Wireless power transmission device and wireless power transmission system

Abstract

To efficiently transmit power to one power reception device by using a plurality of wireless power transmission devices.SOLUTION: A wireless power transmission device 1 includes: a reference signal processing device 7 for generating a reference signal 9 with a determined frequency and a determined phase based on a positioning signal 6 which a positioning satellite 5 transmits; a power transmission antenna 4 that is a phased-array antenna having a plurality of element antennas 41 radiating electric wave 2 and a plurality of element modules, in which each element module has a fractional N system PLL synthesizer 43 generating a transmission signal with a phase instructed by a frequency that is one of the reference signal divided and a phase instruction signal, and transmitting power to a power reception device 3; and a power transmission control device 8 for generating the phase instruction signal to be inputted to the power transmission antenna. The power transmission control device 8 generates the phase instruction signal such that the power reception device 3 receives the electric wave 2 of a determined target phase δA at a determined adjustment target time TA, based on the reference signal 9 and a power transmission distance between a power transmission antenna position.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a wireless power transmitting device and a wireless power transmitting system that wirelessly transmit power by radio waves. [Background technology]

[0002] In a wireless power transmission system in which power is wirelessly transmitted from a plurality of wireless power transmission devices to a power receiving device, the phases of radio waves emitted by the plurality of wireless power transmission devices must be aligned at the power receiving device so that the power receiving device can receive maximum power. As a method for controlling the phase of radio waves emitted by each of the plurality of wireless power transmission devices so that the phases of the radio waves emitted by the plurality of wireless power transmission devices are aligned at the power receiving device, a method has been proposed in which a rectenna base station, which is a power receiving device, performs phase control using a pilot signal for informing the wireless power transmitting device of the power transmission direction (see, for example, Patent Document 1). In the plurality of wireless power transmission devices that receive the pilot signal transmitted by the power receiving device, the distance between the wireless power transmission device and the power receiving device is calculated based on the time of reception of the pilot signal, and the phase of the radio waves transmitted by each wireless power transmission device is controlled according to the calculated distance.

[0003] When the power transmitting antenna is a phased array antenna having multiple element antennas, the wireless power transmitting device described in Patent Document 1 multiplies a single reference signal to a frequency of a radio wave to be transmitted, and then distributes the signal to each element antenna. Phase control is performed on the distributed transmission signal.

[0004] A method using a fractional-N PLL synthesizer (abbreviated as F-PLL) has been proposed for phase control of a frequency synthesizer. A reference signal before multiplication is distributed and supplied to the F-PLL, where the frequency is multiplied according to the PLL setting data provided, and a phase difference is provided to the signals output by each F-PLL according to the difference in the rise time of the load enable signal of the PLL setting data (see, for example, Patent Document 2 and Non-Patent Document 1).

[0005] In a wireless power transmitting device, it is conceivable to provide an F-PLL for each element antenna and to impart a desired phase difference to the radio waves radiated from each element antenna by the method described in Patent Document 2. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 4715874 [Patent Document 2] Patent No. 5787849 [Non-patent literature]

[0007] [Non-Patent Document 1] Yusuke Tachibanakawa et al., “Phased Array Antenna Using Multiple Fractional-N PLL Synthesizers”, IEICE Transactions on Information and Communication Engineers, Vol. J98-B No. 9, pp. 1016-1024, Sept. 2015 Summary of the Invention [Problem to be solved by the invention]

[0008] When the power receiving device transmits a pilot signal, the configuration of the power receiving device becomes complex, and the power receiving device consumes power to transmit the pilot signal, resulting in a decrease in power transmission efficiency.

[0009] By using the F-PLL described in Patent Document 2, it is possible to distribute a low-frequency reference signal to multiple wireless power transmitting devices and control the phase of radio waves transmitted by the multiple wireless power transmitting devices. However, when the wireless power transmitting devices are located far apart, a long wired cable, a wireless communication device, or the like is required to distribute the reference signal. The present disclosure uses signals and information from a positioning satellite as the reference signal, making it possible to make the reference signals of multiple wireless power transmitting devices located far apart the same (commonize them), and makes it possible to efficiently transmit power from the multiple wireless power transmitting devices to one power receiving device using the common reference signal. [Means for solving the problem]

[0010] The wireless power transmitting device according to the present disclosure is a phased array antenna including a reference signal processing device that receives a positioning signal transmitted by a positioning satellite and generates a reference signal having a determined frequency and a determined phase based on the positioning signal, a plurality of element antennas that radiate radio waves, a reference signal distribution circuit that distributes the reference signal, and a plurality of element modules provided for each of a determined number of element antennas to which the distributed reference signal and a phase indication signal are input, each element module having a frequency obtained by multiplying the frequency of the reference signal by a determined multiple and a phase indicated by the phase indication signal, and a fractional-N PLL synthesizer that generates a transmission signal to be radiated as radio waves from the element antenna, and an amplifier that amplifies the transmission signal, and transmitting power to a power receiving device via radio waves, the wireless power transmitting device includes a power transmitting antenna that can change the radiation direction, which is the direction in which radio waves are radiated, and a power transmitting control device that generates a phase indication signal and inputs it to the power transmitting antenna. The power transmission control device has a power transmission data calculation unit that calculates a power transmission direction, which is the direction from the power transmitting antenna position to the power receiving device position, and a power transmission distance, which is the distance between the power transmitting antenna position and the power receiving device position, based on a power receiving device position, which is the position of the power receiving device, and a power transmitting antenna position, which is the position of the power transmitting antenna; a distance phase command value calculation unit that calculates a distance phase command value based on a reference signal and the power transmission distance such that the power receiving device receives a radio wave of a determined target phase at a determined adjustment target time; a directional phase command value calculation unit that calculates for each element antenna a directional phase command value determined according to the arrangement position of each element antenna within the power transmitting antenna so that the radiation direction is the power transmission direction; and a phase instruction signal generation unit that generates a phase instruction signal based on a phase command value obtained by adding the distance phase command value and the directional phase command value.

[0011] The present invention also provides a phased array antenna including a reference signal processing device that receives a positioning signal transmitted by a positioning satellite and generates a reference signal having a determined frequency and a determined phase based on the positioning signal, a plurality of element antennas that radiate radio waves, a reference signal distribution circuit that distributes the reference signal, and a plurality of element modules provided for each of a determined number of element antennas to which the distributed reference signal and a phase indication signal are input, each element module having a frequency obtained by multiplying the frequency of the reference signal by a determined multiple and a phase indicated by the phase indication signal, and a fractional-N type PLL synthesizer that generates a transmission signal to be radiated as radio waves from the element antenna, and an amplifier that amplifies the transmission signal, and transmits power to a power receiving device by radio waves, a transmission antenna that can change a radiation target position, which is a range of positions in three-dimensional space that are targets for radiating radio waves, and a power transmission control device that generates a phase indication signal and inputs it to the power transmission antenna. The power transmission control device has a power transmission data calculation unit that calculates a power transmission direction, which is the direction from the power transmitting antenna position to the power receiving device position, and a power transmission distance, which is the distance between the power transmitting antenna position and the power receiving device position, based on a power receiving device position, which is the position of the power receiving device, and a power transmission antenna position, which is the position of the power transmitting antenna; a distance phase command value calculation unit that calculates a distance phase command value such that the power receiving device receives a radio wave of a determined target phase at a determined adjustment target time, based on a reference signal and the power transmission distance; a radiation target position determination unit that determines a radiation target position, which is a relative position range based on the power transmitting antenna position, to include the power receiving device position determined by the power transmission direction and the power transmission distance; a target position phase command value calculation unit that calculates a target position phase command value for each element antenna according to the arrangement position of each element antenna in the power transmitting antenna so that the phases of element radio waves, which are radio waves radiated from each element antenna, are aligned at the radiation target position; and a phase instruction signal generation unit that generates a phase instruction signal based on a phase command value obtained by adding the distance phase command value and the target position phase command value. Effect of the Invention

[0012] According to the wireless power transmitting device of the present disclosure, each wireless power transmitting device can control the phase based on a reference signal common to multiple wireless power transmitting devices, and power can be efficiently transmitted from multiple wireless power transmitting devices to one power receiving device. [Brief description of the drawings]

[0013] [Figure 1] 1 is a schematic diagram illustrating a configuration of a wireless power transmission system according to a first embodiment of the present disclosure. [Diagram 2] 1 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a first embodiment. [Diagram 3] 2 is a block diagram illustrating a configuration of an F-PLL included in a wireless power transmitting device constituting a wireless power transmitting system according to the first embodiment. FIG. [Figure 4] 4 is a timing chart illustrating input timing of an input signal to an F-PLL included in a wireless power transmitting device constituting a wireless power transmitting system according to the first embodiment. [Diagram 5] 6 is a timing chart for explaining the generation timing of a frequency division number after a load enable signal is input in an F-PLL included in a wireless power transmitting device constituting a wireless power transmitting system according to the first embodiment. [Figure 6] 1 is a block diagram illustrating a configuration of a power receiving device that constitutes a wireless power transmission system according to a first embodiment. [Figure 7] 4 is the first part of a flowchart illustrating the operation of the wireless power transmitting system according to the first embodiment. [Figure 8] 11 is a latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the first embodiment. [Figure 9] FIG. 11 is a schematic diagram illustrating a configuration of a wireless power transmission system according to a second embodiment of the present disclosure. [Figure 10] FIG. 11 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a second embodiment. [Figure 11] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the second embodiment. [Figure 12]13 is a latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the second embodiment. [Figure 13] FIG. 11 is a schematic diagram illustrating a configuration of a wireless power transmission system according to a third embodiment of the present disclosure. [Figure 14] FIG. 11 is a diagram illustrating a configuration of a wireless power transmission system according to a third embodiment. [Figure 15] FIG. 11 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a third embodiment. [Figure 16] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the third embodiment. [Figure 17] 13 is the latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the third embodiment. [Figure 18] FIG. 11 is a schematic diagram illustrating a configuration of a wireless power transmission system according to a fourth embodiment of the present disclosure. [Figure 19] FIG. 11 is a plan view illustrating an arrangement of a wireless power transmitting device 1C in a wireless power transmitting system according to a fourth embodiment of the present disclosure. [Figure 20] FIG. 13 is a diagram illustrating a configuration of a wireless power transmission system according to a fourth embodiment. [Figure 21] FIG. 11 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a fourth embodiment. [Figure 22] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the fourth embodiment. [Figure 23] 13 is a middle part of a flowchart illustrating an operation of a wireless power transmitting system according to the fourth embodiment. [Figure 24] 13 is the last part of the flowchart illustrating the operation of the wireless power transmitting system according to the fourth embodiment. [Diagram 25] FIG. 13 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a fifth embodiment. [Figure 26] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the fifth embodiment. [Figure 27]13 is the latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the fifth embodiment. [Figure 28] FIG. 13 is a schematic diagram illustrating a configuration of a wireless power transmission system according to a sixth embodiment of the present disclosure. [Figure 29] FIG. 13 is a diagram illustrating a configuration of a wireless power transmission system according to a sixth embodiment. [Diagram 30] FIG. 13 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a sixth embodiment. [Diagram 31] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the sixth embodiment. [Diagram 32] 13 is the latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the sixth embodiment. [Diagram 33] FIG. 13 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to a seventh embodiment. [Diagram 34] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the seventh embodiment. [Diagram 35] 13 is the latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the seventh embodiment. [Diagram 36] FIG. 13 is a block diagram illustrating a configuration of a wireless power transmitting device that constitutes a wireless power transmitting system according to an eighth embodiment. [Figure 37] 13 is the first part of a flowchart illustrating the operation of a wireless power transmitting system according to the eighth embodiment. [Figure 38] 13 is the latter part of the flowchart illustrating the operation of the wireless power transmitting system according to the eighth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Embodiment 1 A configuration of a wireless power transmission system according to the first embodiment of the present disclosure will be described with reference to FIG. 1. FIG. 1 is a schematic diagram showing a configuration of a wireless power transmission system according to the first embodiment of the present disclosure. A wireless power transmission system 90 is a system in which a plurality of wireless power transmission devices 11, 12 each radiate radio waves 21, 22 toward a power receiving device 3 to wirelessly transmit power to the power receiving device 3. The radio waves 21, 22 have the same frequency. The phases of the radio waves 21, 22 are adjusted so that the power receiving device 3 can efficiently receive power. Although two wireless power transmission devices 11, 12 are shown in the figure, the number of wireless power transmission devices 1 may be three or more. Matters common to the wireless power transmission devices 11, 12 will be described by referring to the wireless power transmission device 1 without a subscript. The same applies to other components. The plurality of wireless power transmission devices 11, 12 do not move, and their positions are known. The power receiving device 3 does not move, and the position of the power receiving device 3 is stored in the wireless power transmission devices 11, 12. The power receiving device 3 has a power receiving surface that receives radio waves 21 and 22 facing horizontally. In order to reduce the force that the power receiving device 3 receives from wind, the power receiving device 3 has a shape in which multiple vertically elongated power receiving antennas are arranged at intervals. The wireless power transmitting device 11 is a first wireless power transmitting device. The wireless power transmitting device 12 is a second wireless power transmitting device. The same applies to the wireless power transmitting devices in the second and subsequent embodiments.

[0015] The wireless power transmitting devices 11 and 12 each have a power transmitting antenna 41 and 42, a reference signal processing device 71 and 72, a power transmitting control device 81 and 82 (illustrated in FIG. 2), and a LAN 301 and 302 (illustrated in FIG. 2). LAN is an abbreviation of Local Area Network. The power transmitting antennas 41 and 42 each emit radio waves 21 and 22. The reference signal processing devices 71 and 72 generate a reference signal 9 (not shown) based on a positioning signal 6 transmitted by a positioning satellite 5. The power transmitting control devices 81 and 82 control the power transmitting antennas 41 and 42, respectively. The reference signal processing devices 71 and 72 and the power transmitting control devices 81 and 82 are connected to the LANs 301 and 302, respectively. The power transmitting antennas 41 and 42 are phased array antennas. The power transmitting antennas 41 and 42 can each control the phase and amplitude of the radio waves 21 and 22 they emit. The power transmitting antenna 4 can change the radiation direction in which the radio waves 2 are radiated.

[0016] The wireless power transmitting device 11 generates radio waves 21 based on a reference signal 9 generated by a reference signal processing device 71 and transmits the radio waves 21 to the power receiving device 3. The wireless power transmitting device 12 generates radio waves 22 based on a reference signal 9 generated by a reference signal processing device 72 and transmits the radio waves 22 to the power receiving device 3. The reference signal processing devices 71 and 72 generate reference signals 9 with the same frequency and phase. The phases of the radio waves 21 and 22 are controlled by the power transmission control devices 81 and 82, respectively, so that they are in the same phase at the position of the power receiving device 3. Since the phases of the radio waves 21 and 22 are in the same phase at the position of the power receiving device 3, the power received by the power receiving device 3 by the radio waves 21 and 22 is approximately equal to the sum of the powers transmitted by the radio waves 21 and 22. The reference signal processing device 7 and the power transmission control device 8 are connected to a LAN 30. The reference signal processing device 7 and the power transmission control device 8 exchange signals and data with each other via the LAN 30.

[0017] The configuration of the wireless power transmitting device 1 will be described with reference to Fig. 2. Fig. 2 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to embodiment 1. The wireless power transmitting device 1 includes a power transmitting antenna 4, a reference signal processing device 7, a power transmission control device 8, and a LAN 30.

[0018] The reference signal processing device 7 receives and processes the positioning signal 6 transmitted by the positioning satellite 5, and generates a reference signal 9 in which the clock error of the clock device possessed by the reference signal processing device 7 has been corrected. Each reference signal processing device 7 generates a reference signal 9 having the same determined frequency and the same determined phase based on the positioning signal 6. Each reference signal processing device 7 generates a reference signal 9 having a frequency of 10 MHz and a phase of 0 every second, for example. Devices that receive the positioning signal 6 and generate a reference signal 9 of a determined frequency and phase based on the positioning signal 6 are commercially available. A commercially available device may be used as the reference signal processing device 7.

[0019] The power transmission control device 8 controls the phase of the radio waves 2 based on the direction in which the power receiving device 3 is located as seen from the power transmitting antenna 4 and the distance between the power transmitting antenna 4 and the power receiving device 3. In block diagrams such as FIG. 2, the reference signal 9 is represented as "Ref". The control signal is represented as "CS". The power transmission control device 8 generates a phase indication signal that indicates the phase of the radio waves 2 radiated by the power transmitting antenna 4, and inputs it to the power transmitting antenna 4.

[0020] The power transmitting antenna 4 is a phased array antenna. The power transmitting antenna 4 has a plurality of element antennas 41, amplifiers 42 and fractional-N type PLL synthesizers (abbreviated as F-PLL) 43 provided for each of a determined number of element antennas 41, a reference signal distribution circuit 44, and a control circuit 45. The power transmitting antenna 4 has one amplifier 42 and one F-PLL 43 for each element antenna 41. It may have one amplifier 42 and one F-PLL 43 for two or more element antennas 41. The reference signal distribution circuit 44 distributes the reference signal 9 input from the reference signal processing device 7. The distributed reference signal 9 is input to each F-PLL 43 and the control circuit 45. The F-PLL 43 outputs a transmission signal having a frequency obtained by multiplying the frequency of the reference signal by a determined multiple and a specified phase. The amplifier 42 amplifies the transmission signal output by the F-PLL 43. The element antenna 41 radiates the transmission signal amplified by the amplifier 42 into space as a radio wave. The control circuit 45 controls each F-PLL 43. The control circuit 45 synchronizes with a reference signal 9, generates a control signal, and outputs it to each F-PLL 43. The configuration of the F-PLL 43 will be described later. The fractional-N PLL synthesizer is also called a fractional-N PLL synthesizer.

[0021] Since the reference signal 9 has a low frequency of about 10 MHz, normal wiring is sufficient. High-precision coaxial cables, which were required when distributing a transmission signal with the frequency of radio wave 2, are not required. The distribution circuit and wiring can be simplified. In addition, compared to when a phase shifter is used, the loss generated by the phase shifter and distributor can be reduced.

[0022] The reference signal processing device 7 generates a reference signal 9 from the positioning signal 6 transmitted by the positioning satellite 5. k Positioning signals transmitted by 6 k is a positioning satellite 5 k The signal before spectrum spreading (called the positioning source signal) is transmitted to all positioning satellites 5. k Positioning signal 6 k The position of the spreading code and the positioning signal 6 that can be despread with the spreading code k Based on the phase of the positioning source signal, the reference signal processing device 7 determines the time when the signal of the reference position (called the positioning source reference position signal) is received from the positioning satellite 5 at the time when the positioning source reference position signal is transmitted. k The reference signal processing device 7 has information on the position of the positioning satellite 5 at the time of transmitting the positioning source reference position signal. k Based on the position of the reference signal processor 7, the positioning signal 6 k In addition, the time required for the positioning signal 6 to be transmitted is determined. k The difference between the reception time, which is determined from the time required for the signal to be transmitted, and the time when the signal is actually received by the reference signal processing device 7 is calculated by the clock device of the reference signal processing device 7 and the positioning satellite 5. k The reference signal processing device 7 demodulates the positioning source signal to determine the clock error between the positioning satellite 5 and the clock device of the positioning satellite 5. k Obtain the position of the positioning satellite 5 k The position of variable P M k The position of the reference signal processor 7 is represented by the variable P G Position P G is assumed to be known.

