ L ,θ R and the Z-axis coordinate T of the position mark 52 Z , to find the second distance R between the first two end points 52L, 52R and the second two end points 52T, 52B and the fisheye lens 141 T , R B , R L , R R The control unit 154 calculates the distance Rref and the distance R T , R B , R L , R R The phase adjustment amounts of the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction are set according to the path difference, and the phase adjustment amounts of the multiple antenna elements 111 arranged in two dimensions are set by parabolic interpolation of the quadratic function.

[0240] Therefore, it is possible to provide a power supply device 100 that can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements 111 of the array antenna 110 according to the position of the power receiving antenna 51 so as to increase the received power.

[0241] The power supply device 100 used in the power supply method includes an array antenna 110, a microwave source 130, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, and transmits a power transmission signal to a power receiving antenna 51 arranged at the center of a position mark 52, which has the same size as the array antenna 110 in a plan view and is arranged opposite to the array antenna 110. The phase shifter 120 is provided between the array antenna 110 and the microwave source 130, and adjusts the phase of the power transmission signal supplied from the microwave source 130 to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction. The camera 140 acquires an image of the position mark 52 through the fisheye lens 141 disposed opposite to the position mark 52. The elevation angle acquisition unit 151 acquires an image of the position mark 52 based on the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ) and the focal distance f of the fisheye lens 141 L , to obtain the first elevation angle θ of the mark center point of the position mark 52 relative to the Z axis C And the first elevation angle θ C The projection elevation angle θ obtained by projecting onto the plane containing the X-axis and the Z-axis H In addition, the elevation angle acquisition unit 151 obtains the second elevation angle θ of the first two end points 52L and 52R and the second two end points 52T and 52B with respect to the Z axis based on the coordinates of the first two end points 52L and 52R of the position marker 52 in the image of the position marker 52 in the X axis direction, the coordinates of the second two end points 52T and 52B of the position marker 52 in the Y axis direction, and the focal length of the fisheye lens 141. T ,θ B ,θ L ,θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ based on the projection elevation angle θ. H , the center coordinates (T X ,T Y ,T Z ) is projected to obtain the projected coordinates (x C ,y C ), any one of the projection coordinates of the second two end points 52T, 52B, and the length T of the position mark 52 in the direction connecting the second two end points 52T, 52B h, to find the Z-axis coordinate T of the position mark 52 Z The distance estimating unit 153 calculates the distance based on the first elevation angle θ. C and the Z-axis coordinate T of the position marker 52 Z , to obtain the first distance Rref between the center point of the marker and the fisheye lens 141. In addition, the distance estimation unit 153 calculates the second elevation angle θ of the first two end points 52L, 52R and the second two end points 52T, 52B relative to the Z axis. T ,θ B ,θ L ,θ R , and the Z-axis coordinate T of the position mark 52 Z , to find the second distance R between the first two end points 52L, 52R and the second two end points 52T, 52B and the fisheye lens 141 T , R B , R L , R R The power supply method is based on the first distance Rref and the second distance R T , R B , R L , R R The phase adjustment amounts of the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction are set according to the path difference, and the phase adjustment amounts of the multiple antenna elements 111 arranged in two dimensions are set by parabolic interpolation of the quadratic function.

[0242] Therefore, it is possible to provide a power supply method that can easily calculate the phase adjustment amount of the power transmission signal in the plurality of antenna elements 111 of the array antenna 110 according to the position of the power receiving antenna 51 so as to increase the received power.

[0243] Although the antenna device, the power supply device, and the power supply method according to the exemplary embodiments of the present invention have been described above, the present invention is not limited to the specifically disclosed embodiments, and various modifications and changes can be made without departing from the scope of the claims.

[0244] In addition, the present international application claims priority based on Japanese patent application No. 2022-140825 filed on September 5, 2022, the entire contents of which are incorporated herein by reference.

