Antenna device, power supply device, and power supply method

Abstract

To provide an antenna device which can control the direction of the beam with simple calculation.SOLUTION: An antenna device comprises: a phase adjustment unit which adjusts phases of power transmission signals supplied to a plurality of antenna elements in the first axial direction and the second axial direction; an image acquisition unit which acquires an image through a fisheye lens; a position derivation unit which converts the first position with respect to the image acquisition unit of a marker included in the image to the second position in polar coordinates on the first plane including the first axis and the second axis; a first angle acquisition unit which obtains the first angle with respect to the third axis within the second plane of the projection position where the first position is projected to the second plane including the first axis and the third axis on the basis of the second position; a second angle acquisition unit which obtains the second angle formed by the second straight line connecting the reference position and the first position with respect to the first straight line connecting the reference position and the projection position of the image acquisition unit on the basis of the second position and the first angle; and a control unit which controls the phase adjustment unit such that the direction of the beam becomes the directions of the first angle and the second angle with respect to the reference position of the image acquisition unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, there is an antenna device including an antenna section having many antenna elements arranged in an array or subarray (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2008-523708 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when controlling the direction of a beam formed by radio waves radiated from a plurality of antenna elements, controlling the beam direction using the elevation angle and azimuth angle makes calculations complicated.

[0005] Therefore, an object of the present invention is to provide an antenna device, a power supply device, and a power supply method that can control the beam direction with simple calculations. [Means for solving the problem]

[0006] An antenna device according to an embodiment of the present invention includes an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis; a phase adjustment unit that adjusts the phase of a power transmission signal supplied to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image through a fisheye lens; a position derivation unit that converts a first position of a marker included in an image acquired by the image acquisition unit relative to the image acquisition unit into a second position in polar coordinates on a first plane including the first axis and the second axis; and a position derivation unit that converts the first position into a second position in polar coordinates on a first plane including the first axis and the second axis based on the second position. The image acquisition system includes a first angle acquisition unit that calculates a first angle of a projection position projected onto a second plane including a first axis and a third axis with respect to the third axis within the second plane; a second angle acquisition unit that calculates a second angle formed by a second line connecting a reference position of the image acquisition unit and the first position with respect to a first line connecting a reference position of the image acquisition unit and the projection position based on the second position and the first angle; and a control unit that controls the phase adjustment unit so that the direction of the beam radiated by the array antenna becomes a direction specified by the first angle and the second angle with respect to the reference position of the image acquisition unit. [Effects of the Invention]

[0007] It is possible to provide an antenna device, a power feeding device, and a power feeding method that can control the beam direction with simple calculations. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a power supply device 100 according to an embodiment. [Figure 2] 1 is a diagram illustrating a power supply device 100 according to an embodiment. [Figure 3] FIG. 2 is a diagram showing a polar coordinate system of the array antenna 110. [Figure 4] 10A and 10B are diagrams illustrating an example of antenna gain distribution in the horizontal and vertical directions of a quasi-millimeter wave band beam. [Figure 5] 10 is a diagram showing a state in which the power supply device 100 supplies power to the power receiving antenna 50B. FIG. [Figure 6] 10A and 10B are diagrams illustrating the results of a comparison between a power supply method for comparison and the power supply method of the embodiment. [Figure 7] 10A and 10B are diagrams illustrating time variations in parameter values ​​in a comparative power supply method and a power supply method according to an embodiment. [Figure 8] 10A and 10B are diagrams illustrating time variations in parameter values ​​in a comparative power supply method and a power supply method according to an embodiment. [Figure 9] 10 is a diagram showing a change over time in the amount of power received by a power receiving antenna 50B in the power feeding method of the embodiment. FIG. [Figure 10] 1A and 1B are diagrams illustrating application examples of a power supply device 100. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment to which an antenna device, a power supply device, and a power supply method of the present invention are applied will be described.

[0010] <Embodiment> 1 is a diagram illustrating a power supply device 100 according to an embodiment. The power supply device 100 includes an array antenna 110, a phase shifter 120, a microwave generation source 130, a camera 140, and a control device 150. The antenna device 100A according to the embodiment is the power supply device 100 without the microwave generation source 130.