[0023] The reference signal processing device 7 has a positioning signal receiving antenna 10, a positioning signal receiving unit 11, a clock counter 12, an internal system clock 13, a reception time measurement unit 14, a clock error measurement unit 15, a clock error correction unit 16, a reference signal generating unit 17, a positioning signal demodulating unit 18, a positioning signal analyzing unit 19 and a data memory unit 20.

[0024] The positioning signal receiving antenna 10 is an antenna for receiving the positioning signal 6 transmitted by the positioning satellite 5. k Positioning signals transmitted by each of k The positioning signal receiving antenna 10 receives the positioning signal. The signal received by the positioning signal receiving antenna 10 is input to a positioning signal receiving unit 11.

[0025] The positioning signal receiving unit 11 receives a positioning signal 6 k The frequency components of the carrier wave are excluded, and the positioning signal 6 k The positioning signal receiving unit 11 includes an amplifier, an A / D converter, a multiplier, and the like, which are not shown.

[0026] The clock counter 12 operates at, for example, 100 MHz, and its value increases by one every 10 nanoseconds (having a time resolution of 10 nanoseconds). The operating frequency of the clock counter 12 is represented by a variable fx. The clock counter 12 is an electronic component that outputs an integer value expressed in, for example, 32 bits. The value output by the clock counter 12 (clock counter value) starts from zero when the reference signal processing device 7 is started, and increases monotonically from 0 to 4294967295 (for simplicity, referred to as UInt32.MAX). The clock counter value returns to zero after UInt32.MAX, and increases cyclically. The clock counter value returning to zero is referred to as being reset. The positioning signal 6 k is stored in association with the clock counter value at the time of reception. The clock counter value can be converted to the time in the reference signal processing device 7 as described later. The time can also be converted to a clock counter value. The clock counter 12 is a clock device that the reference signal processing device 7 has.

[0027] The reference signal processor 7 operates roughly according to the time set by an internal system clock 13 .

[0028] Positioning signal 6 k is a spectrum spread signal. The reception time measurement unit 14 receives the positioning signal 6 using the spread code stored in the data storage unit 20. k is despread to generate positioning signal 6k The position and navigation signal of the code sequence that can be despread6 k Based on the phase of the positioning signal 6 k The positioning signal 6 is calculated from the clock counter value at the time when the reference signal processing device 7 receives the positioning signal 6. k Reception time T R k The data storage unit 20 stores the positioning signal 6 k All positioning satellites5 that can receive k The reception time measurement unit 14 stores the extension code used by the positioning signal 6. k Positioning satellite 5 that transmitted k We decided on the positioning satellite 5 k The spreading code used by the positioning signal 6 k The signal is despread.

[0029] The clock error measurement unit 15 receives the positioning signal 6 k The time T when S Positioning satellite 5 k Position P M k and the position P of the reference signal processing device 7. G Positioning satellite 5 k and the distance L between the reference signal processing device 7 k is calculated using equation (1), and the distance L k Divide by the radio wave speed c [m / sec] to get the transmission time τ k is calculated using equation (2). In practice, correction of the amount of delay in the ionosphere and the like are performed. The correction of the amount of delay in the ionosphere and the like are not related to the present disclosure, and therefore a description thereof will be omitted. L k =|P G -P M k | (1) τ k =L k / c (2) In addition, at time T S Each positioning satellite5 k is the same signal before spectrum spreading. k This is the time when the S Positioning satellite 5 k Positioning signals transmitted by 6 kis received by the reference signal processing device 7 at time T0 R k can be calculated using equation (3). T0 R k =T S +τ k (3)

[0030] The clock error measurement unit 15 receives the positioning signal 6 k The clock error Δt can be measured k is measured using equation (4). Δt k =T R k -T0 R k (4) The clock error measurement unit 15 receives the positioning signal 6 k Positioning satellite 5 receiving k The clock error Δt that can be measured k The average of the above is taken as the clock error Δt. The clock error Δt is calculated using equation (5). k Positioning satellite 5 receiving k The number of S 1 piece.

[0031]

number

[0032] Position P of the reference signal processor 7 G If the position is determined from four or more positioning signals 6, the position P G and the reception time T0, which is determined assuming a clock error Δt. R k and the actual reception time T R k and error ΔT R k Sum of squares F(P G , Δt) is minimized at position P G and determine the clock error Δt. Distance L k and the transmission time τ k is position P G Since it changes depending on L k (P G) and τ k (P G ) The time when the signal should be received is T0 R k is the position P G and changes due to clock error Δt, so T0 R k (P G , Δt). Equations (1) to (3) become as follows: L k (P G )=|P G -P M k | (1A) τ k (P G )=L k (P G ) / c (2A) T0 R k (P G ,Δt)=T S +τ k (P G )+Δt (3A)

[0033] Error ΔT R k and F(P G , Δt) can be calculated using the following formula: ΔT R k =T R k -T0 R k (P G ,Δt) (6)

[0034]

number

[0035] In actual processing, the clock counter value x is processed. kand Δt do not actually need to be calculated. When Δt is positive (Δt>0), the time in the reference signal processing device 7 is ahead of the actual time. When Δt is negative (Δt<0), the time in the reference signal processing device 7 is behind the actual time.

[0036] The conversion between the clock counter value x and the time T in the reference signal processing device 7 will be described. G The clock counter value x at G The clock counter value x can be converted to time T by equation (8). Here, the number of times the clock counter value x is reset is represented by the variable nr. T=(xx G +(UInt32.MAX+1)*nr) / fx+T G (8)

[0037] Time T R k The reference signal processing device 7 receives the positioning signal 6 k The clock counter value x at the time of receiving R k is converted by equation (8). In other words, the relational expression (9) holds true. T R k =(x R k -x G +(UInt32.MAX+1)*nr) / fx+T G (9)

[0038] The time T can be converted into a clock counter value x by equation (10). Here, the function mod(A, B) is a function that returns an integer remainder when integer A is divided by integer B. The function int(D) is a function that returns an integer that does not exceed real number D. Note that fx is the operating frequency of the clock counter 12. x=mod(int((TT G )*fx)+x G , UInt32.MAX+1) (10)

[0039] The reference signal processing device 7 receives the positioning signal 6k Time T0 at which the message should be received R k is the clock counter value x0 according to equation (10). R k In other words, the relation in equation (11) holds true. x0 R k =mod(int((T0 R k -T G )*fx)+x G , UInt32.MAX+1) (11)

[0040] Clock error Δt k Equations (6) and (7) for Δt are expressed as the error Δx k and Δx, the equations are as shown in (12) and (13). Δx k =x R k -x0 R k (12)

[0041]

number

[0042] Position P of the reference signal processor 7 G If the position is determined from four or more positioning signals 6, the position P G and the reception time T0 determined by assuming an error Δx in the clock counter value R k Clock counter value at x0 R k (P G , Δx) and the actual reception time T R k Clock counter value at X R k Error Δx R k Sum of squares F x (PG , Δx) is minimized by position P G and determine the error Δx in the clock counter value. x0 R k (P G ,Δx),Δx R k and F x (P G , Δx) can be calculated as follows: S The clock counter value corresponding to S It is expressed as: x0 R k (P G ,Δx)=x S +τ k (P G )*fx+Δx (14) Δx R k =x R k -x0 R k (P G ,Δx) (15)

[0043]

number

[0044] The clock error correction unit 16 changes the correspondence between the clock counter value and the time based on the error Δx of the clock counter value. The corrected reference time is designated as a variable T NEW G and the clock counter value is expressed as variable x NEW G It is expressed as the variable x S Therefore, at time T S represents the uncorrected clock counter value corresponding to Time T S The uncorrected clock counter value x corresponding to S can be calculated using equation (17). xS =mod(int((T S -T G )*fx)+x G , UInt32.MAX+1) (17) The corrected reference time T NEW G At time T S In other words, in equation (18), T NEW G Set. T NEW G =T S (18) Time T S Clock counter value at x S The value corrected by the clock counter value error Δx is taken at time T NEW G Clock counter value at x NEW G That is, in equation (19), x NEW G Set. x NEW G =x S +Δx (19)

[0045] The reference signal generating unit 17 generates a reference signal 9 based on the time output by the clock device with the clock error corrected and the positioning signal 6. The frequency of the reference signal 9 is set as a variable f b The reference signal 9 is expressed as, for example, f b = 10 MHz sine wave. The phase of the reference signal 9 is adjusted so that the phase becomes zero every second on the clock, for example. The reference signal processing device 7 outputs the reference signal 9 and a 1 PPS signal every second on the clock to the power transmission control device 8 via the LAN 30. The reference signal 9 is also input to the power transmission antenna 4. When the reference signal processing device 7 has corrected the clock error, it outputs the reference signal 9 in synchronization with the corrected time, and notifies the power transmission control device 8 that the clock error has been corrected.

[0046] The positioning signal demodulation unit 18 demodulates the despread positioning signal 6 (positioning source signal) according to the modulation method to generate received data.

[0047] The positioning signal analysis unit 19 analyzes the reception data generated by the positioning signal demodulation unit 18 and acquires orbit data of the positioning satellites 5 .

[0048] The data storage unit 20 stores a spreading code 51, the device's own position 52, satellite orbit information 53, a reference time 54, a reference counter value 55, a reset count 56, a reception counter value 57, and a counter value error 58. The spreading code 51 is data representing the code sequence of the spreading code used by each positioning satellite 5. The device's own position 52 is data representing the position of the reference signal processing device 7. The satellite orbit information 53 is orbit information of the positioning satellite 5 acquired by the positioning signal analysis unit 19. The satellite orbit information 53 is data that enables the position of a specified positioning satellite 5 at a specified time to be known by specifying the time and the positioning satellite 5.

[0049] The reference time 54 is the variable T G The reference time data is represented by the clock counter value x G The reference counter value 55 represents the time associated with the variable x G The clock counter value is represented by the time T G The clock counter value x corresponding to G The reset count 56 is data that indicates the number of times the clock counter value X is reset (returned from UInt32.MAX to 0) after the reference time 54. The reception counter value 57 is the clock counter value at the time when the positioning signal 6 is received. The reception counter value 57 is a variable x0 R k The counter value error 58 is the error in the clock counter value measured by the clock error measurement unit 15. The counter value error 58 is expressed by the variable Δx k Or data represented by Δx.

[0050] The power transmission control device 8 uses a reference signal 9 to control the phase of the radio waves 2 to be transmitted, based on the direction and distance of the power receiving device 3 as seen from the power transmitting antenna 4. The power transmission control device 8 has a power transmission data calculation unit 21, a distance phase command value calculation unit 22, a direction phase command value calculation unit 23, a radio wave emission control unit 24, a structure data storage unit 25, a state data storage unit 26, and a control unit 27. The structure data storage unit 25 stores structure data that does not change while the wireless power transmitting device 1 is transmitting power. The state data storage unit 26 stores state data that changes. The control unit 27 controls the power transmission data calculation unit 21, the distance phase command value calculation unit 22, the direction phase command value calculation unit 23, the radio wave emission control unit 24, etc.

[0051] The power transmission data calculation unit 21 is a power transmission antenna 4 j Based on the structural data and the position of the power receiving device 3, the power transmission direction θ j , radial direction φ j and transmission distance G j Here, each wireless power transmitting device 1 j The variables calculated in are expressed by adding the subscript j. j is either j=1 or j=2. Power transmission direction θ j 4 is a power transmission antenna j The radiation direction φ is the direction from the position of the power receiving device 3 to the position of the power receiving device 3. j is the power transmission direction θ j Transmitting power to antenna 4 j The direction is expressed relative to the front direction of the transmitting antenna 4. j The front direction of is variable ζ j The power transmission direction θ j , radial direction φ j and the antenna front direction ζ j The relationship between the transmission distance G will be explained later. j 4 is a power transmission antenna j The power receiving device position, which is the position of the power receiving device 3, is the distance between the position of the power receiving device and the position of the power receiving device 3. R and the transmitting antenna 4 j The transmitting antenna position, which is the position of S j It is expressed as: Transmission distance G j can be calculated using the following formula: G j=|P R -P S j | (20)

[0052] Transmission antenna 4 j The structural data is stored in the structural data storage unit 25. j The structural data of the power transmitting antenna are a power transmitting antenna position 59, an antenna front direction 60, a power transmitting antenna constant 61, a wavelength 62, and a frequency division number 63. The power transmitting antenna position 59 is the power transmitting antenna position P S j The transmitting antenna position 59 is expressed in an XYZ Cartesian coordinate system. In the XYZ Cartesian coordinate system, a fixed point on the surface of the Earth is set as the origin, the height direction is the Z axis direction, and the X axis and Y axis perpendicular to the height direction are set on a plane perpendicular to the height direction. S j and the power receiving device position P R is expressed by coordinates in the XYZ Cartesian coordinate system.

[0053] The antenna front direction 60 is the antenna front direction ζ j The data to be stored is the antenna front direction ζ j 4 is a power transmission antenna j The data represents the direction in the XYZ coordinate system in which the front direction of the power transmitting antenna 4 faces. The transmitting antenna constant 61 is a constant used to represent the structure of the power transmitting antenna 4, such as data representing the interval L of the element antennas 41 and the number N of the element antennas 41. The wavelength 62 is data representing the wavelength λ of the radio wave 2. The frequency division number 63 is data used when the F-PLL 43 generates the radio wave 2 from the reference signal 9. The frequency division number 63 will be described later.

[0054] In the first embodiment, the power transmitting antenna 4 does not move and its front direction cannot be changed. When the power transmitting antenna 4 can move, the power transmitting antenna position 59 is stored as the status data. When the power transmitting antenna 4 can change its front direction, the antenna front direction 60 is stored as the status data.

[0055] Power transmission direction θ jis expressed as a direction in the XYZ coordinate system. Radiation direction φ j 4 is a power transmission antenna j The T axis is the antenna front direction ζ j The R-axis and the S-axis are directions parallel to the two directions in which the element antennas 41 arranged two-dimensionally in the power transmitting antenna 4 are arranged. The R-axis, the S-axis, and the T-axis are perpendicular to each other. The antenna front direction ζ j is the direction that the T axis points in the XYZ Cartesian coordinate system.

[0056] The power transmission data calculation unit 21 calculates the power transmission data of the power transmission antenna 4 in the XYZ coordinate system. j The direction from the position of the power receiving device 3 to the position of the power transmission direction θ j The power transmission data calculation unit 21 calculates the power transmission data of the power transmission antenna 4. j and the power transmission distance G from the position of the power receiving device 3 j The power transmission data calculation unit 21 calculates the power transmission direction θ j Let us define the radial direction φ in the RST coordinate system. j Convert to.

[0057] The distance phase command value calculation unit 22 calculates the reference signal 9 and the power transmission distance G j Based on this, the radio wave 2 received by the power receiving device 3 at a predetermined time in the future (called the adjustment target time) for a time determined at the start of power transmission is calculated. j The distance phase command value δ 0j The adjustment target time is common to the wireless power transmitting devices 11 and 12, and is set to, for example, the first second after a predetermined time has elapsed. The target phase is determined so that, once the phase is adjusted at a certain adjustment target time, there is no need to adjust the phase again after the adjustment target time unless an incident such as a time shift or a change in the distance to the power receiving device 3 occurs. The adjustment target time is expressed as a variable T A The time when the wireless power transmitting device 1 adjusts the phase (phase adjustment time) is represented by a variable T N The adjustment target time T A and phase adjustment time T N is set by the control unit 27. AThe time used to set the phase adjustment time T N The radio wave 2 emitted at the adjustment target time T A It is determined that the power receiving device 3 will arrive there by that time.

[0058] Distance phase command value δ 0j A method for calculating the distance phase command value δ will be described. 0j is calculated using equation (21). j The frequency of is represented by the variable f, and the target phase is represented by the variable δ A Here, floor(A) is a function that returns an integer that does not exceed the real number A. δ 0j = δ A -2π*(f*(T A -T N -(G j / c)) - floor(f*(T A -T N -(G j / c)) ) (21)

[0059] Reference signal processor 7 j Each time the power transmission control device 8 corrects the clock error, the power transmission control device 8 notifies the power transmission control device 8 that the clock error has been corrected. j In addition, the power transmission control device 8 notifies the 1PPS signal and the reference signal 9 at the time when the clock error is corrected. j The reference signal processing device 7 j The power transmission control device 8 notifies the user that the clock error has been corrected. j When the distance phase command value calculation unit 22 receives the phase adjustment time T N Then, the distance phase command value δ is calculated by the formula (21). 0j Calculate.

[0060] The directional phase command value calculation unit 23 calculates directional phase command values ​​to be given to other element antennas 41 in accordance with the positional relationship of the other element antennas 41 with respect to the element antenna 41 at a reference position among the element antennas 41 of the power transmitting antenna 4. Note that the element antennas 41 do not need to be actually arranged at the reference position. The directional phase command value calculation unit 23 calculates, for each element antenna 41, a directional phase command value determined in accordance with the arrangement position of each element antenna 41 in the power transmitting antenna 4.

[0061] For example, consider a power transmitting antenna 4 in which N element antennas 41 are arranged in a straight line at equal intervals L. The element antennas 41 are assigned numbers from 1 to N in the order in which they are arranged. The number of the element antenna 41 in the central position is set to Nm = (1 + N) / 2. If N is an even number, an element antenna 41 with the number Nm does not actually exist. Nm is a number that represents the central position of the arranged element antennas 41. The element antenna 41 with the number p is set to the element antenna 41 p Here, p is an integer number that is one of p=1, 2, …, N. The variable θ p And element antenna 41 p represents the directional phase command value for the radial direction φ j When emitting to the target, the directional phase command value θ p can be calculated using equation (22). θ p =(2*π)*(p-Nm)*(L / λ)*sin(φ j ) p=1,…,N (22) Transmission antenna position P S j is an element antenna 41 arranged in one dimension. p It is located at the center (Nm number). Equation (22) is the antenna element 41 p The directional phase command value θ p Each element antenna 41 p This means to calculate for

[0062] In the power transmitting antenna 4 in which the element antennas 41 are arranged two-dimensionally, the phase given to each element antenna 41 can be controlled to obtain a desired radiation direction φ j It can emit radio waves 2 to

[0063] The radio wave emission control unit 24 determines the distance phase command value δ 0j and directional phase command value θ p Based on the phase command value obtained by adding p Phase command value ψ for j,p The phase command value ψ j,p For example, it is calculated using the following formula: ψ j,p = δ 0j +θ p (twenty three)

[0064] The radio wave emission control unit 24 includes a reference signal processing device 7 j When the distance phase command value calculation unit 22 receives a notification that the clock error has been corrected, the distance phase command value calculation unit 22 calculates a new distance phase command value δ 0j Using this, the phase command value ψ j,p Calculate.