[0245] Explanation of symbols

[0246] 50: Power receiving device

[0247] 51: Power receiving antenna

[0248] 52: Position marker

[0249] 100A: Antenna device

[0250] 100: Power supply device

[0251] 110: Array antenna

[0252] 111: Antenna element

[0253] 120: Phase Shifter

[0254] 130: Microwave source

[0255] 140: Camera

[0256] 141: Fisheye lens

[0257] 142: Camera body

[0258] 150: Control device

[0259] 150A: Memory.

Claims

1. An antenna device, comprising: An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, transmitting a power transmission signal toward a power receiving antenna arranged at the center of a mark, the mark having the same size as the array antenna when viewed from above and arranged opposite to the array antenna; a phase adjustment unit configured to adjust the phases of power transmission signals supplied to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image of the mark through a fisheye lens disposed opposite to the mark; a first elevation angle acquisition unit, which acquires a first elevation angle of a mark center point of the mark relative to a third axis and a projection elevation angle obtained by projecting the first elevation angle onto a plane including the first axis and the third axis based on a center point of the mark in the image of the mark, i.e., a center point of the mark image and a focal distance of the fisheye lens; a second elevation angle obtaining unit for obtaining a second elevation angle of the first and second endpoints relative to the third axis based on the coordinates of the first two endpoints of the marker in the image of the marker in the first axis direction, the coordinates of the second two endpoints of the marker in the image of the marker in the second axis direction, and the focal length of the fisheye lens; a coordinate acquisition unit for obtaining the coordinate of the third axis of the marker based on the projection elevation angle, the center point of the marker in the image of the marker, i.e., the center point of the marker image, any one of the projected coordinates of the second two endpoints, and the length of the marker in the direction connecting the second two endpoints; a first distance estimating unit for calculating a first distance between a center point of the marker and the fisheye lens based on the first elevation angle and the coordinate of the third axis of the marker; a second distance estimating unit for calculating a second distance between the first and second end points and the fisheye lens based on a second elevation angle of the first and second end points relative to the third axis and a coordinate of the marker on the third axis; as well as a control unit configured to control a phase adjustment amount of the phase adjustment unit for adjusting the phase of the power transmission signal in the first axis direction and the second axis direction, The control unit sets the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the first axis direction and the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the second axis direction based on the path difference between the first distance and the second distance, and sets the phase adjustment amount of the multiple antenna elements in a two-dimensional configuration by parabolic interpolation of a quadratic function.

2. The antenna device according to claim 1, wherein: The control unit, The phase adjustment amount of the antenna element at the center point of both ends in the first axis direction is set to a first reference phase, and the phase adjustment amount of the antenna element at both ends in the first axis direction is set to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the first two end points, The phase adjustment amount of the antenna element at the center point of the two ends in the second axis direction is set to a second reference phase, and the phase adjustment amount of the antenna element at the two ends in the second axis direction is set to the phase adjustment amount corresponding to the path difference between the second distance and the first distance relative to the second two end points.

3. The antenna device according to claim 2, wherein: The control unit, The phase adjustment amounts of the plurality of antenna elements are set in the first axis direction by parabolic interpolation of a quadratic function in a state where the phase adjustment amount of the antenna element at the center point in the first axis direction is set to the first reference phase and the phase adjustment amounts of the antenna elements at both ends in the first axis direction are set to the phase adjustment amounts corresponding to the path difference between the second distance and the first distance with respect to the first two end points, And in a state where the phase adjustment amount of the antenna element at the center point in the second axis direction is set to the second reference phase, and the phase adjustment amount of the antenna elements at the two ends in the second axis direction is set to the phase adjustment amount corresponding to the path difference between the second distance and the first distance with respect to the second two end points, in the second axis direction, the phase adjustment amount of the multiple antenna elements is set by parabolic interpolation of a quadratic function.

4. The antenna device according to claim 3, wherein: The first reference phase and the second reference phase are zero.

5. The antenna device according to any one of claims 1 to 4, wherein: An odd number of the two-dimensionally arranged antenna elements are arranged along each of the first axis and the second axis.

6. The antenna device according to claim 5, wherein: The parabolic interpolation of the quadratic function is the interpolation interpolation of the quadratic function.