[0011] The following explanation will be given using the XYZ coordinate system. Planar view refers to XY planar view. The X axis is an example of the first axis, the Y axis is an example of the second axis, and the Z axis is an example of the third axis. The XY plane is an example of the first plane, and the XZ plane is an example of the second plane.

[0012] The array antenna 110 includes, for example, N×N antenna elements 111, where N is an integer equal to or greater than 2. N of the N×N antenna elements 111 are arranged in the X direction (first axis direction) and N of them are arranged in the Y direction (second axis direction). That is, the N×N antenna elements 111 are arranged in N rows and N columns. The antenna elements 111 are numbered from 1 (#1) to N (#N) in the X direction. The antenna elements 111 are rectangular patch antennas in a plan view. The array antenna 110 may have a ground plate maintained at ground potential on the -Z direction side of the antenna elements 111. Note that, for example, the center of the positions of the N×N antenna elements 111 coincides with the origin of the XYZ coordinate system. The center of the positions of the N×N antenna elements 111 is an example of a reference position of the array antenna.

[0013] The following description will be made using FIG. 2 in addition to FIG. 1. FIG. 2 is a diagram illustrating a power supply device 100 according to an embodiment. Similarly to FIG. 1, FIG. 2 also illustrates a simplified configuration of the phase shifter 120 and its surroundings. In FIG. 2, the origin of the XYZ coordinate system is shifted for clarity. However, the following description will be given assuming that the origin of the XYZ coordinate system coincides with the center of the positions of the N×N antenna elements 111, as shown in FIG. 1. FIG. 2 also illustrates one antenna element 111 in four rows for each of N columns. FIG. 2 also illustrates components included in the control device 150 and a power receiving device 50. The power receiving device 50 has a marker 50A and a power receiving antenna 50B, and is fixed to, for example, an inner wall 51 of a tunnel. The inner wall 51 of the tunnel is an example of a wall, and the interior of the tunnel is an example of a space in which the marker 50A arranged along the inner wall 51 is present. As an example, the antenna device 100A and the power feeding device 100 are mounted on a work vehicle and travel through a tunnel, detect a marker 50A attached to an inner wall 51 of the tunnel, and transmit power toward the power receiving antenna 50B. When the antenna device 100A and the power feeding device 100 are mounted on the work vehicle, the XZ plane is a horizontal plane, the Y direction is a vertical direction, and the +Y direction is a vertically upward direction. The method executed by the power feeding device 100 to feed power to the power receiving device 50 is a power feeding method of the embodiment.

[0014] 2, marker 50A is located at an angle θb from the Z axis when viewed in the XZ plane. For ease of explanation, the XYZ coordinate system is shifted in FIG. 2, but because the origin of the XYZ coordinate system coincides with the center of the positions of the N×N antenna elements 111, angle θb is the angle between the Z axis and a line connecting the origin of the XYZ coordinate system and marker 50A in the XZ plane. When viewing the XZ plane from the +Y direction, angle θb is indicated as a positive value when tilted toward the +X direction, and as a negative value when tilted toward the -X direction.

[0015] One phase shifter 120 is connected to each of the N×N antenna elements 111. The phase shifter 120 is an example of a phase adjustment unit that adjusts the phase, and is an example of a phase shifter. A power transmission signal of the same phase is supplied to each phase shifter 120. The power transmission signals output from the N×N phase shifters 120 to the N×N antenna elements 111 have different phases. This makes it possible to control the angles of the beams formed by the radio waves radiated from the N×N antenna elements 111 in the horizontal and vertical directions.

[0016] The beam formed by the radio waves radiated from the N×N antenna elements 111 is synonymous with the beam output by the array antenna 110. In addition, the beam output by the array antenna 110 is synonymous with the beam output by the antenna device 100A and the power feeding device 100.

[0017] The microwave generation source 130 is connected to the N×N phase shifters 120 and supplies microwaves of a predetermined power. The microwave generation source 130 is an example of a radio wave generation source. The microwave frequency is, for example, a frequency in the 920 MHz band. Note that, although a configuration in which the power supply device 100 includes the microwave generation source 130 will be described here, the microwave is not limited to microwaves and may be any radio wave of a predetermined frequency.