[0065] The structure data storage unit 25 stores the transmitting antenna position 59 , the antenna front direction 60 , the transmitting antenna constant 61 , the wavelength 62 and the frequency division number 63 .

[0066] The state data storage unit 26 stores a power receiving device position 70, a power transmission distance 71, a power transmission direction 72, a radiation direction 73, a phase adjustment target 74, a distance phase command value 75, a direction phase command value 76, and F-PLL control data 77. The power receiving device position 70 is a power receiving device position P R The power transmission distance 71 is data that stores the power transmission distance G j The power transmission direction 72 is data that stores the power transmission direction θ j The data is stored in the power transmission direction θ j is the radio wave 2 expressed in the XYZ coordinate system. j is the direction in which the light is emitted. The radiation direction 73 is the radiation direction φ j The data is stored in the radial direction φ j 4 is a power transmission antenna jRadio wave 2 expressed in the RST coordinate system unique to j The phase adjustment target 74 is the adjustment target time T A , phase adjustment time T N and the target phase δ A The data is stored as the power transmission direction θ in the XYZ coordinate system. j and the radial direction φ in the RST coordinate system j When the transmitting antenna 4 j is the power transmission direction θ j Radio 2 j The transmission direction θ j and the radial direction φ j The radial direction φ j is the power transmission direction θ j It is also said that...

[0067] The distance phase command value 75 is a distance phase command value δ 0j The distance phase command value δ 0j In the power receiving device 3, the wireless power transmitting device 1 j Radio waves emitted by 2 j The distance phase command value δ is a phase command value for making the phase of the power transmitting device 1 the same as that of the other wireless power transmitting device 1. 0j 4 is a power transmission antenna j The directional phase command value 76 is determined according to the distance from the directional phase command value θ p The data is stored as the direction phase command value θ p is radio wave 2 j in the radial direction φ j 4 power transmitting antennas j The transmitting antenna 4 j Each element antenna 41 p The phase command value for each element antenna 41 p is δ 0j and θ p The phase command value ψ obtained by adding j,p Phase of element radio wave 2E p F-PLL43 p The F-PLL control data 77 is controlled by each F-PLL 43. p This is data for controlling the above.

[0068] Returning to the description of the configuration of the power transmitting antenna 4, in the power transmitting antenna 4, each F-PLL 43 p Each element antenna 41 p Each F-PLL43 controls the phase of the radio waves emitted. p The antenna 41 generates a transmission signal having a specified phase and a determined frequency from the input reference signal 9. The transmission signal is amplified and fed to the element antenna 41. p From element radio wave 2E p is emitted as

[0069] The configuration of the F-PLL 43 will be described with reference to Fig. 3. Fig. 3 is a block diagram illustrating the configuration of the F-PLL. The F-PLL 43 has a general-purpose PLL-IC 46, a voltage controlled oscillator (VCO) 47, and a loop filter (LF) 48. The loop filter (LF) 48 is a low-pass filter. Fig. 3 shows the internal configurations of two F-PLLs 431 and 432.

[0070] The general-purpose PLL-IC 46 receives a control signal CS output by the control circuit 45. The control signal CS is a data signal (DATA), a clock signal (CLK), and a load enable signal (abbreviated as LE signal). The data signal is control data including frequency setting data. The clock signal is a clock for importing the control data. The LE signal is a signal that notifies the timing of executing the data signal imported by the general-purpose PLL-IC 46. The same data signal (DATA) and clock signal (CLK) are input to all F-PLLs 43. The LE signal can be input at different timings to each F-PLL 43.

[0071] The general-purpose PLL-IC46 has a serial-parallel conversion circuit 49, a fractional modulator 50, a variable divider 64, and a phase-frequency comparator 65. The serial-parallel conversion circuit 49 is denoted as SPI49 in the figures and the following description. The fractional modulator 50 is denoted as MOD50 in the figures and the following description. The variable divider 64 is denoted as "÷N" in the figure. The phase-frequency comparator 65 is denoted as PFD52 in the figures and the following description.

[0072] SPI49 captures the data signal input for each clock signal and stores it as F-PLL setting data. SPI49 outputs the F-PLL setting data to MOD50 at the timing when the LE signal is input. The LE signal is input at a timing determined with one period of the reference signal 9 as a unit. MOD50 generates the division frequency control data F such that the average value Fav = Nf + Kf / Mf. Here, Nf is an integer value of the division frequency, and Kf / Mf is a fractional value of the division frequency. Kf and Mf are relatively prime integers. Two integers being relatively prime means that the greatest common divisor is 1. Kf needs to satisfy 1 ≦ Kf < Mf. The integers Nf, Kf, and Mf are stored in the structure data storage unit 25 as the division frequency 63.

[0073] Among the Mf division frequency control data F output continuously by MOD50, Kf are output as F = Nf + 1, and (Mf - Kf) are output as F = Nf. The Kf that output F = Nf + 1 are arranged as evenly as possible among the Mf. The arrangement within one period of the Kf division frequency control data F that output F = Nf + 1 is determined in a way that is always the same. The division frequency control data F changes with Mf as one period. The Mf division frequency control data F in one period are distinguished by the order of generation and denoted as F (1) , F (2) , …, F (m) , …, F (Mf) When the LE signal is input, MOD50 starts repeatedly outputting the Mf division frequency control data F in one period to the variable divider 64. After that, when the LE signal is input again, MOD50 outputs F at the timing when the LE signal is input. (1)is input to the variable frequency divider 64. Thereafter, the MOD 50 repeatedly outputs Mf pieces of division number control data F per period to the variable frequency divider 64. A time period that is Mf times one period of the reference signal 9 is called the phase adjustment time Tb. Tb=(Mf / fb). The F-PLL 43 can adjust the phase of the generated transmission signal by inputting the LE signal at what timing during the phase adjustment time Tb.

[0074] The variable divider 64 receives the signal with the frequency f0 output by the voltage controlled oscillator 47 and the division number control data F. The variable divider 64 outputs a signal with a frequency of f0 / Fav obtained by dividing the frequency f0 by the average value Fav of the division number control data F. The PFD 52 detects the phase difference between the signal output by the variable divider 64 and the reference signal 9. The phase difference output by the PFD 52 is input to the loop filter (LF) 48. The output of the loop filter (LF) 48 is input to the voltage controlled oscillator 47. The voltage controlled oscillator 47 changes the oscillation frequency so that the input phase difference approaches zero. In this way, the F-PLL 43 controls the voltage controlled oscillator 47 so that the frequency f0 obtained by dividing the signal output by the voltage controlled oscillator 47 (f0 / Fav) is equal to the frequency fb of the reference signal 9. That is, the F-PLL 43 controls the voltage controlled oscillator 47 to output a signal with a frequency f0=Fav*fb. The frequency f0 of the signal output by the voltage controlled oscillator 47 is a frequency obtained by multiplying the frequency fb of the reference signal 9 by a determined multiple (Fav).

[0075] The input timing of the input signals to the F-PLLs 431 and 432 will be described with reference to Fig. 4. Fig. 4 is a timing chart illustrating the input timing of the input signals to the F-PLL of the wireless power transmitting device. The serial-parallel conversion circuits (SPI) 491 and 492 take in the same data signal at the rising edge of the clock signal. The LE signal input to the SPI 491 is represented by the symbol LE1, and the LE signal input to the SPI 492 is represented by the symbol LE2. The LE signals LE1 and LE2 are input at different timings.

[0076] With reference to Fig. 5, an operation will be described in which LE signals LE1 and LE2 are input to the F-PLLs 431 and 432 at different timings, respectively, so that the F-PLLs 431 and 432 output signals of the same frequency with a specified phase difference. Fig. 5 is a timing chart illustrating the timing of frequency division number generation after an LE signal is input to the F-PLL of the wireless power transmitting device. Fig. 5 shows a case in which the LE signals LE1 and LE2 are input with a difference of two periods of the reference signal 9. When the LE signal LE1 is input to the F-PLL 431, the MOD 501 starts generating frequency division number control data F1. The frequency division number control data F1 is set to F1=F1 at the timing when the LE signal LE1 is input. (1) After that, every time the rising edge of the reference signal 9 is detected, F (2) , …, F (m) , …, F (Mf) , F (1) , F (2) , ... are repeatedly output. When the LE signal LE2 is input to the F-PLL 432, the MOD 502 starts generating the frequency division number control data F2. The frequency division number control data F2 is generated when the frequency division number control data F1=F (3) At this timing, the frequency division number control data F2=F (1) After that, every time the rising edge of the reference signal 9 is detected, F (2) , …, F (m) , …, F (Mf) , F (1) , F (2) , … are output repeatedly.

[0077] Each F-PLL43 p Since the same frequency setting data is given, each MOD50 p Division number control data F output by p The series of LE signals will be the same. p Depending on the timing of input, F p =F (1) The timing of outputting the same division number control data F p Since it operates according to the series of F-PLL43 p The frequency of the signal output by each F-PLL43 is the same.p The phase of the signal output by F p =F (1) It changes depending on the timing of output.

[0078] The frequency f and phase difference Δθ of the transmission signals output by the F-PLLs 431 and 432 can be calculated by the following formula. f=f b *(Nf+Kf / Mf) (24) Δθ=q*2π*(Kf / Mf) (25) where f b is the frequency of the reference signal 9. q is an integer that indicates how many times the difference in timing at which the LE signals LE1 and LE2 are input is one period of the reference signal 9. q is called the amount of phase shift.

[0079] When Δθ is restricted to the range of 0≦Δθ<2π, equation (25) becomes: Δθ=(2π / Mf)*mod(q*Kf, Mf) (25A)

[0080] The integers Kf and Mf are mutually prime, and Kf is smaller than Mf. Here, let Nq be an integer calculated from q in equation (26). Nq=mod(q*Kf, Mf) (26) When q is changed as q=0, 1, 2, …, Mf-1, Nq takes integers from 0 to Mf-1 once each. Once the pair of integers Kf and Mf is determined, the correspondence between q and Nq is uniquely determined.

[0081] For a set of integers Kf and Mf, there exist integers Kx and Mx that satisfy equation (27), called Bézout's identity. Kx and Mx can be calculated from Kf and Mf by a method such as Euclidean algorithm. Kf*Kx‐Mf*Mx=1 (27) q corresponding to Nq can be calculated using equation (28). q=mod(Nq*Kx, Mf) (28)

[0082] Here, if Kf=1, then Kx=1, Mx=0, and q=Nq, which simplifies the calculation.

[0083] The real constant θd is defined as θd=(2π / Mf). Equation (25A) indicates that the F-PLL 43 changes the phase discretely by an integer multiple of θd. θd is the step size when the F-PLL 43 changes the phase.

[0084] Wireless power transmission device 1 j In the element antenna 41 p F-PLL43 generates the transmit signal that is supplied to p And the phase command value ψ j,p Here, a method for generating a transmission signal having a phase of F-PLL 43 will be described. p At time T, the F-PLL 43 p When an LE signal is input to F-PLL43 at time T, p F (1) At time T, F-PLL43 p F (1) When F-PLL43 is input, p The transmit signal generated by the F-PLL 43 has a phase of 0 at time T. p The integer that represents the timing at which the LE signal is input to the variable N LE p The number of LE timings is N LE p N indicates the number of cycles in which the LE signal (LE) is input in the reference signal with a cycle Mf. LE p , 0≦N LE p An integer that satisfies ≦(Mf-1). LE p F-PLL43 p When an LE signal is input to F-PLL43 p is (-N LE p *Kf*θd) A negative phase means that the phase is delayed.

[0085] Power transmission control device 8j The radio wave emission control unit 24 has a phase command value k p and LE timing number N LE p is determined as follows, where k p is the phase command value ψ j,p is a phase command value discretized in increments of θd. Since the F-PLL 43 changes the phase in increments of θd, |ψ j,p -k p The radio wave emission control unit 24 determines k p and N LE p The function int(X) returns the largest integer less than or equal to the real number X. k p =int((ψ j,p / θd)+0.5) (29) N LE p =mod((-k p )*Kx, Mf) (30) LE Timing Number N LE p is the phase k p *The LE signal is sent to the F-PLL43 at the timing corresponding to θd. p This is a signal that instructs the input

[0086] Reference signal processor 7 j When the radio wave control unit 24 receives a notification that the clock error has been corrected, the radio wave control unit 24 j,p , k p and N LE p The radio wave emission control unit 24 recalculates N LE p Each F-PLL43 is timed according to the timing p The input of the LE signal at the phase adjustment time T N Starts at.

[0087] LE Timing Number N LE p is F-PLL43 p The number of LE timings N LE p is F-PLL43p The signal instructs the radio wave emission control unit 24 to input the LE signal at a timing corresponding to the phase. j,p A phase indication signal generating unit generates a phase indication signal based on the phase indication signal.

[0088] The configuration of the power receiving device 3 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating the configuration of a power receiving device constituting a wireless power transmission system according to the first embodiment. The power receiving device 3 has a plurality of power receiving antennas 31, a plurality of rectifier circuits 32, a power combining circuit 33, and a storage battery 34. The power receiving antenna 31 receives radio waves 21 and 22 and outputs an AC signal. A rectifier circuit 32 is provided for each power receiving antenna 31. The rectifier circuit 32 rectifies the AC signal output by the power receiving antenna 31 and converts it into a DC current. The power combining circuit 33 combines the DC currents output by the plurality of rectifier circuits 32. The storage battery 34 stores the DC current output by the combining circuit 33.

[0089] The operation of the wireless power transmission system 90 will be described. FIG. 7 and FIG. 8 are flowcharts for explaining the operation of the wireless power transmission system according to the first embodiment. FIG. 7 shows the first part of the flowchart. FIG. 8 shows the second part of the flowchart. In step S01, the power transmission control device 8 j The structure data is stored in the structure data storage unit 25 of the power transmission control device 8. The subscript j represents the number of the power transmission control device 8, and in the first embodiment, j=1 or j=2. The structure data also includes the power transmission antenna position 59. The power transmission antenna position 59 is the power transmission antenna position P S j In step S02, the power transmission control device 8 j In the power transmission data calculation unit 21, the power transmission direction θ j , radial direction φ j and transmission distance G j Calculate.

[0090] In step S03, the reference signal processing device 7 j receives the positioning signal 6 and corrects the clock error. j is the reference signal 9 jand the power transmission control device 8 j and power transmission antenna 4 j Output to.

[0091] In step S05, the adjustment target time T A and phase adjustment time T N Set the phase adjustment time T N is determined to be the time after the calculation time has elapsed from the current time. The current time is the variable t NOW The calculation time is expressed as the variable T c The calculation time is expressed as T c is the distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p This is the time when the distance phase command value δ can be calculated reliably. 0j In order to ensure that the calculation time T c is the distance phase command value δ 0j The calculation time is set to be larger than the maximum expected time. c is the number of LE timings N LE p The distance phase command value δ is set to be longer than the time required to generate the 0j The maximum expected calculation time and the set T c The difference between the calculation time T c This is called the margin.

[0092] Adjustment target time T A is the phase adjustment time T N Radio waves transmitted to 2 j The adjustment target time T A and phase adjustment time T N is set so as to satisfy the following: T A >T N ≧t NOW +T c (31) In addition, the adjustment target time T Ais a time that is determined according to a common rule so that it is determined to be the same time in all wireless power transmitting devices 1.

[0093] In step S06, the power transmission control device 8 j At the adjustment target time T A , phase adjustment time T N , transmission distance G j and radial direction φ j From the phase adjustment time T N Distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Specifically, the distance phase command value calculation unit 22 calculates the adjustment target time T A , phase adjustment time T N , and the transmission distance G j From the above, the distance phase command value δ 0j The directional phase command value calculation unit 23 calculates the radial direction φ j From equation (22), the directional phase command value θ p The radio wave emission control unit 24 calculates the phase command value ψ j,p , phase command value k p Calculate the distance phase command value δ 0j and directional phase command value θ p Therefore, in equation (23), the phase command value ψ j,p Calculate the phase command value ψ j,p From equation (29), the phase command value k p Calculate the phase command value k p From equation (30), the number of LE timings N LE p Calculate.

[0094] In step S07, the current time t NOW is the phase adjustment time T N Check whether the current time t NOW is the phase adjustment time T N If not (NO in S07), the current time t NOW is the phase adjustment time T NCheck if it is earlier than the current time t NOW is the phase adjustment time T N If the current time t NOW is the phase adjustment time T N If the phase adjustment time T is not earlier than the time T (NO in S08), the process returns to S05. N Number of LE timings N LE p In order to deal with cases where the above calculations have not been completed, the process returns to S05.

[0095] Current time t NOW is the phase adjustment time T N If the answer is YES in S07, in step S09, the power transmission control device 8 j is transmitting antenna 4 j Reference signal 9 j and LE timing number N LE p In step S10, the LE signal is input at the timing indicated by the phase adjustment time T N In step S11, the wireless power transmitting device 1 j Radio wave 2 j The power receiving device 3 emits radio waves 2 j Receive.

[0096] In parallel with S11, in step S12, the reference signal processing device 7 j The reference signal processing device 7 checks whether the clock error has been corrected. j If it is notified that the clock error has been corrected (YES in S12), in step S14, the adjustment target time T A and phase adjustment time T N In step S15, the power transmission control device 8 j At the adjustment target time T A , phase adjustment time T N and transmission distance G j From the phase adjustment time T N Distance phase command value δ 0jFurthermore, the radio wave emission control unit 24 calculates the directional phase command value θ p Using the phase command value ψ j,p , phase command value k p and LE timing number N LE p Calculate.

[0097] Reference signal processor 7 j If the clock error has not been corrected (NO in S12), the phase adjustment time T N Check if it has been set.

[0098] After S15 is executed or at phase adjustment time T N If the current time t has been set (YES in S13), in step S16, NOW is the phase adjustment time T N Check whether the current time t NOW is the phase adjustment time T N If not (NO in S16), the current time t NOW is the phase adjustment time T N Check if it is earlier than the current time t NOW is the phase adjustment time T N If the current time t NOW is the phase adjustment time T N If the phase adjustment time T N Number of LE timings N LE p In order to deal with cases where the above calculations have not been completed, the process returns to S14.

[0099] Current time t NOW is the phase adjustment time T N If so (YES in S16), in step S18, the LE timing number N LE p F-PLL43 at the timing specified by p In step S19, the LE signal is input to the phase adjustment time T Nis not set.

[0100] After S19 is executed, or at the current time t NOW is the phase adjustment time T N If it is before (YES in S17), in step S20, j In step S20, a check is made to see if a command to stop power transmission has been input. S20 is also a step following execution of S11. If a command to stop power transmission has been input (YES in S20), power transmission is ended in step S21, and the process is terminated. If a command to stop power transmission has not been input (NO in S20), the process returns to S11 and S12.