7. A power supply device, comprising: An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, transmitting a power transmission signal toward a power receiving antenna arranged at the center of a mark, the mark having the same size as the array antenna when viewed from above and arranged opposite to the array antenna; The source of radio waves; a phase adjustment unit disposed between the array antenna and the radio wave generation source, and adjusting the phase of the power transmission signal supplied from the radio wave generation source to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image of the mark through a fisheye lens disposed opposite to the mark; a first elevation angle acquisition unit, which acquires a first elevation angle of a mark center point of the mark relative to a third axis and a projection elevation angle obtained by projecting the first elevation angle onto a plane including the first axis and the third axis based on a center point of the mark in the image of the mark, i.e., a center point of the mark image and a focal distance of the fisheye lens; a second elevation angle obtaining unit for obtaining a second elevation angle of the first and second endpoints relative to the third axis based on the coordinates of the first two endpoints of the marker in the image of the marker in the first axis direction, the coordinates of the second two endpoints of the marker in the image of the marker in the second axis direction, and the focal length of the fisheye lens; a coordinate acquisition unit for obtaining the coordinate of the third axis of the marker based on the projection elevation angle, the center point of the marker in the image of the marker, i.e., the center point of the marker image, any one of the projected coordinates of the second two endpoints, and the length of the marker in the direction connecting the second two endpoints; a first distance estimating unit for calculating a first distance between a center point of the marker and the fisheye lens based on the first elevation angle and the coordinate of the third axis of the marker; a second distance estimating unit for calculating a second distance between the first and second end points and the fisheye lens based on a second elevation angle of the first and second end points relative to the third axis and a coordinate of the marker on the third axis; as well as a control unit configured to control a phase adjustment amount of the phase adjustment unit for adjusting the phase of the power transmission signal in the first axis direction and the second axis direction, The control unit sets the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the first axis direction and the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the second axis direction based on the path difference between the first distance and the second distance, and sets the phase adjustment amount of the multiple antenna elements in a two-dimensional configuration by parabolic interpolation of a quadratic function.

8. A power supply method, comprising: An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, transmitting a power transmission signal toward a power receiving antenna arranged at the center of a mark, the mark having the same size as the array antenna when viewed from above and arranged opposite to the array antenna; The source of radio waves; a phase adjustment unit disposed between the array antenna and the radio wave generation source, and adjusting the phase of the power transmission signal supplied from the radio wave generation source to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image of the mark through a fisheye lens disposed opposite to the mark; a first elevation angle acquisition unit, which acquires a first elevation angle of a mark center point of the mark relative to a third axis and a projection elevation angle obtained by projecting the first elevation angle onto a plane including the first axis and the third axis based on a center point of the mark in the image of the mark, i.e., a center point of the mark image and a focal distance of the fisheye lens; a second elevation angle obtaining unit for obtaining a second elevation angle of the first and second endpoints relative to the third axis based on the coordinates of the first two endpoints of the marker in the image of the marker in the first axis direction, the coordinates of the second two endpoints of the marker in the image of the marker in the second axis direction, and the focal length of the fisheye lens; a coordinate acquisition unit for obtaining the coordinate of the third axis of the marker based on the projection elevation angle, the center point of the marker in the image of the marker, i.e., the center point of the marker image, any one of the projected coordinates of the second two endpoints, and the length of the marker in the direction connecting the second two endpoints; a first distance estimating unit for calculating a first distance between a center point of the marker and the fisheye lens based on the first elevation angle and the coordinate of the third axis of the marker; as well as a second distance estimating unit for calculating a second distance between the first two endpoints and the second two endpoints and the fisheye lens based on a second elevation angle of the first two endpoints and the second two endpoints relative to the third axis and the coordinate of the third axis of the marker, In the power supply method, controlling a phase adjustment amount by which the phase adjustment unit adjusts the phase of the power transmission signal in the first axis direction and the second axis direction, Based on the path difference between the first distance and the second distance, the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the first axis direction and the phase adjustment amount of the three antenna elements including the antenna elements at both ends in the second axis direction are set, and the phase adjustment amount of the multiple antenna elements in a two-dimensional configuration is set by parabolic interpolation of a quadratic function.

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