[0018] Camera 140 is disposed between the N / 2-th antenna element 111 and the (N / 2+1)-th antenna element 111 in the X direction, and between the second antenna element 111 and the third antenna element 111 from the +Y direction side in the Y direction. Camera 140 has a fisheye lens 141 and a camera body 142. Camera 140 is an example of an image acquisition unit. In FIG. 2, camera body 142 is shown divided into an imaging unit 142A and an image processing unit 142B.

[0019] The fisheye lens 141 is a lens that employs an equidistant projection method. The center position of the fisheye lens 141 coincides with the center of the N×N antenna elements 111 and the origin of the XYZ coordinate system, for example. The center position of the fisheye lens 141 is an example of the reference position of the image acquisition unit. The camera body 142 is the portion of the camera 140 other than the fisheye lens 141, and may be a camera including a CMOS (Complementary Metal Oxide Semiconductor) image sensor or an infrared camera.

[0020] The camera 140 acquires an image including the marker 50A through the fisheye lens 141 and outputs the image data to the control device 150. The marker 50A is attached to the power receiving device 50, which has a power receiving antenna 50B that is a target to be irradiated with the beam output by the antenna device 100A and the power feeding device 100. The antenna device 100A and the power feeding device 100 determine the position of the marker 50A included in the image acquired by the camera 140, and irradiate the beam toward the power receiving antenna 50B.

[0021] The camera body 142 has an imaging unit 142A and an image processing unit 142B. The imaging unit 142A includes an imaging element and is a unit that acquires image data by capturing an image through the fisheye lens 141. The image processing unit 142B performs image processing such as binarization on the image data acquired by the imaging unit 142A, and outputs a pixel index to the control device 150. The pixel index is an XY coordinate value (address) that indicates the position of the marker 50A on the captured image screen.

[0022] Furthermore, the image processing unit 142B performs processing to obtain the contour of the marker 50A and processing to obtain the maximum contour, and outputs data representing the coordinates of the marker 50A to the control device 150.

[0023] The process of obtaining the contour of the marker 50A is a process of extracting one or more contours based on the distribution of pixel indexes obtained by binarizing the image data acquired by the imaging unit 142A.

[0024] The process of finding the largest contour is a process of finding the largest contour from one or more contours extracted based on the distribution of pixel indexes (maximum contour extraction process by counting the number of pixels within the contour). Finding the largest contour can eliminate the effects of noise, etc.

[0025] The process of reading out the coordinates of the marker 50A is a process of reading out the coordinates of the marker 50A from the largest contour obtained by the process of obtaining the maximum contour. The image processing unit 142B outputs the read coordinates of the marker 50A to the control device 150.

[0026] The control device 150 has a position derivation unit 151, an angle acquisition unit 152, an angle acquisition unit 153, a control unit 154, and a memory 155. The angle acquisition unit 152 is an example of a first angle acquisition unit, and the angle acquisition unit 153 is an example of a second angle acquisition unit. The control device 150 is realized by a computer including a CPU (Central Processing Unit) and a memory. The position derivation unit 151, the angle acquisition unit 152, the angle acquisition unit 153, and the control unit 154 are functional blocks representing the functions of a program executed by the control device 150. The memory 155 is a functional representation of the memory of the control device 150.

[0027] Before describing the position derivation unit 151, the angle acquisition unit 152, the angle acquisition unit 153, the control unit 154, and the memory 155, the polar coordinate system of the array antenna 110 will be described with reference to FIG. 3. FIG. 3 is a diagram showing the polar coordinate system of the array antenna 110. FIG. 3 shows the antenna elements 111 of the array antenna 110 in the power supply device 100 and the beam 115 output from the array antenna 110, and omits other components. FIG. 3 also shows a polar coordinate system on a plane 1 parallel to the XY plane. Plane 1 is the xy plane of the image data acquired by the imaging unit 142A and is identical to the xy plane used for the pixel index output from the image processing unit 142B. The x-axis and y-axis are parallel to the X-axis and Y-axis of the XYZ coordinate system, respectively, and are oriented in the same direction.