[0101] In the wireless power transmission system 90, multiple wireless power transmission devices 11 and 12 can obtain a reference signal 9 having the same frequency and the same phase based on a positioning signal 6 from a positioning satellite 5. The reference signal 9 having the same frequency and the same phase is called a common reference signal 9, or a common reference signal 9. Each wireless power transmission device 11 and 12 can control the phase of each radio wave 21 and 22 based on the common reference signal 9. When the power receiving device 3 receives power, each wireless power transmission device 11 and 12 transmits each radio wave 21 and 22 having approximately the same phase, so that the power receiving device 3 can receive power that is approximately the sum of the power when only one of the radio waves 21 and 22 is received. Multiple wireless power transmission devices 11 and 12 can efficiently transmit power to one power receiving device 3. Similarly, even if there are three or more wireless power transmission devices 1, the power received by the power receiving device 3 can be set to a value close to the sum of the power transmitted by each wireless power transmission device 1, and power can be efficiently transmitted.

[0102] In the wireless power transmission system 90, each wireless power transmission device 1 j A common reference signal 9 is generated based on a positioning signal 6 from a positioning satellite 5. j Each power transmission control device 8 j is transmitting antenna 4 j The power transmission distance G, which is the distance from j Depending on the j Radio waves emitted by 2 jThe phases of the two phases can be aligned at the position of the power receiving device 3. The phases are aligned when the difference between the phases of all pairs of two phases is equal to or less than a predetermined upper limit. Since the positioning signal 6 from the positioning satellite 5 is used, each wireless power transmitting device 1 j In generating the common reference signal 9, each of the wireless power transmitting devices 1 can generate a common reference signal 9 regardless of how large the distance between them is. j There is no need for the two to exchange information.

[0103] The wireless power transmission system 90 is a case where multiple wireless power transmitting devices 1 and power receiving devices 3 do not move. The present disclosure can also be used when at least one of the multiple wireless power transmitting devices 1 and power receiving devices 3 moves. The present disclosure can also be applied when all of the multiple wireless power transmitting devices 1 and power receiving devices 3 move. When the wireless power transmitting device 1 is relocated or when the wireless power transmitting device 1 is mounted on a moving object and moves, each wireless power transmitting device 1 can generate a common reference signal 9.

[0104] The wireless power transmission system according to the present disclosure is a system that transmits power between a wireless power transmitting device and a power receiving device by radio waves. The wireless power transmitting device and the wireless power transmission system according to the present disclosure can be applied in various cases, such as when wirelessly transmitting power to be supplied to a power-saving device such as a sensor, when supplying power to a mobile object such as a drone, and even in a space solar power system (SSPS) that transmits power from a solar power generation satellite in space to the ground.

[0105] In a wireless power transmission system using radio waves, for example, when transmitting radio waves from a wireless power transmission device 12 in addition to radio waves 21 from a wireless power transmission device 11 to a power receiving device 3, it is important to align the phases of the radio waves 2. Due to the influence of interference between multiple radio waves 2, the radio waves reinforce each other when they are in phase, and destructively interfere with each other when they are in opposite phase. In a wireless power transmission system using radio waves, it is required to increase the received power to be equal to the transmitted power. For this reason, the wireless power transmission device 1 1, 12Each transmits radio waves2 1,In the wireless power transmission system according to the present disclosure, a reference signal 9 having a common frequency and phase is generated using a positioning signal 6 from a positioning satellite 5, and the reference signal 9 is supplied to each wireless power transmission device 1, thereby controlling the phase of the radio waves 2 of two or more wireless power transmission devices 1. The above also applies to other embodiments.

[0106] Embodiment 2 The second embodiment relates to a case where power is transmitted from two power generation satellites moving in orbit in outer space around the Earth to a power receiving device installed on the Earth's surface. The configuration of a wireless power transmission system according to the second embodiment will be described with reference to Fig. 9. Fig. 9 is a schematic diagram showing the configuration of a wireless power transmission system according to the second embodiment of the present disclosure. A wireless power transmission system 90A has two wireless power transmitting devices 1A1 and 1A2 mounted on power generation satellites 801 and 802, respectively, and a power receiving device 3 installed on the Earth.

[0107] The positions of the wireless power transmitting devices 1A1, 1A2 and the power receiving device 3 are expressed by a UVW coordinate system, which is an orthogonal coordinate system that rotates with the rotation of the earth and has the center of the earth as the origin of the coordinate system. The W axis is an axis that passes through the axis of rotation of the earth. The U axis and the W axis are axes that exist on the equatorial plane and are perpendicular to each other. The U axis is, for example, an axis that connects the intersection of the 135 degrees east meridian and the equatorial plane with the center of the earth. The W axis is an axis that exists on the east side of the U axis on the equatorial plane and is perpendicular to the U axis.

[0108] The configuration of the wireless power transmitting device 1A will be described with reference to Fig. 10. Fig. 10 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to the second embodiment. Regarding Fig. 10, differences from Fig. 3 in the first embodiment will be described. The wireless power transmitting device 1A has a power transmitting antenna 4, a reference signal processing device 7A, and a power transmission control device 8A. The power transmitting antenna 4 is the same as that in the first embodiment.

[0109] The reference signal processing device 7A has a modified clock error measurement unit 15A and a data storage unit 20A. The data storage unit 20A also stores orbit information 66. The orbit information 66 is information about the orbit of the power generation satellite 80 on which the wireless power transmitting device 1A is mounted, which orbits the earth. The clock error measurement unit 15A stores the positioning signal 6 k Reception time T R k The position P of the reference signal processing device 7A at G is calculated by referring to the orbit information 66. G is stored in data storage unit 20A as host device position 52A.

[0110] The power transmission control device 8A controls the phase of the radio wave 2 to be transmitted based on the direction of the power receiving device 3 as seen from the power transmitting antenna 4 and the distance to the power receiving device 3. Compared to the power transmission control device 8, the power transmission control device 8A has a power transmission antenna position calculation unit 28, and has changed the power transmission data calculation unit 21A, the distance phase command value calculation unit 22A, the structure data storage unit 25A, the state data storage unit 26A, and the control unit 27A. The direction phase command value calculation unit 23 and the radio wave emission control unit 24 are the same as those of the power transmission control device 8. The control unit 27A also controls the power transmission antenna position calculation unit 28. The power transmission antenna position calculation unit 28 and the power transmission data calculation unit 21A correspond to the power transmission data calculation unit of the power transmission control device 8. The power transmission antenna position calculation unit 28 can be considered as a part of the power transmission data calculation unit. The power transmission antenna position calculation unit 28 is also a power transmission antenna position acquisition unit that acquires the power transmission antenna position.

[0111] Power transmission control device 8A j 4 is a power transmission antenna j Radio waves 2 are sent from the power receiving device 3 to the j can transmit power and receive radio waves 2 at the position of the power receiving device 3. j The phase of the transmitting antenna 4 is aligned. j The power transmission control device 8A controls the j is T f 80 power satellites per cycle j That is, the wireless power transmission device 1A j Calculate the position of T f For example, T f= 0.1 seconds. The control unit 27A sets T f Adjustment target time T A Update the adjustment target time T A When you first set it, the current time t NOW To (T f / 2), calculation time T c and the maximum transmission time T e The maximum transmission time T e is the assumed maximum time it takes for the radio wave 2 emitted by the wireless power transmitting device 1A mounted on the power generating satellite 80 to be received by the power receiving device 3. The assumed power transmission distance G within the range in which power can be transmitted from the orbit of the power generating satellite 80 to the power receiving device 3 installed on the earth j The maximum value of G j MAX divided by the speed c of radio wave 2 (=G j MAX / c) is the maximum transmission time T e become.

[0112] In the wireless power transmission system 90 according to the first embodiment, the power transmission distance G j is at most a few kilometers, and G j / c is the distance phase command value δ 0j The time required to calculate the above and the calculation time T c Therefore, in the wireless power transmission system 90, the maximum transmission time T e The same applies to the third and subsequent embodiments.

[0113] Adjustment target time T A All transmission control devices 8A j For example, you can set the exact time by setting T f The control unit 27A sets the adjustment target time T A is determined so as to satisfy the following: T A >t NOW +(T f / 2)+T c +T e (32) The control unit 27A sets the second and subsequent adjustment target times T A is determined as follows: T A =T A +T f (33)

[0114] Adjustment target time T A The radio wave 2 received by the power receiving device 3 j Transmitting power to antenna 4 j The time when the radio wave is emitted is called the target radio wave transmission time T D The target time for radio transmission is called T D Transmitting antenna 4 j is the target phase δ A Radio Waves 2 j When transmitting the adjustment target time T A Target phase δ A Radio Waves 2 j The power transmitting antenna position calculation unit 28 receives the radio wave transmission target time T D and the target time for radio transmission T D Transmitting antenna 4 j Position, front direction and transmission distance G j Calculate:

[0115] Here, the adjustment target time T A and the target time for radio transmission T D and the maximum transmission time T e There is the following relationship between: T A -T D ≦T e (34) From equation (32) and equation (34), T D and the current time t NOW There is the following relationship between: T D ≧T A -T e >t NOW +(T f / 2)+T c (35)

[0116] Power transmission control device 8A j is the adjustment target time T A The power receiving device 3 is in the target phase δ ARadio Waves 2 j Phase adjustment time T N Wireless power transmission device 1 j Radio waves transmitted by 2 j Adjust the phase of the power transmission antenna 4 j The radio waves 2 are in phase with each other. j The length T f During this period, the target time for radio transmission T D The control unit 27A adjusts the phase adjustment time T N is determined as follows. Note that |T A -T D Since | changes depending on the position of the power generation satellite 80, j The radio waves 2 are in phase with each other. j The length of the period for transmitting fluctuates slightly with respect to Tf. T N =T D -(T f / 2) (36)

[0117] From equations (35) and (36), T N and NOW There is the following relationship between: T N >t NOW +T c (37) Equation (37) is the phase adjustment time T N This means that the calculations required for phase adjustment can be completed by the end of this period.

[0118] Phase adjustment time T to be set for the second or subsequent times N For this reason, we need to find a time t that satisfies the following equation (38). NOW Then, the adjustment target time T A and phase adjustment time T N Then, the calculations required for phase adjustment can be performed. t NOW =T D +(T f / 2)‐T c -ΔT e (38) Here, ΔT eis the new T set after Tf A2 And a new T A2 A new T was required D2 This is the expected maximum value of the change in the difference between the ΔT e ≧(T A2 -T D2 )-(T A -T D ) ≥ ΔT e (39)

[0119] The current time t determined by equation (38) NOW By starting the calculations required for phase adjustment at the newly set phase adjustment time T N2 It will be explained that the calculations required for phase adjustment are completed by this time. New T A2 Since is determined by equation (33), the following equation holds: T A2 =T A +T f (40) Substituting equation (40) into equation (39) and rearranging it, we obtain the following equation. T D +Tf+ΔT e ≧T D2 ≧T D +Tf‐ΔT e (41) New T N2 Since is determined by equation (36), the following equation holds: T N2 =T D2 -(T f / 2) (42) From equations (41) and (42), the following equation is established. T N2 ≧T D +(T f / 2)‐ΔT e (43) By substituting equation (38) into equation (43), we obtain the following equation. T N2 >t NOW +T c (44) Equation (44) is the t determined by equation (38).NOW When the calculation required for phase adjustment is started at the new phase adjustment time T N2 This means that the calculations required for phase adjustment can be completed by the time

[0120] Calculation time T c The margin is ΔT e If you want to set it to be larger than ΔT e In that case, the current time t NOW The condition for is as follows: t NOW =T D +(T f / 2)‐T c (45) In the wireless power transmission system 90A, the calculation time T c The margin is ΔT e The time is set to be greater than the current time t NOW When equation (45) is satisfied, calculation for phase adjustment is started.

[0121] The structure data storage unit 25A stores a power transmitting antenna constant 61, a wavelength 62, and a frequency division number 63. The state data storage unit 26A stores orbit information 66, a power transmitting antenna position 59A, an antenna front direction 60A, a power receiving device position 70, a power transmission distance 71, a power transmission direction 72, a radiation direction 73, a phase adjustment target 74A, a distance phase command value 75, a direction phase command value 76, and F-PLL control data 77. The orbit information 66 is stored in the power transmitting satellite 80 orbiting the earth. j The phase adjustment target 74A is information about the orbit of the A , phase adjustment time T N , radio wave transmission target time T D and the target phase δ A The power transmission distance 71 is the data that stores the target time for transmitting radio waves T D Transmission distance in G j Remember.

[0122] The power transmitting antenna position calculation unit 28 refers to the orbit information 66 and calculates the radio wave transmission target time T D and transmission distance G jThe value at the kth iteration is expressed by the following variables: D to variable T D(k) and time T D(k) Transmitting antenna 4 j The position of variable P S j (T D(k) ) and the transmission distance is G j to the variable G j (k) The target time for radio transmission is T D(k) The threshold for the change in T The target time for radio transmission T is calculated by repeating the calculation as follows: D Calculate the P used in equation (47). S j (T D(k) ) is calculated based on orbit information 66. T D(1) =T N (46) G j (k) =|P R -P S j (T D(k) )| (47) T D(k+1) =T A -G j (k) / c (48) |T D(k+1) -T D(k) |≦ε T (49) The first time (k+1) that equation (49) is satisfied, the radio wave transmission target time T D etc. are determined as follows: T D =T D(k+1) (50) G j =|P R -P S j (T D )| (51)

[0123] The power transmission antenna position calculation unit 28 calculates the radio wave transmission target time T D Antenna front direction ζ jBased on the direction of movement of the power generation satellite 80 at each point in time, which is included in the orbit information 66, and the direction in which the power transmission antenna 4 faces relative to the main body of the power generation satellite 80, the power transmission antenna position calculation unit 28 calculates the antenna front direction ζ j Calculate the target time for radio transmission T D , radio wave transmission target time T D The transmitting antenna position P S j (T D(k) ), antenna front direction ζ j and transmission distance G j is stored in the state data storage unit 26A.

[0124] The power transmission data calculation unit 21A calculates the radio wave transmission target time T D The transmitting antenna position P S j (T D ) based on the power transmission direction θ j Further, the power transmission data calculation unit 21A calculates the power transmission direction θ j and the antenna front direction ζ j Based on this, the power transmission direction θ j The radial direction φ is the direction in which j Calculate the power transmission direction θ j and radial direction φ j is stored in the state data storage unit 26A.

[0125] The distance phase command value calculation unit 22A calculates the distance phase command value δ using the following equation (52). 0j Calculate. δ 0j = δ A -2π*(f*(T D -T N ) - floor(f*(T D -T N )) (52)

[0126] The power transmitting antenna position calculation unit 28 calculates the power transmitting antenna position P S j (T DThe power transmitting satellite 80 is a moving body equipped with a power transmitting antenna 4. The power transmitting antenna position calculation unit 28 and the power transmission data calculation unit 21A calculate and acquire the power transmitting antenna position P S j (T D ) depending on the power transmission direction θ j and radial direction φ j This is a power transmission data calculation unit that calculates the following:

[0127] The operation of the wireless power transmission system 90A will be described. Fig. 11 and Fig. 12 are flowcharts for explaining the operation of the wireless power transmission system according to the second embodiment. Fig. 11 shows the first part of the flowchart, and Fig. 12 shows the second part of the flowchart. Regarding Fig. 11 and Fig. 12, the points different from Fig. 7 and Fig. 8 in the case of the wireless power transmission system 90 will be described. Steps S01A, S05A, S06A, S14A, and S15A have been changed. S02 has been deleted, and step S22 has been added after S05A. The power transmission control device 8 j Steps S23 to S27 are added as steps to be executed before S20, which checks whether a power transmission stop has been input to the power transmission stop command.

[0128] In step S01A, the power transmission control device 8A j The configuration data is stored in the configuration data storage unit 25A included in the power transmitting antenna 20. The configuration data storage unit 25A does not store the power transmitting antenna position 59. In addition, the power transmitting antenna 20 has the trajectory information 66 stored in the state data storage unit 26A.

[0129] In step S05A, the control unit 27A sets the adjustment target time T A and phase adjustment time T N Set the adjustment target time T A is set to satisfy equation (32). Phase adjustment time T N is the adjustment target time T A It is set by equation (36).

[0130] In step S22 after S05A, the power transmitting antenna position calculation unit 28 refers to the orbit information 66 and calculates the radio wave transmission target time T Dand phase adjustment time T N =T D -T f Set the target time for radio transmission T D The transmitting antenna position P S j (T D ), antenna front direction ζ j and transmission distance G j Calculate.

[0131] In step S06A, the power transmission control device 8A j At the target time of radio wave transmission T D , phase adjustment time T N and radial direction φ j From the phase adjustment time T N Distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Specifically, the radio wave transmission target time T D and phase adjustment time T N From equation (52), the distance phase command value δ 0j The calculation method for other command values ​​in S06A is the same as in S06.

[0132] Current time t NOW is the phase adjustment time T N If it is not earlier than (NO in S08), return to S05A.

[0133] In step S14A, T N =t NOW +T c and phase adjustment time T N Set the adjustment target time T A and the target time for radio transmission T D In step S15A, the radio wave transmission target time T D and phase adjustment time T N From the phase adjustment time T N Distance phase command value δ 0j Calculate the phase command value ψ j,p, phase command value k p and LE timing number N LE p Also calculate the target time for radio transmission T D Radiation direction φ j and transmission distance G j , phase adjustment time T N Distance phase command value δ 0j may be recalculated or a previously calculated value may be saved and used.

[0134] After S19 is executed, or at the current time t NOW is the phase adjustment time T N If it is earlier than the phase adjustment time T N Check if it has been set.

[0135] Phase adjustment time T N If the current time t has not been set (NO in S23), in step S24, NOW Check whether the following formula is satisfied: t NOW ≧T D +(T f / 2)‐T c (53) That is, in S24, the current time t NOW But (T D +(T f / 2)‐T c ) or later. S24 checks whether the current time t NOW The result is YES. The period for checking S24 is small enough that the current time t NOW is the current time t calculated by equation (38). NOW It can be safely assumed that.

[0136] Current time t NOW But (T D +(T f / 2)‐T c ) or later (YES in S24), in step S25, the adjustment target time T A , T A =T A+T f In step S26, the power transmitting antenna position calculation unit 28 refers to the orbit information 66 and sets the radio wave transmission target time T D and phase adjustment time T N =T D -(T f / 2) and set the target time for radio wave transmission T D The transmitting antenna position P S j (T D ), antenna front direction ζ j and transmission distance G j In step S27, the power transmission control device 8A j In the same manner as in S06A, the radio wave transmission target time T D , phase adjustment time T N and radial direction φ j From the phase adjustment time T N Distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Calculate.

[0137] After execution of S27 or at phase adjustment time T N If the current time t NOW But (T D +(T f / 2)‐T c If the power transmission control device 8A is not in the above-mentioned condition (NO in S24), j Check whether a power transmission stop has been entered.

[0138] In the wireless power transmission system 90A, the wireless power transmission devices 1A1 and 1A2 can also obtain a common reference signal based on the positioning signal 6 from the positioning satellite 5. The wireless power transmission devices 1A1 and 1A2 can control the phase of each radio wave 21 and 22 based on the common reference signal 9. When the power receiving device 3 receives power, the wireless power transmission devices 1A1 and 1A2 transmit the radio waves 21 and 22 of approximately the same phase, so that the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Even when the wireless power transmission devices 1A1 and 1A2 move, the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Similarly, even when there are three or more wireless power transmission devices 1A, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1A.

[0139] Embodiment 3 The third embodiment is a case where power is wirelessly transmitted from a plurality of wireless power transmitting devices to an airborne moving object. Airborne moving objects include helicopters (rotorcraft), airships, drones, unmanned aerial vehicles, UAVs (Unmanned Automotive Vehicles), and HAPS (High Altitude Platform Stations) in the stratosphere. In order to wirelessly transmit power to an airborne moving object using radio waves, it is necessary to install a plurality of wireless power transmitting devices so as to cover the range in which the airborne moving object moves. The plurality of wireless power transmitting devices generate a common reference signal from a positioning signal transmitted by a positioning satellite. The airborne moving object receives the positioning signal, measures its own position, and transmits the position to the wireless power transmitting device.

[0140] The configuration of a wireless power transmission system according to the third embodiment will be described with reference to FIG. 13. FIG. 13 is a schematic diagram showing the configuration of a wireless power transmission system according to the third embodiment of the present disclosure. A wireless power transmission system 90B is composed of a power receiving device 3 mounted on an airship 81, which is an airborne moving body, and two wireless power transmitting devices 1B1 and 1B2 installed on the ground. The airship 81 is unmanned. The wireless power transmitting devices 1B1 and 1B2 are installed on the ground. The airship 81 moves or stops within a range where wireless power can be transmitted from at least one of the wireless power transmitting devices 1B1 and 1B2, preferably from both of them. The positions of the power receiving device 3 and the wireless power transmitting devices 1B1 and 1B2 are expressed in the same XYZ coordinate system as in the first embodiment. In this embodiment, it is assumed that the airship 81 exists within a range where wireless power can be transmitted from both the wireless power transmitting devices 1B1 and 1B2.

[0141] The configuration of the wireless power transmission system according to the third embodiment will be described with reference to FIG. 14. FIG. 14 is a diagram for explaining the configuration of the wireless power transmission system according to the third embodiment. An airship 81 is equipped with a power receiving device 3, a GNSS receiver 35, an attitude sensor 36, a communication device 37, and an on-board control device 38. In FIG. 14, the power receiving device 3 and the like are illustrated as being present inside a square of the airship 81, which means that the power receiving device 3 and the like are mounted on the airship 81. The airship 81 is a moving body equipped with the power receiving device 3. GNSS is an abbreviation for "Global Navigation Satellite System." GNSS is called the Global Navigation Satellite System in Japanese. GNSS is a general term for satellite positioning systems such as the US Global Positioning system (GPS), the Japanese quasi-zenith satellites system (QZSS), the Russian Global Navigation Satellite System (GLONASS), and the European Union's Galileo.

[0142] The GNSS receiver 35 receives a positioning signal 6 from a positioning satellite 5 and measures the position of the GNSS receiver 35. The attitude sensor 36 measures the attitude of the airship 81. The attitude of the airship 81 refers to the direction in which the nose of the airship 81 is pointing (nose direction) and the rotation angle of the airship around the nose direction. The data measured by the attitude sensor 36 is called attitude data. The on-board control device 38 controls the airship 81 and the power receiving device 3. The communication device 37 communicates with a ground control device 39 that controls the airship 9. The on-board control device 38 transmits the position and attitude data of the GNSS receiver 35 together with the measured time to the ground control device 39. The on-board control device 38 measures the attitude of the airship 81 with a period T f The GNSS receiver 35 transmits position and attitude data to the ground control device 39 every time t1 passes.

[0143] The ground control device 39 and the power transmission control devices 8B1 and 8B2 are connected to a ground network 40. The ground control device 39 calculates the position of the power receiving device 3 based on the position and attitude data transmitted from the airship 81 and the structure data of the airship 81. The position of the power receiving device 3 is also added with the time of measurement. The position of the power receiving device 3 is input to the power transmission control devices 8B1 and 8B2 via the ground network 40.

[0144] The configuration of the wireless power transmitting device 1B will be described with reference to Fig. 15. Fig. 15 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to the third embodiment. Regarding Fig. 15, differences from Fig. 10 in the case of the second embodiment will be described. The wireless power transmitting device 1B has a power transmitting antenna 4, a reference signal processing device 7, and a power transmission control device 8B. The power transmitting antenna 4 and the reference signal processing device 7 are the same as those in the first embodiment. The power transmission control device 8B is connected to a ground network 40.

[0145] The power transmission control device 8B does not have a power transmission antenna position calculation unit 28, but has a power receiving device position acquisition unit 29, as compared with the power transmission control device 8A. In the power transmission control device 8B, the power transmission data calculation unit 21B, the distance phase command value calculation unit 22, the structure data storage unit 25, the state data storage unit 26B, and the control unit 27B are changed. The control unit 27B also controls the power receiving device position acquisition unit 29. The control unit 27B acquires the current time t NOW Based on the adjustment target time T A and phase adjustment time T N The distance phase command value calculation unit 22 and the structure data storage unit 25 are the same as those included in the power transmission control device 8.

[0146] The power receiving device position acquisition unit 29 periodically acquires the position of the power receiving device 3 via the ground network 40. The power receiving device position 70B, which is data representing the position of the power receiving device 3, is stored in the state data storage unit 26B. The power receiving device position 70B is set as a variable P R (T m ) at time T m is the time when the power receiving device position 70B was measured.

[0147] The status data storage unit 26B stores a power receiving device position 70B, a power transmission distance 71, a power transmission direction 72, a radiation direction 73, a phase adjustment target 74, a distance phase command value 75, a direction phase command value 76, and F-PLL control data 77.

[0148] The power transmission data calculation unit 21B periodically receives the power receiving device position P R (T m The power transmission data calculation unit 21B acquires the power receiving device position P R (T m ) to the transmission distance G j is calculated using equation (54) below. G j =|P R (T m )-P S j | (54) The power transmission data calculation unit 21B, like the power transmission data calculation unit 21, calculates the power transmission direction θ j and radial direction φ jCalculate.

[0149] The power transmission data calculation unit 21B periodically calculates the power receiving device position P R (T m ) depending on the transmission distance G j , power transmission direction θ j and radial direction φ j Calculate.

[0150] The operation of the wireless power transmission system 90B will be described. Fig. 16 and Fig. 17 are flowcharts for explaining the operation of the wireless power transmission system according to the third embodiment. Fig. 16 is the first part of the flowchart. Fig. 17 is the second part of the flowchart. Regarding Fig. 16 and Fig. 17, differences from Fig. 11 and Fig. 12 in the case of the wireless power transmission system 90A will be described. Steps S05, S06, and S15 have been changed. S05, S06, and S15 are the same processes as those in the case of the wireless power transmission system 90. Step S28 has been added after S05. Steps S29 to S31 are provided instead of S24 to S26.

[0151] In step S05, the control unit 27B detects the current time t NOW Based on the adjustment target time T A and phase adjustment time T N Set the phase adjustment time T N is the current time t NOW The calculation time required is T c The adjustment target time T A is the phase adjustment time T N In the future, each power transmission control device 8B j Decide on a time that can be set in the same way.

[0152] Variable T m The power receiving device position P R In step S28, the power transmitting antenna position P S j From the power receiving device position P R (T m ) power transmission direction θ j and radial direction φ jand transmission distance G j Calculate.

[0153] In S06, the power transmission control device 8B j At the adjustment target time T A , phase adjustment time T N , transmission distance G j and radial direction φ j From the phase adjustment time T N Distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Calculate.

[0154] Phase adjustment time T N If the power receiving device position P has not been set (NO in S23), a new power receiving device position P R (T m Check whether the new power receiving device position P R (T m ) is input (YES in S29), in step S30, the power transmission control device 8B j In the same manner as in S05, the current time t NOW Based on this, the adjustment target time T A and phase adjustment time T N In step S31, the transmitting antenna position P S j From the power receiving device position P R (T m ) power transmission direction θ j and radial direction φ j and transmission distance G j After S31, S27 is executed.

[0155] After S27 is executed or phase adjustment time T N If the position P R (T m If no entry has been made (NO in S29), the process proceeds to S20.

[0156] In the wireless power transmission system 90B, the wireless power transmission devices 1B1 and 1B2 can also obtain a common reference signal based on the positioning signal 6 from the positioning satellite 5. The wireless power transmission devices 1B1 and 1B2 can control the phase of each radio wave 21 and 22 based on the common reference signal 9. When the power receiving device 3 receives power, the wireless power transmission devices 1B1 and 1B2 transmit the radio waves 21 and 22 of approximately the same phase, so that the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Even when the power receiving device 3 moves, the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Similarly, even when there are three or more wireless power transmission devices 1B, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1B.

[0157] The position of the power receiving device 3 was obtained by correcting the position of the GNSS receiver 35 using structural data and attitude data of the airborne moving object. If the airborne moving object is small, the position of the GNSS receiver 35 may be used as the position of the power receiving device 3 as is. The position of the power receiving device 3 was obtained by a ground control device that controls the airborne moving object, and was transmitted to the power transmission control device using a ground network. The position of the power receiving device 3 may be measured by the airborne moving object, and transmitted from the airborne moving object to each power transmission control device. The position of a moving object that moves on the ground, on water, underground or underwater, instead of the airborne moving object, may be measured by the moving object.

[0158] The position of an airborne moving body or a moving body moving on land, on water, underground or underwater may be measured by a position measuring device provided near the power transmission control device. A power receiving device position acquisition unit may be provided to acquire the position of the power receiving device mounted on the moving body. The above also applies to the other embodiments.

[0159] Embodiment 4 The fourth embodiment is a case where a plurality of wireless power transmitting devices transmit power wirelessly to a moving body moving on the ground. The plurality of wireless power transmitting devices are installed along a road. When a moving body (referred to as a power transmission target moving body) that is a power transmission target moving on the road approaches the wireless power transmitting device and detects that the wireless power transmitting device is the wireless power transmitting device closest to the power transmission target moving body on the front side of the moving direction of the power transmission target moving body, the wireless power transmitting device starts wireless power transmission to the moving body. Then, while the wireless power transmitting device is the wireless power transmitting device closest to the power transmission target moving body on the front or rear side of the moving direction, the wireless power transmitting device transmits power wirelessly to the power transmission target moving body. When the wireless power transmitting device detects that there is a wireless power transmitting device closer to the power transmission target moving body than the wireless power transmitting device on the rear side of the moving direction of the power transmission target moving body, the wireless power transmitting device stops transmitting power to the power transmission target moving body. The wireless power transmitting device measures the position of the power transmission target moving body, and determines whether the wireless power transmitting device is closest to the power transmission target moving body on the front or rear side of the moving direction of the power transmission target moving body based on the installation positions of the wireless power transmitting device and adjacent wireless power transmitting devices and the position of the power transmission target moving body.

[0160] A configuration of a wireless power transmission system according to the fourth embodiment will be described with reference to Figs. 18 to 20. Fig. 18 is a schematic diagram showing a configuration of a wireless power transmission system according to the fourth embodiment of the present disclosure. Fig. 19 is a plan view showing an arrangement of a wireless power transmission device 1C in a wireless power transmission system according to the fourth embodiment. Fig. 20 is a diagram showing a configuration of a wireless power transmission system according to the fourth embodiment. A wireless power transmission system 90C is composed of a power receiving device 3 mounted on an electric vehicle 82 moving on a road 83, and a plurality of wireless power transmission devices 1C installed on the ground. Three wireless power transmission devices 1C1, 1C2, and 1C3 are shown in Fig. 19. The power receiving device 3 is mounted on the top surface of the electric vehicle 82. The wireless power transmission device 1C has a power transmission antenna 4 at a position higher than the power receiving device 3. The wireless power transmission device 1C radiates radio waves 2 in a diagonally downward direction. Wireless power transmission device 1C j predicts the position of the power receiving device 3. j The direction from the power receiving device 3 to the predicted position is defined as the power transmission direction θ j Let us assume that.

[0161] The wireless power transmitting device 1C also has an azimuth angle rotation mechanism 85 that mechanically rotates the power transmitting antenna 4 around the azimuth axis. The azimuth angle rotation mechanism 85 is provided so that the power receiving device 3 can be tracked in a rotation range of azimuth angles larger than the angle range that can be tracked by the power transmitting antenna 4 alone. The azimuth angle rotation mechanism 85 has a reference plane facing a determined elevation angle downward. When facing downward from the horizontal plane, the elevation angle is a negative angle. The power transmitting antenna 4 is mounted on the azimuth angle rotation mechanism 85 so that the front direction of the power transmitting antenna 4 is perpendicular to the reference plane of the azimuth angle rotation mechanism 85. The elevation angle in the front direction of the power transmitting antenna 4 is a fixed value. The azimuth angle in the front direction of the power transmitting antenna 4 changes as the azimuth angle rotation mechanism 85 rotates.

[0162] In the wireless power transmitting device 1C having the azimuth angle rotation mechanism 85, the power transmission direction θ j and the radial direction φ j The relationship between the power transmission direction θ is as follows: j The azimuth angle of AZ j The power transmission direction θ j The elevation angle is expressed as the variable θ EL j It is expressed as the radiation direction φ j The azimuth angle of AZ j It is expressed as the radiation direction φ j The elevation angle is expressed as the variable φ EL j Transmitting antenna 4 j The azimuth angle in the front direction is expressed as the variable φ AZM j It is expressed as azimuth angle φ AZM j is the rotation angle of the azimuth angle rotation mechanism 85. j The elevation angle in the front direction is expressed as the variable φ ELM Transmitting antenna 4 j The elevation angle of each transmitting antenna 4 j is the same. θ AZ j =φ AZM j +φ AZ j (55) θ ELj =φ ELM +φ EL j (56)

[0163] Electric vehicle 82 moves along road 83. Although not shown, vehicles that are not targets of power transmission also pass along road 83. Wireless power transmission devices 1C1, 1C2, and 1C3 are provided outside road 83 along road 83. Wireless power transmission devices 1C1, 1C2, and 1C3 are arranged in order from the rear side of electric vehicle 82. The rear side of electric vehicle 82 is the origin side from which electric vehicle 82 moves when moving forward. Road 83 is divided into a plurality of road sections 84 according to the position of wireless power transmission device 1C. The rear side of wireless power transmission device 1C1 is set as road section 841, and road sections 842, 843, and 844 are set in order in the direction of movement.

[0164] There are a plurality of electric vehicles 82 as moving bodies to which power is transmitted. The electric vehicles 82 move along a road 83 such that there are two or more road sections 84 between the electric vehicles 82 to be transmitted power in front of and behind the electric vehicles 82 to which power is transmitted. Each wireless power transmitting device 1C transmits power to only one electric vehicle 82 at a time. When the electric vehicle 82 is in a road section 842 as shown in FIG. 19 , the wireless power transmitting devices 1C1 and 1C2 transmit radio waves 21 and 22 to the power receiving device 3 mounted on the electric vehicle 82. When the electric vehicle 82 moves to the road section 843, the wireless power transmitting devices 1C2 and 1C3 transmit radio waves 22 and 23 to the power receiving device 3.

[0165] The body of the electric vehicle 82 has a substantially rectangular parallelepiped shape. The power receiving device 3 is mounted on the top surface of the electric vehicle 82. The electric vehicle 82 has a beacon transmitter 87 that transmits a beacon signal 86 on the front side of the body. The beacon signal 86 includes information for identifying the electric vehicle 82. The wireless power transmitting device 1C has a beacon receiver 88 that receives the beacon signal 86. The wireless power transmitting device 1C has a laser positioning device 89 that measures the position of the power receiving device 3. The laser positioning device 89 measures the position of the power receiving device 3 at time T m Position P of the power receiving device 3 at R (T m The laser positioning device 89 measures the period T fAt the power receiving device position P R (T m ) is measured. Time T m is the adjustment target time T A The laser positioning device 89 can set the power receiving device position P R (T m ) is a power receiving device position measurement device.

[0166] The configuration of the wireless power transmitting device 1C will be described with reference to FIG. 21. FIG. 21 is a block diagram for explaining the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to the fourth embodiment. Regarding FIG. 21, differences from FIG. 15 in the case of the third embodiment will be described. The wireless power transmitting device 1C has a power transmitting antenna 4, an azimuth angle rotation mechanism 85, a beacon receiver 88, a laser positioning device 89, a reference signal processing device 7, and a power transmission control device 8C. The reference signal processing device 7 is the same as that in the first embodiment. The power transmitting antenna 4 can rotate the antenna front direction around the azimuth axis by the azimuth angle rotation mechanism 85. The azimuth axis is a vertical rotation axis. The beacon receiver 88 receives a beacon signal 86. The beacon receiver 88 faces the direction in which the electric vehicle 82 comes.

[0167] The power transmission control device 8C has an azimuth angle rotation mechanism control unit 68 and a power receiving device position prediction unit 69, as compared with the power transmission control device 8B. The power receiving device position acquisition unit 29C, the power transmission data calculation unit 21C, the structure data storage unit 25C, the state data storage unit 26C, and the control unit 27C are changed. The control unit 27C also controls the azimuth angle rotation mechanism control unit 68 and the power receiving device position prediction unit 69. The control unit 27C processes the beacon signal 86 received by the beacon receiver 88.

[0168] The structure data storage unit 25C also stores road section information 67. The road section information 67 is data that defines the range and adjacency relationship of the road section 84. jThe road sections 84 on both sides of the power transmission target road section are stored in the road section information 67 as the power transmission target road sections. The structure data storage unit 25C stores the power transmission antenna position 59C. The power transmission antenna position 59C is different from the power transmission antenna position 59B. The power transmission antenna position 59C is the position where the power transmission antenna 4 of the power transmission device 4 is located. j Not only the position of the wireless power transmitting device 1C k Transmission antenna 4 k The position of is also memorized.