[0028] Furthermore, the position of the marker 50A in the XYZ coordinate system is P1, and the elevation angle of the line segment connecting the origin O and the position P1 is θ T The elevation angle is the angle relative to the +Z direction, and the azimuth angle is the angle relative to the +X direction, with a clockwise value being a positive value in a planar view seen from the +Z direction. Also, the angle relative to the +Z direction of the line segment connecting the origin O and position P1a, which is the projection of position P1 onto the XZ plane, is θ H The angle θ H is an example of the first angle. H is the elevation angle θ when the position of the marker 50A is close to the XZ plane. T is the angle obtained by projecting onto the XZ plane. H Similarly to the angle θb, when the XZ plane is viewed from the +Y direction side, a positive value indicates a deflection in the +X direction side, and a negative value indicates a deflection in the -X direction side.

[0029] The position P1 is an example of a first position, the position P1a is an example of a projection position, and the origin O is an example of a reference point of an XYZ coordinate system.

[0030] The angle between the line segment connecting the position P1a and the origin O and the line segment connecting the position P1 and the origin O is θ V The angle θ Vis an example of a second angle. The line segment connecting the position P1a and the origin O is an example of a first straight line. The line segment connecting the position P1 and the origin O is an example of a second straight line. Angle θ V indicates the angle of deflection toward the line segment connecting the position P1 and the origin O with respect to the line segment connecting the position P1a and the origin O, as a positive value.

[0031] Before explaining the position derivation unit 151, the angle acquisition unit 152, the angle acquisition unit 153, the control unit 154, and the memory 155, the necessity of scanning the beam 115 in the Y direction (vertical direction) will be explained using Figures 4 and 5.

[0032] 4A and 4B are diagrams showing an example of the distribution of antenna gain in the horizontal and vertical directions of a quasi-millimeter wave band beam. FIG. 4A shows the distribution of antenna gain in the horizontal direction, and FIG. 4B shows the distribution of antenna gain in the vertical direction. For example, when a beam 115 is formed using radio waves in the quasi-millimeter wave band of 24 GHz as a power transmission signal, the beam 115 becomes narrow as shown in FIGS. 4A and 4B. As an example, the half-value angle is 3 degrees. When using such a narrow beam 115, if the heights of the power receiving antenna 50B and the array antenna 110 are different, the angle θ in the XZ plane H If only scanning is performed, the beam 115 may not reach the power receiving antenna 50B. Note that, although a configuration using radio waves of 24 GHz in the quasi-millimeter wave band will be described here, the same applies when radio waves of approximately 20 GHz to approximately 30 GHz are used.

[0033] 5A to 5C show a state in which the power feeding device 100 feeds power to the power receiving antenna 50B. As an example, FIGS. 5A to 5C show a configuration in which the marker 50A and the power receiving antenna 50B are vertically separated, and the array antenna 110, the camera 140, and the control device 150 are also vertically separated. In FIGS. 5A to 5C, the center of the fisheye lens 141 does not coincide with the centers of the N×N antenna elements 111 and the origin of the XYZ coordinate system. In such a case, the camera 140 detects the position of the marker 50A, and the array antenna 110 radiates a beam 115 at a position that takes into account the positional deviations of the marker 50A and the power receiving antenna 50B, and the positional deviations of the array antenna 110 and the camera 140.

[0034] In Fig. 5(A), an image of a marker 50A in front of the camera 140 is acquired, and a beam 115 is emitted to a power receiving antenna 50B in front of the array antenna 110. The array antenna 110, the camera 140, and the control device 150 are separated in the vertical direction, but the heights of the power receiving antenna 50B and the array antenna 110 are the same, so when the work vehicle travels in the +X direction, the angle θ H is estimated and the beam 115 is scanned in the XZ plane, the beam 115 reaches the power receiving antenna 50B and power can be fed to the power receiving antenna 50B.

[0035] In FIG. 5B, the heights of the power receiving antenna 50B and the array antenna 110 are not aligned, so when the work vehicle travels in the +X direction, the camera 140 acquires an image of the marker 50A in front of it, and the angle θ H Even if only the angle θ is estimated and the beam 115 is scanned in the XZ plane to radiate the beam 115 in front of the array antenna 110, the beam 115 will not reach the power receiving antenna 50B and will not be able to feed power to the power receiving antenna 50B. In particular, when the beam 115 is in the millimeter wave band, the beam width is narrow, so if the heights of the power receiving antenna 50B and the array antenna 110 are not aligned, the angle θ H Even if the beam 115 is scanned in the XZ plane by estimating only the power receiving antenna 50B, the beam 115 will not reach the power receiving antenna 50B.