[0169] The status data storage unit 26C also stores a power receiving device predicted position 78 and an azimuth rotation angle 79. The status data storage unit 26C stores a power receiving device position 70C and an antenna front direction 60C. The power receiving device position 70C also includes information on which road section 84 the power receiving device 3 is located on. The power receiving device position 70C stores the positions of the power receiving device 3 at multiple nearby points in time. The power receiving device predicted position 78 is the position of the power receiving device 3 predicted by the power receiving device position prediction unit 69 based on the power receiving device position 70C. The azimuth rotation angle 79 is calculated by multiplying the azimuth angle φ AZM j The antenna front direction 60C has an azimuth angle φ AZM j and a fixed elevation angle φ ELM It is represented by a pair of

[0170] Azimuth angle rotation mechanism control unit 68 j azimuth angle rotation mechanism 85 j Controls the rotation of the azimuth angle rotation mechanism 85 j The azimuth angle φ is the direction in which AZM j The azimuth angle is set to 0 degrees when it is parallel to the road 83 and faces the direction in which the electric vehicle 82 is coming, and is set to 90 degrees when it is perpendicular to the road 83. j Before starting power transmission, the azimuth angle rotation mechanism 85 is rotated to the initial direction. j The initial direction is the direction in which the power transmission antenna 4 faces the electric vehicle 82. j When power transmission starts, the azimuth angle rotation mechanism control unit 68 j The azimuth angle rotation mechanism 85 rotates the electric vehicle 82 at a constant rotation speed determined according to the assumed speed at which the electric vehicle 82 moves. jRotate the azimuth angle rotation mechanism control unit 68 j is the azimuth angle φ AZM j When the azimuth angle φ reaches the upper limit, the rotation is stopped. AZM j is the upper limit angle, and the transmitting antenna 4 j can transmit power to an electric vehicle 82 present on the road section 84k that is the power transmission target until the electric vehicle 82 exits the road section 84k.

[0171] In order to cope with the case where the electric vehicle 82 is stopped due to traffic congestion, the radial direction φ j Absolute value of the azimuth angle of |φ AZ j When | becomes larger than the threshold value Th1, the azimuth angle rotation mechanism control unit 68 j azimuth angle rotation mechanism 85 j Stop the rotation of |φ AZ j When | becomes smaller than the threshold value Th1, the azimuth angle rotation mechanism 85 j Resume rotation.

[0172] Azimuth angle rotation mechanism control unit 68 j is the azimuth angle φ AZM j The azimuth angle rotation mechanism 85 is fixed at several predetermined angles. j In such a control, |φ AZ j When | becomes larger than the threshold value Th1, the azimuth angle rotation mechanism 85 j The azimuth angle φ is controlled so that it faces the following specified angle. AZM j The several determined angles are, for example, 18 degrees, 54 degrees, 90 degrees, 126 degrees, and 162 degrees.

[0173] The power receiving device position acquisition unit 29C acquires the power receiving device position P R (T m ) and obtain the power receiving device position P R (T m ) is stored in the state data storage unit 26C as the power receiving device position 70C. R(T m ) is stored in the state data storage unit 26C, the predicted time T h The predicted position of the power receiving device at P R (T h ) is predicted. The first prediction time T h is the latest power receiving device position P R (T m ) is measured at time T mn T f Later on, the adjustment target time T A That is, the control unit 27C calculates the first prediction time T h and the adjustment target time T A Set. T h =T A >T mn +T f (57) From the second time onwards, the control unit 27C calculates the predicted time T h and the adjustment target time T A Set. T h =T A =T A +T f (58) Adjustment target time T A However, the transmission antenna 4 j The radio waves 2 are in phase with each other. j Emits T f The phase adjustment time T N is the adjustment target time T A (T f That is, the control unit 27C calculates the phase adjustment time T N Set. T N =T A -T f / 2 (59)

[0174] The power receiving device position prediction unit 69 predicts the power receiving device position P R (T m ) is approximated to the first or second order to obtain the predicted position of the power receiving device P R (T h ) to predict.

[0175] The power transmission data calculation unit 21C calculates the power transmission antenna position P S j From the power receiving device predicted position P R (T h ) as the power transmission direction θ j Furthermore, the power transmission direction θ j From the front direction of the antenna (φ AZM j ,φ ELM ) is vector subtracted to obtain the radial direction φ j In other words, the radiation direction φ is determined by the following formula. j Determine φ AZM j If the azimuth angle rotation mechanism 85 is rotating, the predicted time T h Use the predicted angle at φ AZ j =θ AZ j -φ AZM j (60) φ EL j =θ EL j -φ ELM (61) In addition, the transmission distance G j is calculated using the following equation (62). G j =|P R (T h )-P S j | (62)

[0176] The distance phase command value calculation unit 22 , the direction phase command value calculation unit 23 and the radio wave emission control unit 24 are the same as those in the wireless power transmitting system 90 .

[0177] The power transmission data calculation unit 21C periodically calculates the predicted power receiving device position P R (T h ) depending on the transmission distance G j , power transmission direction θ j and radial direction φ j Calculate.

[0178] The operation of the wireless power transmission system 90C will be described. Fig. 22 to Fig. 24 are flowcharts for explaining the operation of the wireless power transmission system according to the fourth embodiment. Fig. 22 is the first part of the flowchart, Fig. 23 is the middle part of the flowchart, and Fig. 24 is the last part of the flowchart. Regarding Fig. 22 to Fig. 24, the points different from Fig. 11 and Fig. 12 in the case of the wireless power transmission system 90A will be described. Steps S01C, S05C, S22C, S06, S21C, and S24C to S26C have been changed. S06 is the same process as in the case of the wireless power transmission system 90. Steps S32 to S35 have been added after S04. Steps S36 to S44 have been added as steps to be executed in cases such as after execution of S27.

[0179] In step S01C, the power transmission control device 8C j The configuration data is stored in the configuration data storage unit 25C included in the power transmitting device 20. The configuration data storage unit 25C stores the road section information 67 and the power transmitting antenna position 59C.

[0180] In step S32 inserted after S04, the azimuth angle rotation mechanism 85 j is directed in the initial direction. In step S33, it is checked whether the beacon signal 86 is received. If the beacon signal 86 is not received (NO in S33), the process returns to S33. S33 is a state in which the process waits for the electric vehicle 82 to which power is to be transmitted to arrive. If the beacon signal is received (YES in S33), the approach of the electric vehicle 82 to which power is to be transmitted has been detected, and therefore in step S34, the laser positioning device 89 starts measuring the position of the electric vehicle 82.

[0181] In step S34, it is checked whether the electric vehicle 82 is in a road section subject to power transmission. If the electric vehicle 82 is not in a road section subject to power transmission (NO in S35), the process returns to S35. If the electric vehicle 82 is in a road section subject to power transmission (YES in S35), the prediction time T h and the adjustment target time T ASet the phase adjustment time T N Adjust the target time T so as to satisfy equation (59). A Set from.

[0182] In step S22C, the power receiving device position prediction unit 69 predicts the predicted time T h The predicted position of the power receiving device at P R (T h ) is predicted. R (T h ) to the power transmission direction θ j , radial direction φ j and transmission distance G j Calculate.

[0183] In step S06, the power transmission control device 8C j At the adjustment target time T A , phase adjustment time T N , transmission distance G j and radial direction φ j From the phase adjustment time T N Distance phase command value δ 0j , directional phase command value θ p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Calculate.

[0184] Current time t NOW is the phase adjustment time T N If it is not earlier than (NO in S08), the process returns to S05C.

[0185] Phase adjustment time T N If the current time t has not been set (NO in S23), in step S24C, NOW Check whether the following formula is satisfied: t NOW ≧T A +(T f / 2)‐T c (63) That is, in S24C, the current time t NOW But (T A +(T f / 2)‐Tc ) or later. S24C checks whether the current time t NOW The answer is YES. At the current time t NOW But (T A +(T f / 2)‐T c ) or later (YES in S24C), in step S25C, the adjustment target time T A and prediction time T h T A =T A +T f , T h =T A and the phase adjustment time T N T N =T A -(T f / 2).

[0186] In step S26C, the power receiving device position prediction unit 69 detects the power receiving device predicted position P R (T h The power transmission data calculation unit 21C predicts the power receiving device predicted position P R (T h ) to the power transmission direction θ j , radial direction φ j and transmission distance G j Determine φ AZM j If the azimuth angle rotation mechanism 85 is rotating, the predicted time T h Use the predicted angle in. Execute S26C followed by S27.

[0187] After execution of S27 or at phase adjustment time T N If it has been set (YES in S23), or if the current time t NOW But (T A +(T f / 2)‐T c ) or later (NO in S24C), in step S36, the azimuth angle rotation mechanism 85 j Check if the azimuth angle rotation mechanism 85 is rotating. j If the direction of the azimuth angle φ is rotating (YES in S36), the azimuth angle φ AZM jCheck whether the azimuth angle φ is the upper limit angle. AZM j is not the upper limit angle (NO in S37), |φ AZ j Check whether |>Th1. Azimuth angle φ AZM j is the upper limit angle (YES in S37), or |φ AZ j If |>Th1 (YES in S38), in step S39, the azimuth angle rotation mechanism 85 j Stop.

[0188] Azimuth angle rotation mechanism 85 j is rotating (YES in S36), after execution of S39, or |φ AZ j If it is not Th1 (YES in S38), proceed to S20.

[0189] Azimuth angle rotation mechanism 85 j If the azimuth angle φ is not rotating (NO in S36), in step S40, AZM j Check whether the azimuth angle φ is the upper limit angle. AZM j is not the upper limit angle (NO in S40), |φ AZ j Check whether |>Th1. |φ AZ j If |>Th1 is not obtained (NO in S41), in step S42, the azimuth angle rotation mechanism 85 j Resume rotation.

[0190] Azimuth angle rotation mechanism 85 j If the azimuth angle φ is not rotating (NO in S36), after S42 is executed, AZM j is the upper limit angle (YES in S40), or |φ AZ j If |>Th1 (YES in S41), proceed to S20.

[0191] In S20, the power transmission control device 8C j If a command to stop power transmission has been input (YES in S20), in step S21C, the wireless power transmitting device 1C j The laser positioning device 89 stops measuring the position of the electric vehicle 82.

[0192] If the power transmission stop has not been input (NO in S20), in step S43, it is checked whether the electric vehicle 82 is outside the road section for which power transmission is to be performed. Outside the road section for which power transmission is to be performed means that the electric vehicle 82 has left the road section for which power transmission is to be performed. If the electric vehicle 82 is outside the road section for which power transmission is to be performed (YES in S43), in step S44, the wireless power transmitting device 1C j stops power transmission. The laser positioning device 89 stops measuring the position of the electric vehicle 82. Then, the process returns to S32 to detect the next electric vehicle 82 to be a power transmission target. If the electric vehicle 82 is not outside the road section to which power transmission is targeted (NO in S43), the process returns to before S11 and S12.

[0193] In the wireless power transmission system 90C, the wireless power transmission devices 1C1 and 1C2 can obtain a common reference signal based on a positioning signal 6 from a positioning satellite 5. The wireless power transmission devices 1C1 and 1C2 can control the phase of each of the radio waves 21 and 22 based on a common reference signal 9. When the power receiving device 3 receives power, the radio waves 21 and 22 have approximately the same phase. j ,2 j+1 Each wireless power transmission device 1C j ,1C j+1 transmits, so radio wave 2 j ,2 j+1 The power receiving device 3 can receive power that is almost the sum of the power received when only one of the two is received. j ,2 j+1 When the wireless power transmitting device 1C transmits power to three or more power receiving devices 3 at the same time, the power received by the power receiving device 3 can be set to a value close to the sum of the power transmitted by each wireless power transmitting device 1C.

[0194] In the wireless power transmission system 90C, a laser positioning device 89 measures the position of the power receiving device 3. An electric vehicle 82 equipped with a power receiving device 3 does not need to measure the position of the power receiving device 3, and therefore the configuration is simplified. A wireless power transmitting device 1C predicts the position of the power receiving device and radiates radio waves 2 in a direction toward the predicted position of the power receiving device. This allows the wireless power transmitting device 1C to transmit power to the power receiving device 3 more efficiently. Note that when a laser positioning device 89 measures the position of the power receiving device 3, it is not necessary to predict the position of the power receiving device.

[0195] Embodiment 5. The fifth embodiment is an embodiment in which the third embodiment is modified so as to predict the position of a moving object moving in the air. In the wireless power transmitting devices 1D1 and 1D2 constituting the wireless power transmitting system 90D, power transmission control devices 8D1 and 8D2 are modified from those in the wireless power transmitting devices 1B1 and 1B2.

[0196] The configuration of a wireless power transmitting device 1D will be described with reference to Fig. 25. Fig. 25 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to embodiment 5. Regarding Fig. 25, differences from Fig. 15 in the case of embodiment 3 will be described.

[0197] Compared with the power transmission control device 8B, the power transmission control device 8D has a power receiving device position predicting unit 69. In the power transmission control device 8D, the power transmission data calculation unit 21D, the state data storage unit 26D, and the control unit 27D are changed.

[0198] The state data storage unit 26D also stores a power receiving device predicted position 78. The power receiving device position 70D stores the positions of the power receiving device 3 at multiple recent points in time. The power receiving device predicted position 78 is the position of the power receiving device 3 predicted by the power receiving device position prediction unit 69 based on the power receiving device position 70D.

[0199] The power receiving device position prediction unit 69 estimates the latest power receiving device position P R (T m ) is stored in the state data storage unit 26D, the predicted time T h The predicted position of the power receiving device at P R (T h) is predicted at the first prediction time T h is the latest power receiving device position P R (T m ) is measured at time T mn The power receiving device position prediction unit 69 calculates the power receiving device position P R (T m ) is approximated to the first or second order to obtain the predicted position of the power receiving device P R (T h ) to predict.

[0200] The power transmission data calculation unit 21D calculates the power transmission antenna position P S j From the power receiving device predicted position P R (T h ) as the power transmission direction θ j Furthermore, the antenna front direction ζ j Using the above, the power transmission direction θ in the XYZ coordinate system j is the radial direction φ in the RST coordinate system. j The antenna front direction ζ j is stored in the structure data storage unit 26 as the antenna front direction 60. j As,P S j and P R (T h The power transmission data calculation unit 21D calculates the distance between the power receiving device predicted position P R (T h The power transmission data calculation unit 21D differs from the power transmission data calculation unit 21C in that it uses an azimuth angle rotation mechanism 85. j The difference is that it does not take into account the rotation of

[0201] The control unit 27D, like the control unit 27C, h , adjustment target time T A and phase adjustment time T N Set.

[0202] The power transmission data calculation unit 21D periodically calculates the power receiving device predicted position P R (T h ) depending on the transmission distance G j , power transmission direction θ j and radial direction φ j Calculate.

[0203] The operation of the wireless power transmission system 90D will be described. Fig. 26 and Fig. 27 are flowcharts for explaining the operation of the wireless power transmission system according to the fifth embodiment. Fig. 26 shows the first part of the flowchart, and Fig. 27 shows the second part of the flowchart. Regarding Fig. 26 and Fig. 27, the points different from Fig. 16 and Fig. 17 in the case of the wireless power transmission system 90B will be described.

[0204] S05 and S28 are changed to S05C and S22D. S05C is the same as the operation in the wireless power transmission system 90C. S29 and S30 are changed to S24C and S25C. S24C and S25C are the same as the operation in the wireless power transmission system 90C. S31 is changed to S26D.

[0205] In step S05C, the control unit 27D calculates the predicted time T h and the adjustment target time T A Set the phase adjustment time T N Adjust the target time T so as to satisfy equation (59). A Set from the prediction time T h and the adjustment target time T A is the latest power receiving device position P R (T m ) is measured at time T mn T f The phase adjustment time T N is the adjustment target time T A (T f / 2) earlier.

[0206] In step S22D, the power receiving device position prediction unit 69 predicts the predicted time T h The predicted position of the power receiving device at P R(T h The power transmission data calculation unit 21D predicts the power receiving device predicted position P R (T h ) to the power transmission direction θ j , radial direction φ j and transmission distance G j Calculate the power transmission direction θ j in the radial direction φ j When converting the antenna front direction ζ j Use.

[0207] Phase adjustment time T N If the current time t has not been set (NO in S23), in step S24C, NOW But (T A +(T f / 2)‐T c ) or later. NOW But (T A +(T f / 2)‐T c ) or later (YES in S24C), in step S25C, the adjustment target time T A and prediction time T h T A =T A +T f , T h =T A and the phase adjustment time T N T N =T A -(T f / 2).

[0208] In step S26D, the same process as in S22D is executed.

[0209] In the wireless power transmission system 90D, the wireless power transmission devices 1D1 and 1D2 can also obtain a common reference signal based on the positioning signal 6 from the positioning satellite 5. The wireless power transmission devices 1D1 and 1D2 can control the phase of each radio wave 21 and 22 based on the common reference signal 9. When the power receiving device 3 receives power, the wireless power transmission devices 1D1 and 1D2 transmit the radio waves 21 and 22 of approximately the same phase, so that the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Even when the power receiving device 3 moves, the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Similarly, even when there are three or more wireless power transmission devices 1D, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1D.

[0210] The wireless power transmitting device 1D predicts the position of the power receiving device 3 and radiates the radio waves 2 in a direction toward the predicted position of the power receiving device 3. Therefore, the wireless power transmitting device 1D can transmit power to the power receiving device 3 more efficiently.

[0211] Embodiment 6 The sixth embodiment is a modification of the fifth embodiment in which a wireless power transmitting device is mounted on an aerial moving object. A moving object equipped with a power receiving device is called a power receiving moving object. A moving object equipped with a wireless power transmitting device is called a power transmitting moving object. There are a plurality of power transmitting moving objects. Each power transmitting moving object moves following the movement of the power receiving moving object so that the distance between the power receiving device and the power transmitting antenna is within a predetermined range.

[0212] The configuration of the wireless power transmission system according to the sixth embodiment will be described with reference to FIG. 28. FIG. 28 is a schematic diagram showing the configuration of the wireless power transmission system according to the sixth embodiment of the present disclosure. The wireless power transmission system 90E is composed of a power receiving device 3 mounted on an airship 81, which is an airborne moving body, and two wireless power transmitting devices 1E1 and 1E2 mounted on two small aircraft 911 and 912, one each. The airship 81 and the small aircraft 911 and 912 are unmanned. Each of the small aircraft 911 and 912 moves following the airship 81 so that the distance between the small aircraft 911 and 912 and the airship 81 is within a range in which wireless power can be transmitted. The positions of the power receiving device 3 and the wireless power transmitting devices 1E1 and 1E2 are expressed in an XYZ coordinate system. The airship 81 is a power receiving mobile body mounting the power receiving device 3. The small aircraft 91 is a power transmitting mobile body mounting a power transmitting antenna 4. The small aircraft 91 is a moving body different from the airship 81.

[0213] The configuration of the wireless power transmission system according to the sixth embodiment will be described with reference to FIG. 29. FIG. 29 is a diagram for explaining the configuration of the wireless power transmission system according to the sixth embodiment. The small aircraft 91 is equipped with an attitude sensor 36S, a communication device 37S, a flight control device 92, and a wireless power transmission device 1E. The attitude sensor 36S measures the attitude of the small aircraft 91. The flight control device 92 controls the small aircraft 91. The communication device 37S is used for communication with a ground control device 39S that controls the small aircraft 91, and an on-board control device 38E mounted on the airship 81. The on-board control device 38E mounted on the airship 81 communicates with the ground control device 39E and the power transmission control device 8E via the communication device 37. The on-board control device 38E is used for communication with a ground control device 39S that controls the small aircraft 91, and an on-board control device 38E mounted on the airship 81. f Each time the time elapses, the position of the power receiving device 3 is calculated based on the position and attitude data of the GNSS receiver 35 and the structure data of the airship 81. The calculated position of the power receiving device 3 is transmitted to the power transmission control devices 8E1, 8E2 by the communication device 37. An attitude sensor 36S and a flight control device 92, which are devices external to the wireless power transmitting device 1E, are also connected to the LAN 30 of the wireless power transmitting device 1E.

[0214] The wireless power transmission system 90E does not have a ground network. The ground control device 39E and the ground control devices 39S1 and 39S2 may be connected to a ground network, but the wireless power transmission system 90E does not use the ground network for wireless power transmission.

[0215] The configuration of the wireless power transmitting device 1E will be described with reference to Fig. 30. Fig. 30 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to the sixth embodiment. Regarding Fig. 30, differences from Fig. 25 in the case of the fifth embodiment will be described. The wireless power transmitting device 1E has a power transmitting antenna 4, a reference signal processing device 7E, and a power transmission control device 8E. The power transmitting antenna 4 is the same as that in the first embodiment. The reference signal processing device 7E calculates the position of the reference signal processing device 7E from the positioning signal 6 and periodically transmits it to the power transmission control device 8E. The power transmission control device 8E communicates with an on-board control device 38E via a communication device 37S.

[0216] The reference signal processing device 7E has a modified clock error measurement unit 15E. The clock error measurement unit 15E measures not only the clock error Δt but also the position P G The clock error measurement unit 15E also calculates the position P G Assuming that the error in the clock counter value is Δx, the error Δx can be calculated by using equations (1A), (2A), (14), and (15). R k Furthermore, the error Δx R k Sum of squares F x (P G , Δx) is minimized. G and calculate the error Δx. Error xT R k is the assumed position P G and the clock counter value x0 at the reception time determined for the error Δx R k and the clock counter value x at the actual reception time R k is the error between

[0217] The power transmission control device 8E includes a power transmission antenna position acquisition unit 28E and a power transmission antenna position prediction unit 93, as compared with the power transmission control device 8D. In the power transmission control device 8E, the power transmission data calculation unit 21E, the power receiving device position acquisition unit 29E, the structure data storage unit 25E, the state data storage unit 26E, and the control unit 27E are changed. The control unit 27E also controls the power transmission antenna position acquisition unit 28E and the power transmission antenna position prediction unit 93. The control unit 27E calculates the power transmission antenna position from the current time t NOW Based on the adjustment target time T A and phase adjustment time T N Set.

[0218] The structure data storage unit 25E also stores aircraft structure data 94 representing the structure data of the small aircraft 91. The aircraft structure data 94 is data representing the relative positional relationship between the reference signal processing device 7E and the power transmitting antenna 4, and data representing the direction in which the front direction of the power transmitting antenna 4 faces with respect to the body of the small aircraft 91.

[0219] The state data storage unit 26E also stores the power transmitting antenna position 59E, the antenna front direction 60E, attitude data 95, and a power transmitting antenna predicted position 96. The attitude data 95 is data that stores the attitude data of the small aircraft 91 measured by the attitude sensor 36S. The power transmitting antenna predicted position 96 is the power transmitting antenna predicted position P S (T h ) at a plurality of nearby points in time. The state data storage unit 26E has changed the contents stored in the power transmitting antenna position 59E and the antenna front direction 60E. The power transmitting antenna position 59E stores the position of the power transmitting antenna 4 at a plurality of nearby points in time. The antenna front direction 60E stores the antenna front direction ζ at a plurality of nearby points in time. j Remember.

[0220] The power receiving device position acquisition unit 29E acquires the position of the power receiving device 3 transmitted from the on-board control device 38E. m The power receiving device position P R (T m ) is stored in the state data storage unit 26E as the power receiving device position 70D.

[0221] The power transmitting antenna position acquisition unit 28E detects the position P G , small aircraft 91 j Based on the structure data of the small aircraft 91 and the attitude data measured by the attitude sensor 36S, m The transmitting antenna position P S j (T m ) and the antenna front direction ζ j The time T m The transmitting antenna position P S j (T m ) is stored in the state data storage unit 26E as the power transmitting antenna position 59E.

[0222] Power receiving device position P R (T m ) and the transmitting antenna position P S (T m ) is calculated at the same time and in the same period. R (T m ) and the period and timing for measuring the power transmission antenna position P S (T m ) may be different from the period and timing at which the period and timing are measured.

[0223] The power transmitting antenna position prediction unit 93 predicts the power transmitting antenna position P S (T m ) is approximated to the first or second order to obtain the predicted position of the transmitting antenna P S (T h ) to predict.

[0224] The power transmission data calculation unit 21E calculates the power transmission antenna predicted position P S j (T h ) to the predicted position P R (T h ) as the power transmission direction θ j Furthermore, the antenna front direction ζj Using the above, the power transmission direction θ in the XYZ coordinate system j is the radial direction φ in the RST coordinate system. j The power transmission data calculation unit 21E converts the power transmission distance G j As,P S j (T h ) and P R (T h The power transmission data calculation unit 21E calculates the distance between the power transmission antenna predicted position P S j (T h ) is used.

[0225] The control unit 27E, like the control unit 27D, h , adjustment target time T A and phase adjustment time T N Set.

[0226] The power transmission data calculation unit 21E periodically calculates the power receiving device predicted position P R (T h ), and the power transmitting antenna predicted position P S j (T h ) depending on the transmission distance G j , power transmission direction θ j and radial direction φ j Calculate.

[0227] The operation of the wireless power transmission system 90E will be described. Fig. 31 and Fig. 32 are flowcharts for explaining the operation of the wireless power transmission system according to the fifth embodiment. Fig. 31 is the first part of the flowchart, and Fig. 32 is the second part of the flowchart. Regarding Fig. 31 and Fig. 32, the points different from Fig. 26 and Fig. 27 in the case of the wireless power transmission system 90D will be described. S01E, S22E, and S26E have been changed.

[0228] In step S01E, the structure data storage unit 25E stores structure data including the airframe structure data 94. The power transmitting antenna position 59E is stored in the status data storage unit 26E.

[0229] In step S22E, the power receiving device position prediction unit 69 predicts the predicted time T h The predicted position of the power receiving device at P R (T h The power transmitting antenna position acquisition unit 28E predicts the power transmitting antenna position P S j (T m ) and the antenna front direction ζ j The power transmitting antenna position prediction unit 93 calculates the power transmitting antenna predicted position P S (T h The power transmission data calculation unit 21E predicts the power transmission antenna predicted position P S (T h ) to the predicted position P R (T h ) is the power transmission direction θ j Furthermore, the radial direction φ j and transmission distance G j Calculate.

[0230] In step S26E, the newly set prediction time T h In S26E, the same process as in S22E is executed. R (T h ), the transmitting antenna position P S j (T m ), antenna front direction ζ j , the predicted position of the power transmitting antenna P S (T h ), power transmission direction θ j , radial direction φ j and transmission distance G j Calculate.

[0231] In the wireless power transmission system 90E, the wireless power transmission devices 1E1 and 1E2 can also obtain a common reference signal based on the positioning signal 6 from the positioning satellite 5. The wireless power transmission devices 1E1 and 1E2 can control the phase of each radio wave 21 and 22 based on the common reference signal 9. When the power receiving device 3 receives power, the wireless power transmission devices 1E1 and 1E2 transmit the radio waves 21 and 22 of approximately the same phase, so that the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Even when the power transmission antenna 4 and the power receiving device 3 move, the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21 and 22 is received. Similarly, even when the number of wireless power transmission devices 1E is three or more, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1E.

[0232] The wireless power transmitting device 1E predicts the positions of the power transmitting antenna 4 and the power receiving device 3, and radiates the radio wave 2 in a direction from the predicted position of the power transmitting antenna to the predicted position of the power receiving device. Therefore, the wireless power transmitting device 1E can transmit power to the power receiving device 3 more efficiently.

[0233] When both the power receiving device and the power transmitting antenna are moving, it is not necessary to predict at least one of the power receiving device position and the power transmitting antenna position. R (T m ), and the power transmitting antenna position P S j (T m ) according to the power transmission data calculation unit, the power transmission antenna position P S j (T m ) to the power receiving device position P R (T m ) as the power transmission direction θ j Calculate the transmitting antenna position P S j (T m ) and the power receiving device position P R (T m ) as the transmission distance G jThe power receiving device predicted position P R (T h ), and the power transmitting antenna position P S j (T m ) according to the power transmission data calculation unit, the power transmission antenna position P S j (T m ) to the predicted position P R (T h ) as the power transmission direction θ j Calculate the transmitting antenna position P S j (T m ) and the predicted position of the power receiving device P R (T h ) as the transmission distance G j The power receiving device position P R (T m ), and the predicted position P of the power transmitting antenna periodically predicted by the power transmitting antenna position prediction unit. S j (T h ) according to the power transmission data calculation unit, the power transmission antenna predicted position P S j (T h ) to the power receiving device position P R (T m ) as the power transmission direction θ j Calculate the predicted position of the transmitting antenna P S (T h ) and the power receiving device position P R (T m ) as the transmission distance G j may be calculated.

[0234] Embodiment 7 The seventh embodiment is a case where the distance to a moving object moving in the air is short compared to the size of the power transmitting antenna, and the power receiving device is in the range of the near field. p Instead, the radial direction φ j and transmission distance G jThis is an embodiment in which the first embodiment is modified so that the phases of element radio waves radiated from each element antenna are aligned at a radiation target position, which is a range including a position determined by. Wireless power transmitting devices 1F1 and 1F2 constituting a wireless power transmitting system 90F have power transmission control devices 8F1 and 8F2 modified with respect to wireless power transmitting devices 11 and 12. Any of the second to sixth embodiments may be modified so that the phases of element radio waves radiated from each element antenna are aligned at a radiation target position.

[0235] The configuration of a wireless power transmitting device 1F will be described with reference to Fig. 33. Fig. 33 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to embodiment 7. Regarding Fig. 33, differences from Fig. 2 in the case of embodiment 1 will be described.

[0236] The power transmission control device 8F does not have the directional phase command value calculation unit 23, but has a target position phase command value calculation unit 23F, as compared with the power transmission control device 8. The power transmission data calculation unit 21F, the radio wave emission control unit 24F, the state data storage unit 26F, and the control unit 27F are changed. The target position phase command value calculation unit 23F calculates the target position phase command value based on the power receiving device position P R A radiation target position is determined as a range of positions including the above, and each element antenna 41 of the power transmitting antenna 4 is p Element radio waves radiated by 2E p The target position phase command value is calculated so that the phases of the target and target positions are aligned. T The radiation target position is the power transmission antenna position P S j The relative position range is expressed based on the power receiving device position P R is the power transmission direction θ j and transmission distance G j This is the position determined by.

[0237] In the wireless power transmitting device 1F, the radiation target position is one point in a three-dimensional space. Setting the radiation target position as one point is one example of the radiation target position being a range of positions in a three-dimensional space. The radiation target position may be not only a single point position but also a range of positions. The size of the range of the radiation target position is determined by the power transmission direction θ j and transmission distance Gj The size of the range of the radiation target position may be determined based on the measurement accuracy of the radio wave emitted by the wireless power transmitting device. The size of the range of the radiation target position may be fixed or may be changed according to the situation.

[0238] In order to explain the processing contents of the power transmission data calculation unit 21F and the target position phase command value calculation unit 23F, the following variables are defined. The already defined variables are also shown. P S j : Position of transmitting antenna. Transmitting antenna 4 j The center (Nm number of element antenna 41 Nm ) location. P T : Radiation target position. Power transmission antenna position P S j The position relative to. φ j : Radiation direction. Power transmitting antenna position P S j Radiation target position P T and the direction towards the transmitting antenna 4 j The angle between the front and the G j : Transmission distance. Transmission antenna position P S Radiation target position P T Distance to. G p : Radiation target position P from element antenna 41p T Distance to. Δ p :G p and G j The difference between Δ p =G p -G j θ G p : Target position phase command value. Radial direction φ j , radiation target position P at distance G T A target position phase command value that is an amount by which the element antenna 41 with the number p changes the phase when transmitting power to the element antenna 41p. p and the transmitting antenna position P S jThe phase difference between the element radio wave 2E emitted from

[0239] The power transmission data calculation unit 21F calculates the element antenna distance G p and the element antenna distance difference Δ p Also calculate the radial direction φ j Element antenna distance G at p and the element antenna distance difference Δ p can be calculated using the following formula: G p =√((G j +(p-Nm)*L*sin(φ j )) 2 +(p-Nm)*L*cos(φ j ) 2 ) =√(G j 2 +2*G j *sin(φ j )*(p-Nm)*L+((p-Nm)*L) 2 ) (64) Δ p =√(G j 2 +2*G j *sin(φ j )*(p-Nm)*L+((p-Nm)*L) 2 )-G j =(p-Nm)*L*(2*G j *sin(φ j )+(p-Nm)*L) / (G p +G j ) (65)

[0240] From equation (64), (p-Nm)*L can be neglected and G j becomes larger (G j >>(p-Nm)*L) and G p / G j =1, and equation (65) becomes equation (65A) shown below. Δ p =(p-Nm)*L*sin(φ j ) (65A)

[0241] The target position phase command value calculation unit 23F calculates the target position phase command value θG p is calculated using the following formula: θ G p =(2*π)*(Δ p / λ) p=1,…,N (66)

[0242] By substituting equation (65) into equation (66), we obtain equation (66A) shown below. θ G p =(2*π)*(L / λ)*(p-Nm) *(2*G j *sin(φ j )+(p-Nm)*L) / (G p +G j ) p=1,…,N (66A) The power transmission data calculation unit 21F calculates the element antenna distance G p Calculate the element antenna distance difference Δ p When the target position phase command value calculation unit 23F does not calculate the target position phase command value θ G p is calculated using equation (66A).

[0243] Substituting equation (65A) into equation (66), we get the following: θ G p =(2*π)*(p-Nm)*(L / λ)*sin(φ j ) p=1,…,N (67) Target position phase command value θ G p The equation (67) for calculating the directional phase command value θ p This is the same as the formula for calculating the element antenna distance G p This means that there is little need to consider

[0244] The radio wave emission control unit 24F determines the distance phase command value δ 0j The target position phase command value θ G p The phase command value obtained by adding the p Phase command value ψ for j,p The phase command value ψj,p is calculated using the following formula: ψ j,p = δ 0j +θ G p (68)

[0245] The state data storage unit 26F does not store the directional phase command value 76, but stores the element antenna distance difference 97 and the target position phase command value 76F, in comparison with the state data storage unit 26. The element antenna distance difference 97 is the element antenna distance difference Δ p The target position phase command value 76F is data representing the target position phase command value θ G p This is data that stores the following.

[0246] The control unit 27F, like the control unit 27, adjusts the adjustment target time T A and phase adjustment time T N The control unit 27F controls a target position phase command value calculation unit 23F, rather than the directional phase command value calculation unit 23.

[0247] The operation of the wireless power transmission system 90F will be described. Fig. 34 and Fig. 35 are flowcharts for explaining the operation of the wireless power transmission system according to the seventh embodiment. Fig. 34 shows the first part of the flowchart, and Fig. 35 shows the second part of the flowchart. Regarding Fig. 34 and Fig. 35, the points different from Fig. 7 and Fig. 8 in the case of the wireless power transmission system 90 will be described. Steps S02F, S06F, and S15F have been changed.

[0248] In step S02F, the power transmission data calculation unit 21F calculates the power transmission direction θ j , radial direction φ j , transmission distance G j , element antenna distance G p and the element antenna distance difference Δ p Calculate.

[0249] In step S06F, the power transmission control device 8F j At the adjustment target time T A , phase adjustment time T N , transmission distance G jand the distance difference Δ p From the phase adjustment time T N Distance phase command value δ 0j , target position phase command value θ G p , phase command value ψ j,p , phase command value k p and LE timing number N LE p Specifically, the distance phase command value calculation unit 22 calculates the adjustment target time T A , phase adjustment time T N , and the transmission distance G j From the above, the distance phase command value δ 0j The target position phase command value calculation unit 23F calculates the distance difference Δ p From the above, the target position phase command value θ G p The radio wave emission control unit 24F calculates the phase command value ψ j,p , phase command value k p The radio wave emission control unit 24F calculates the distance phase command value δ 0j and the target position phase command value θ G p Therefore, in equation (23), the phase command value ψ j,p Calculate the phase command value ψ j,p From equation (29), the phase command value k p Calculate the phase command value k p From equation (30), the number of LE timings N LE p Calculate.

[0250] In step S15F, the power transmission control device 8F j At the adjustment target time T A , phase adjustment time T N , transmission distance G j and the target position phase command value θ G p From the phase adjustment time T N Distance phase command value δ 0j , phase command value ψ j,p , phase command value k p and LE timing number N LE pSpecifically, the distance phase command value calculation unit 22 calculates the adjustment target time T A , phase adjustment time T N and transmission distance G j From the phase adjustment time T N Distance phase command value δ 0j Further, the radio wave emission control unit 24F calculates the target position phase command value θ G p Using the phase command value ψ j,p , phase command value k p and LE timing number N LE p Calculate.

[0251] In the wireless power transmission system 90F, multiple wireless power transmission devices 1F1, 1F2 can obtain a common reference signal based on a positioning signal 6 from a positioning satellite 5. Each wireless power transmission device 1F1, 1F2 can control the phase of each radio wave 21, 22 based on a common reference signal 9. When the power receiving device 3 receives power, each wireless power transmission device 1F1, 1F2 transmits each radio wave 21, 22 of approximately the same phase, so that the power receiving device 3 can receive power that is approximately the sum of the power when only one of the radio waves 21, 22 is received. Similarly, even if there are three or more wireless power transmission devices 1F, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1. Wireless power transmission device 1F j is the transmission distance G j is transmitting antenna 4 j It can transmit power efficiently even when it is not in the far field relative to the size of the

[0252] Embodiment 8 In the eighth embodiment, the radiation direction φ j and transmission distance G j In this embodiment, the fifth embodiment is modified so that the phases of element radio waves radiated from the element antennas are aligned at a radiation target position, which is a range including a position determined by the range. In the wireless power transmitting devices 1G1 and 1G2 constituting the wireless power transmitting system 90G, power transmission control devices 8G1 and 8G2 are modified from the wireless power transmitting devices 1D1 and 1D2.

[0253] The configuration of a wireless power transmitting device 1G will be described with reference to Fig. 36. Fig. 36 is a block diagram illustrating the configuration of a wireless power transmitting device constituting a wireless power transmitting system according to embodiment 8. Regarding Fig. 36, differences from Fig. 25 in the case of embodiment 5 will be described.