[0036] In this way, when the heights of the power receiving antenna 50B and the array antenna 110 are not aligned, as shown in FIG. 5C, when the work vehicle travels in the +X direction, an image of the marker 50A in front of the camera 140 is acquired, and the angle θ H is estimated to scan the beam 115 in the XZ plane, and the angle θ V is estimated and the beam 115 is scanned in the Y direction, the beam 115 emitted from the array antenna 110 reaches the power receiving antenna 50B and can feed power to the power receiving antenna 50B.

[0037] 5(A) to 5(C) have been described with respect to the problem that occurs when the marker 50A and the power receiving antenna 50B are separated in the vertical direction, and the array antenna 110 is separated in the vertical direction from the camera 140 and the control device 150. However, even when the marker 50A and the power receiving antenna 50B are at approximately the same height, and the array antenna 110 and the camera 140 are at approximately the same height, if the heights of the power receiving antenna 50B and the array antenna 110 are different, the same problem occurs.

[0038] For the above reasons, the antenna device 100A and the power supply device 100 are H is estimated to scan the beam 115 in the XZ plane, and the angle θ V is estimated and the beam 115 is scanned in the Y direction. Next, each part of the control device 150 that realizes such control will be described.

[0039] <Position derivation section 151> The position derivation unit 151 calculates the center of gravity of the image of the marker 50A based on the pixel index output from the image processing unit 142B. The pixel index output from the image processing unit 142B represents an equidistant projection image obtained through the fisheye lens 141. By this image processing, the position P1 of the marker 50A relative to the array antenna 110, which is included in the image acquired by the camera 140, is converted into a position P2 in polar coordinates on the plane 1. In this way, the position derivation unit 151 derives the position P2. The position P2 is the position of the center of gravity calculated by the position derivation unit 151. The position P2 is an example of a second position.

[0040] The position P2 is expressed by the radius vector r and the deflection angle φc from the origin O. The radius vector r is expressed by the focal length of the fisheye lens 141 as f L Then, r=f L θc is the elevation angle θ T The deviation angle φc is the same as the azimuth angle φ T The position derivation unit 151 obtains r·cosφc by mapping the radius vector r onto the X axis through the image processing described above. The position derivation unit 151 outputs data representing the position P2 to the angle acquisition unit 152.

[0041] <Angle acquisition unit 152> The angle acquisition unit 152 calculates the X coordinate (r·cosφc) of the mapping position P2a obtained by mapping the position P2 onto the X axis using the focal length f of the fisheye lens 141. L Divided by (r cosφc / f L ) at angle θ H In this way, the angle θ H The reason why the angle acquisition unit 152 can acquire the angle θ H is output to the control unit 154.

[0042] <Angle acquisition unit 153> The angle acquisition unit 153 acquires the position P2 and the angle θ H Based on this, the angle θ formed by the line connecting the origin O and the position P1a with respect to the line connecting the origin O and the position P1 is VThe angle acquisition unit 153 calculates the y-axis coordinate yc of the position P2 by the focal length f of the fisheye lens 141. L The quotient obtained by dividing by (yc / f L ) and angle θ H The angle (θ H / η) cosine (cos(θ H / η)) is multiplied by the angle θ V The predetermined coefficient η is 1.5 to 2, and more preferably η=1.75. For example, η being 1.75 means that η is a value within a numerical range that is 1.75 when rounded off to one decimal place. Note that when the angle acquisition unit 153 calculates the angle θ V The reason why the angle acquisition unit 153 can acquire the angle θ V is output to the control unit 154.

[0043] <Control unit 154> The control unit 154 determines whether the direction of the beam 115 emitted by the array antenna 110 is at an angle θ H The angle between the line segment connecting the position P1a and the origin O and the line segment connecting the position P1 and the origin O is θ V The phase shift amount (adjustment amount) in the phase shifter 120 connected to each antenna element 111 is controlled so that the angle θ H is acquired by the angle acquisition unit 152. V is acquired by the angle acquisition unit 153. Furthermore, the control unit 154 controls the output of the microwave generation source 130, controls the photography of the camera 140, and the like.

[0044] <Memory 155> Memory 155 is an example of a storage unit, and stores programs executed by position derivation unit 151, angle acquisition unit 152, angle acquisition unit 153, and control unit 154 when performing processing, data used in conjunction with the execution of the programs, data generated by the execution of the programs, and image data acquired by camera 140.

[0045] Next, the control unit 154 determines whether the direction of the beam 115 is at an angle θ HThe angle between the line segment connecting the position P1a and the origin O and the line segment connecting the position P1 and the origin O is θ V Before describing a method for controlling the amount of phase shift (adjustment amount) in the phase shifter 120 connected to each antenna element 111 so that the above-mentioned condition is satisfied, a comparative power feeding method will be described.

[0046] <Power supply method for comparison> Let θ be the elevation angle and azimuth angle as viewed from the center of the array antenna 110. T and φ T (See Figure 3.)

[0047] If the complex excitation coefficient of the nth element in the X direction and the mth element in the Y direction from the center of the array antenna 110 (origin O of the XYZ coordinate system) is Am, the pitch of the antenna elements 111 in the X direction is dx, and the pitch of the antenna elements 111 in the y-axis direction is dy, then the array factor representing the directivity of the array antenna 110 is expressed by the following equation (1). The pitch of the antenna elements 111 in the X direction is the distance between the centers of adjacent antenna elements 111 in the X direction, and the same applies to the Y direction.

[0048]

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[0049] In addition, in equation (1), u and v are the phase shift amounts for the pitch dx and dy of the antenna elements 111, respectively, and are expressed by the following equations (2) and (3).

[0050]

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[0051]

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[0052] If the complex excitation coefficients in the X and Y directions of the n-th antenna element 111 in the X direction and the m-th antenna element 111 in the Y direction are An and Am, and are expressed as Anm=An×Am, then equation (1) can be transformed into the following equation (4).

[0053]

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[0054] Equation (4) shows that the directivity of a quadrilateral planar array antenna such as the array antenna 110 can be expressed as the product of the directivities of the linear array antennas. T , azimuth φ T To maximize the gain, the excitation phase of the power transmission signal of the n-th antenna element 111 in the X direction and the m-th antenna element 111 in the Y direction is set to Ψn and Ψm, respectively, as expressed by the following equations (5) and (6).

[0055]

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[0056]

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[0057] To calculate Ψn and Ψm expressed by equations (5) and (6), the elevation angle θ T , azimuth φ T Here, the coordinates of the marker 50A are (X, Y, Z). Here, X is the road surface distance in the moving direction (X direction) of the power supply device 100, Y is the height deviation in the Y direction between the marker 50A and the center of the fisheye lens 141, and Z is the facing distance in the Z direction between the marker 50A and the center of the fisheye lens 141. The barycentric coordinates (X, Y, Z) of the marker 50A are calculated by multiplying the elevation angle θ T and azimuth angle φ T When converted into this, the following equation (7) is obtained.

[0058]

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[0059] When the image data acquired by the imaging unit 142A is projected onto the xy plane, the coordinates of the center of gravity of the marker 50A are determined by the focal length f L By equidistant projection of the marker 50A, the coordinates are converted into coordinates (xc, yc) given by the following equation (8): The elevation angle θc and the deviation angle φc are the elevation angle and the deviation angle of the center of gravity coordinates of the marker 50A in the projected coordinate system.

[0060]

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[0061] Since the radius vector r is expressed as the square root of the sum of the squares of xc and yc, the elevation angle θc and the deviation angle φc of the center of gravity coordinates of the marker 50A are estimated as in the following equations (9) and (10).

[0062]

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[0063]

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[0064] In the comparative power feeding method, to radiate the beam 115 radiated from the array antenna 110 to the power receiving antenna 50B, the elevation angle θc and the deflection angle φc estimated by the equations (9) and (10) are calculated, and the elevation angle θc is calculated by the equation (10) T and the deflection angle φc is used as the azimuth angle φ T and substituting it into equations (5) and (6), the phase of the transmission signal radiated by each antenna element 111 is controlled.