[0254] Compared to the power transmission control device 8D, the power transmission control device 8G does not have a directional phase command value calculation unit 23, but has a target position phase command value calculation unit 23F. The power transmission data calculation unit 21G, the radio wave emission control unit 24F, and the state data storage unit 26G are changed. The target position phase command value calculation unit 23F and the radio wave emission control unit 24F are the same as those of the power transmission control device 8F.

[0255] The power transmission data calculation unit 21G, like the power transmission data calculation unit 21D, calculates the power transmission direction θ j , radial direction φ j , transmission distance G j Further, the power transmission data calculation unit 21G calculates the element antenna distance G in the same manner as the power transmission data calculation unit 21F. p and the element antenna distance difference Δ p Calculate.

[0256] Compared with state data storage unit 26D, state data storage unit 26G does not store directional phase command value 76, but stores element antenna distance difference 97 and target position phase command value 76F.

[0257] The control unit 27G, like the control unit 27C, h , adjustment target time T A and phase adjustment time T N The control unit 27G controls a target position phase command value calculation unit 23F instead of the directional phase command value calculation unit 23.

[0258] The operation of the wireless power transmission system 90G will be described. Fig. 37 and Fig. 38 are flowcharts for explaining the operation of the wireless power transmission system according to the eighth embodiment. Fig. 37 is the first part of the flowchart, and Fig. 38 is the second part of the flowchart. Regarding Fig. 37 and Fig. 38, differences from Fig. 26 and Fig. 27 in the case of the wireless power transmission system 90D will be described. Steps S22G, S06F, S15F, S26G, and S27G have been changed. S06F and S15F are the same processes as those in the case of the wireless power transmission system 90F. Also, in S27G, the same process as S06F is executed.

[0259] In step S22G, the power receiving device position prediction unit 69 predicts the predicted time T h The predicted position of the power receiving device at P R (T h The power transmission data calculation unit 21G predicts the power receiving device predicted position P R (T h ) to the power transmission direction θ j , radial direction φ j , transmission distance G j , element antenna distance G p and the element antenna distance difference Δ p Calculate.

[0260] In step S26G, the same process as in S22G is executed.

[0261] In the wireless power transmission system 90G, the wireless power transmission devices 1G1, 1G2 can obtain a common reference signal based on the positioning signal 6 from the positioning satellite 5. The wireless power transmission devices 1G1, 1G2 can control the phase of each radio wave 21, 22 based on the common reference signal 9. When the power receiving device 3 receives power, the wireless power transmission devices 1G1, 1G2 transmit the radio waves 21, 22 of approximately the same phase, so the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21, 22 is received. Even when the power receiving device 3 moves, the power receiving device 3 can receive power that is approximately close to the sum of the power when only one of the radio waves 21, 22 is received. Similarly, even when there are three or more wireless power transmission devices 1G, the power received by the power receiving device 3 can be set to a value that is approximately the sum of the power transmitted by each wireless power transmission device 1G. Wireless power transmission device 1Gj is the transmission distance G j is transmitting antenna 4 j It can transmit power efficiently even when it is not in the far field relative to the size of the

[0262] The wireless power transmitting device 1G predicts the position of the power receiving device 3 and radiates the radio waves 2 in a direction toward the predicted position of the power receiving device 3. Therefore, the wireless power transmitting device 1G can transmit power to the power receiving device 3 more efficiently.

[0263] The embodiments can be freely combined, modified, or some of the components can be omitted, or the embodiments can be freely combined with some of the components omitted or modified. [Explanation of symbols]

[0264] 90, 90A, 90B, 90C, 90D, 90E, 90F, 90G wireless power transmission system, 1,11,12, 1A,1A1,1A2, 1B,1B1,1B2 wireless power transmission device, 1C,1C1,1C2,1C3, 1D,1D1,1D2 wireless power transmission device, 1E,1E1,1E2, 1F,1F1,1F2, 1G,1G1,1G2 wireless power transmission equipment, 2,21,22 radio waves, 2E element radio wave, 2E p Element antenna 41 p The element radio wave emitted by 3 power receiving device, 4, 41, 42 Transmission antenna 5 positioning satellites, 6 Positioning signals, 7, 71, 72, 73, 7A Reference signal processing device, 8, 81, 82, 8A, 8A1, 8A2, 8B, 8B1, 8B2 Power transmission control device, 8C, 8C1, 8C2, 8C3, 8D, 8D1, 8D2 power transmission control device, 8E, 8E1, 8E2, 8F, 8F1, 8F2, 8G, 8G1, 8G2 power transmission control device, 9 Reference signal, 10 positioning signal receiving antenna, 11 Positioning signal receiving unit, 12 clock counters, 13 Internal system clock, 14 Reception time measurement unit, 15, 15E Clock error measurement unit, 16 Time correction section, 17 Reference signal generation section, 18 Positioning signal demodulation unit, 19 Positioning signal analysis unit, 20, 20A data storage unit, 21, 21A, 21B, 21C, 21D, 21E, 21F, 21G Power transmission data calculation unit, 22, 22A distance phase command value calculation unit, 23-direction phase command value calculation unit, 23F target position phase command value calculation unit, 24, 24F Radio wave emission control section, 25, 25A, 25C, 25E ​​structural data storage unit, 26, 26A, 26B, 26C, 26D, 26E, 26F, 26G status data storage unit, 27, 27A, 27B, 27C, 27D, 27E, 27F, 27G control section, 28 Transmission antenna position calculation unit, 28E power transmission antenna position acquisition unit, 29, 29C, 29E Power receiving device position acquisition unit, 30,301,302LAN, 31 receiving antenna, 32 rectifier circuit, 33 Power synthesis circuit, 34 Storage batteries, 35 GNSS receivers, 36, 36S, 36S1, 36S2 attitude sensor, 37, 37S, 37S1, 37S2 communication device, 38, 38E On-board control device, 39, 39E, 39S, 39S1, 39S2 Ground control device, 40 terrestrial networks, 41 element antenna, 42 Amplifiers, 43 Fractional-N PLL synthesizer (Fractional-N PLL synthesizer, F-PLL), 44 Reference signal distribution circuit, 45 control circuit, 46 General-purpose PLL-ICs, 47 Voltage Controlled Oscillator (VCO), 48 Loop filter (LF), 49 Serial-to-parallel conversion circuit (SPI), 50 Fractional Modulator (MOD), 51 spreading code, 52 Own device position, 53 Satellite orbit information, 54 Reference time, 55 Reference counter value, 56 resets, 57 Receive counter value, 58 Counter value error, 59, 59A, 59C, 59E Transmission antenna position; 60, 60A, 60C, 60E Antenna front direction, 61 Transmitting antenna constant, 62 wavelengths, 63 division number, 64 variable divider (÷N), 65 Phase frequency comparator (PFD), 66 Orbit information, 67 Road section information, 68 Azimuth angle rotation mechanism control unit, 69 Power receiving device position prediction unit, 70, 70B, 70C, 70D Power receiving device position, 71 Transmission distance, 72 Transmission direction, 73 Radiation direction, 74, 74A Phase adjustment target, 75 Distance phase command value, 76, 76C Direction phase command value, 76F Target position phase command value, 77 F-PLL control data, 78 Expected location of power receiving device, 79 Azimuth rotation angle, 80, 801, 802 power satellites, 81 Airship (airborne vehicle), 82 Electric vehicles (mobile vehicles), 83 road, 84,841,842,843,844 road sections, 85,851,852,853Azimuth rotation mechanism, 86 beacon signal, 87 Beacon transmitter, 88,881,882,883 beacon receiver, 89,891,892,893 Laser positioning device, 91,911,912 small airplanes, 92 Flight control device, 93 Power transmission antenna position prediction unit, 94 Aircraft structure data, 95 attitude data, 96 Predicted location of transmitting antenna, 97 Element antenna distance difference.

Claims

1. a reference signal processing device that receives a positioning signal transmitted by a positioning satellite and generates a reference signal having a determined frequency and a determined phase based on the positioning signal; a phased array antenna including a plurality of element antennas that radiate radio waves, a reference signal distribution circuit that distributes the reference signal, and a plurality of element modules provided for each of a predetermined number of the element antennas to which the distributed reference signal and a phase instruction signal are input, each of the element modules having a frequency obtained by multiplying a frequency of the reference signal by a predetermined multiple and a phase indicated by the phase instruction signal, a fractional-N type PLL synthesizer that generates a transmission signal to be radiated as the radio waves from the element antennas, and an amplifier that amplifies the transmission signal, and a power transmitting antenna that transmits power to a power receiving device by the radio waves and is capable of changing a radiation direction, which is a direction in which the radio waves are radiated; a power transmission control device that generates the phase instruction signal and inputs the phase instruction signal to the power transmitting antenna, The power transmission control device includes: a power transmission data calculation unit that calculates a power transmission direction, which is a direction from the power transmitting antenna position to the power receiving device position, and a power transmission distance, which is a distance between the power transmitting antenna position and the power receiving device position, based on a power receiving device position that is the position of the power receiving device and a power transmitting antenna position that is the position of the power transmitting antenna; a distance phase command value calculation unit that calculates a distance phase command value based on the reference signal and the power transmission distance such that the power receiving device receives the radio wave having a determined target phase at a determined adjustment target time; a directional phase command value calculation unit that calculates, for each of the element antennas, a directional phase command value determined according to an arrangement position of each of the element antennas in the power transmitting antenna so that the radiation direction becomes the power transmitting direction; a phase command signal generating unit that generates the phase command signal based on a phase command value obtained by adding the distance phase command value and the direction phase command value.

2. a power receiving device position acquisition unit that acquires a power receiving device position, the power receiving device position being a position of the power receiving device mounted on a moving object; The wireless power transmitting device according to claim 1 , wherein the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power receiving device position acquired by the power receiving device position acquisition unit periodically.

3. a power transmitting antenna position acquisition unit that acquires a power transmitting antenna position, the power transmitting antenna position being a position of the power transmitting antenna mounted on a moving object; The wireless power transmitting device according to claim 1 , wherein the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power transmitting antenna position acquired by the power transmitting antenna position acquisition unit periodically.

4. a power receiving device position acquisition unit that acquires a power receiving device position, the power receiving device being a position of the power receiving device mounted on a moving object; a power transmitting antenna position acquisition unit that acquires a power transmitting antenna position, which is a position of the power transmitting antenna mounted on a power transmitting mobile body that is a mobile body different from a power receiving mobile body that is a mobile body on which the power receiving device is mounted, 2. The wireless power transmitting device according to claim 1, wherein the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power receiving device position periodically acquired by the power receiving device position acquisition unit and the power transmitting antenna position periodically acquired by the power transmitting antenna position acquisition unit.

5. a power receiving device position prediction unit for predicting a position of the power receiving device, The wireless power transmitting device of claim 2, wherein the power transmitting data calculation unit calculates the power transmission direction as a direction from the power transmitting antenna position toward the power receiving device predicted position, in accordance with the power receiving device predicted position, which is the power receiving device position periodically predicted by the power receiving device position prediction unit, and calculates the power transmission distance as a distance between the power transmitting antenna position and the power receiving device predicted position.

6. a power transmitting antenna position prediction unit for predicting a position of the power transmitting antenna, The wireless power transmitting device according to claim 3, wherein the power transmitting data calculation unit calculates the power transmission direction as a direction from the power transmitting antenna predicted position toward the power receiving device position in accordance with the power transmitting antenna predicted position, which is the power transmitting antenna position periodically predicted by the power transmitting antenna position prediction unit, and calculates the power transmission distance as a distance between the power transmitting antenna predicted position and the power receiving device position.

7. a power receiving device position prediction unit for predicting a position of the power receiving device; a power transmitting antenna position prediction unit that predicts a position of the power transmitting antenna, The wireless power transmitting device according to claim 4, wherein the power transmission data calculation unit calculates the power transmission direction as a direction from the power transmitting antenna predicted position toward the power receiving device predicted position in accordance with the power receiving device predicted position periodically predicted by the power receiving device position prediction unit and the power transmitting antenna predicted position periodically predicted by the power transmitting antenna position prediction unit, and calculates the power transmission distance as a distance between the power transmitting antenna predicted position and the power receiving device predicted position.

8. a reference signal processing device that receives a positioning signal transmitted by a positioning satellite and generates a reference signal having a determined frequency and a determined phase based on the positioning signal; a phased array antenna including a plurality of element antennas that radiate radio waves, a reference signal distribution circuit that distributes the reference signal, and a plurality of element modules provided for each of a predetermined number of the element antennas to which the distributed reference signal and a phase instruction signal are input, each of the element modules having a frequency obtained by multiplying a frequency of the reference signal by a predetermined multiple and a phase indicated by the phase instruction signal, a fractional-N type PLL synthesizer that generates a transmission signal to be radiated as the radio waves from the element antennas, and an amplifier that amplifies the transmission signal, and a power transmitting antenna that transmits power to a power receiving device by the radio waves and can change a radiation target position, which is a range of positions in a three-dimensional space that is a target for radiating the radio waves; a power transmission control device that generates the phase instruction signal and inputs the phase instruction signal to the power transmitting antenna, The power transmission control device includes: a power transmission data calculation unit that calculates a power transmission direction, which is a direction from the power transmitting antenna position to the power receiving device position, and a power transmission distance, which is a distance between the power transmitting antenna position and the power receiving device position, based on a power receiving device position that is the position of the power receiving device and a power transmitting antenna position that is the position of the power transmitting antenna; a distance phase command value calculation unit that calculates a distance phase command value based on the reference signal and the power transmission distance such that the power receiving device receives the radio wave having a determined target phase at a determined adjustment target time; a radiation target position determination unit that determines the radiation target position, which is a range of relative positions based on the position of the power transmitting antenna, so as to include the position of the power receiving device, which is determined by the power transmission direction and the power transmission distance; a target position phase command value calculation unit that calculates a target position phase command value for each of the element antennas, the target position phase command value being determined according to an arrangement position of each of the element antennas in the power transmitting antenna, so that the phases of element radio waves, which are the radio waves radiated from each of the element antennas, are aligned at the target radiation position; a phase command signal generating unit that generates the phase command signal based on a phase command value obtained by adding the distance phase command value and the target position phase command value.

9. a power receiving device position acquisition unit that acquires a power receiving device position, the power receiving device position being a position of the power receiving device mounted on a moving object; The wireless power transmitting device according to claim 8 , wherein the power receiving device position acquisition unit periodically acquires the power receiving device position, and the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power receiving device position.

10. a power transmitting antenna position acquisition unit that acquires a power transmitting antenna position, the power transmitting antenna position being a position of the power transmitting antenna mounted on a moving object; The wireless power transmitting device according to claim 8 , wherein the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power transmitting antenna position acquired by the power transmitting antenna position acquisition unit periodically.

11. a power receiving device position acquisition unit that acquires a power receiving device position, the power receiving device being a position of the power receiving device mounted on a moving object; a power transmitting antenna position acquisition unit that acquires a power transmitting antenna position, which is a position of the power transmitting antenna mounted on a power transmitting mobile body that is a mobile body different from a power receiving mobile body that is a mobile body on which the power receiving device is mounted, 9. The wireless power transmitting device according to claim 8, wherein the power transmission data calculation unit calculates the power transmission direction and the power transmission distance in accordance with the power receiving device position periodically acquired by the power receiving device position acquisition unit and the power transmitting antenna position periodically acquired by the power transmitting antenna position acquisition unit.

12. a power receiving device position prediction unit for predicting a position of the power receiving device, The wireless power transmitting device according to claim 9, wherein the power transmitting data calculation unit calculates the power transmitting direction as a direction from the power transmitting antenna position toward the power receiving device predicted position, in accordance with the power receiving device predicted position, which is the power receiving device position periodically predicted by the power receiving device position prediction unit, and calculates the power transmitting distance as a distance between the power transmitting antenna position and the power receiving device predicted position.

13. a power transmitting antenna position prediction unit for predicting a position of the power transmitting antenna, The wireless power transmitting device according to claim 10, wherein the power transmitting data calculation unit calculates the power transmission direction as a direction from the power transmitting antenna predicted position toward the power receiving device position in accordance with the power transmitting antenna predicted position, which is the power transmitting antenna position periodically predicted by the power transmitting antenna position prediction unit, and calculates the power transmission distance as a distance between the power transmitting antenna predicted position and the power receiving device position.

14. a power receiving device position prediction unit for predicting a position of the power receiving device; a power transmitting antenna position prediction unit that predicts a position of the power transmitting antenna, The wireless power transmitting device according to claim 11, wherein the power transmission data calculation unit calculates the power transmission direction as a direction from the power transmitting antenna predicted position toward the power receiving device predicted position in accordance with the power receiving device predicted position periodically predicted by the power receiving device position prediction unit and the power transmitting antenna predicted position periodically predicted by the power transmitting antenna position prediction unit, and calculates the power transmission distance as a distance between the power transmitting antenna predicted position and the power receiving device predicted position.

15. The wireless power transmitting device according to claim 2 , wherein the power receiving device position acquisition unit acquires the power receiving device position measured by the power receiving device.

16. a power receiving device position measuring device that measures the position of the power receiving device, The wireless power transmitting device according to claim 2 , wherein the power receiving device position acquisition unit acquires the power receiving device position measured by the power receiving device position measurement device.

17. 17. The wireless power transmitting device according to claim 1, wherein the phase instruction signal is a signal that instructs the fractional-N type PLL synthesizer to input a load enable signal at a timing corresponding to the phase.

18. 18. The wireless power transmitting device according to claim 17, wherein the load enable signal starts to be input to the fractional-N type PLL synthesizer at a phase adjustment time determined before the adjustment target time, and the phase instruction signal is determined according to the phase adjustment time.

19. The wireless power transmitting device according to claim 18 , wherein the phase adjustment time is determined to be a time after a calculation required time, which is determined to be longer than a time required to generate the phase instruction signal, has elapsed from a current time.

20. The reference signal processing device includes: A clock mechanism; a clock error calculation unit that receives the positioning signal and calculates a clock error that is an error between a satellite time that is a time output by a satellite clock device of the positioning satellite and the time output by the clock device; a clock error correction unit that corrects the clock error of the timepiece; 20. The wireless power transmitting device according to claim 1, further comprising: a reference signal generating unit that generates the reference signal based on the positioning signal and on a time output by the clock device in which the clock error has been corrected.

21. when the reference signal processing device corrects the clock error, the reference signal processing device notifies the power transmission control device that the clock error has been corrected; The wireless power transmitting device according to claim 20 when dependent on claim 18 or claim 19, wherein the power transmission control device that has received the notification calculates the phase adjustment time, the distance phase command value, the phase command value, and the phase instruction signal.

22. A power supply system comprising: a first wireless power transmitting device and a second wireless power transmitting device according to any one of claims 1 to 21; The frequency and phase of the reference signal are determined to be the same in the first wireless power transmitting device and the second wireless power transmitting device. A wireless power transmitting system, wherein the adjustment target time and the target phase are determined to be the same in the first wireless power transmitting device and the second wireless power transmitting device.

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