[0065] In the comparative power supply method, as shown in equations (9) and (10), two variables x c , y c To estimate the argument φc, we need to calculate the square root of the sum of the squares of the variables x c , y cIn addition, to calculate the phase Ψn in equation (5), the elevation angle θ T and azimuth angle φ T Calculate the cosine of the angle of elevation θ T and azimuth angle φ T In addition, to calculate the phase Ψm in equation (6), the elevation angle θ T and azimuth angle φ T Calculate the sine of the angle of elevation θ T and azimuth angle φ T It is necessary to multiply the sine of the equation. As such, the comparative power supply method requires a large amount of calculation, which makes it unsuitable for use cases that require high-speed calculation processing. Furthermore, it is necessary to perform calculations following changes in the elevation angle θc and the deflection angle φc that accompany movement of the power supply device. However, because the amount of calculation is large, a problem of large tracking errors in the calculation of the deflection angle φc when the displacement is large easily occurs. The power supply method of the embodiment solves these problems.

[0066] <Power supply method of the embodiment> On the premise that the height of the center of the array antenna 110 and the height of the power receiving antenna 50B are adjusted to be approximately the same, multiple antenna elements 111 with equal coordinates in the X direction and arranged in the Y direction are fed in phase and beam steered in the horizontal direction (X direction). In this case, the beam 115 is directed in the direction of a vector from the center of the array antenna 110 to the power receiving antenna 50B projected onto the horizontal plane (XZ plane) at the height of the center of the array antenna 110. The control angle at this time is angle θ H (See FIG. 3), which can be calculated from the geometric relationship between the position P1 and the position P1a using the following equation (11).

[0067]

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[0068] By expanding equation (11), equation (12) is obtained.

[0069]

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[0070] Here, the elevation angle θ H When is sufficiently small, tanθ H ≒θ H When the deflection angle φc is sufficiently small, cosφ≒1, and when the deflection angle φc is close to 90 degrees, cosφ≒0. Therefore, equation (12) can be transformed into the following equation (13).

[0071]

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[0072] In other words, if the target position is not too far from the XZ plane, the elevation angle θ H can be approximated as in equation (13). Using equation (13), the horizontal control angle θ H is achieved by simply multiplying the x-axis coordinate point xc of the estimated center of gravity by a constant, which allows for high-speed calculation.

[0073] Next, angle θ H In addition to horizontal directivity control using the angle θ V In order to perform high-speed vertical directivity control using V Similarly, the coordinates of the center of gravity of the marker 50A are (X, Y, Z). The distance on the horizontal plane from the center of the fisheye lens 141 to the marker 50A is d R Then, the vertical directivity control angle to be estimated is the angle θ V is expressed by the following equation (14).

[0074]

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[0075] Using equation (7) to convert the coordinates of the marker 50A into an elevation angle and an azimuth angle, the azimuth angle φ Tis equal to the deflection angle φc, the Y coordinate of the marker 50A can be expressed by the following equation (15).

[0076]

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[0077] The distance on the horizontal plane from the center of the fisheye lens 141 to the marker 50A is d R can be expressed by the following equation (16).

[0078]

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[0079] Substituting equations (15) and (16) into equation (14), the following equation (17) is obtained.

[0080]

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[0081] Furthermore, the following equation (18) is obtained from equation (12).

[0082]

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[0083] By substituting this equation (18) into equation (17), the following equation (19) is obtained.

[0084]

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[0085] The angle θ, which is the estimated vertical directivity control angle expressed by equation (19), V is approximated as in the following equation (20): By taking the arctangent of both sides of equation (19) and approximating it, equation (20) is obtained.

[0086]

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[0087] Here, η is a fitting parameter and is an example of a predetermined coefficient. The predetermined coefficient η is optimized to η=1.75 by computer simulation. η=1.75 means, for example, that the predetermined coefficient η is a value within a numerical range that becomes 1.75 when rounded to one decimal place. However, the predetermined coefficient η is not limited to 1.75 and may be a value within a range of 1.5 to 2. The predetermined coefficient η is more preferably η=1.75.

[0088] Furthermore, in the control method of the antenna device 100A and the power feeding device 100 of the embodiment, the horizontal phase Ψn and vertical phase Ψm of the power transmission signal adjusted in the phase shifter 120 connected to the n-th antenna element 111 in the X direction and the m-th antenna element 111 in the Y direction can be expressed by the following equations (21) and (22).

[0089]

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[0090]

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[0091] Here, the angle θ H and angle θ V By using equations (13) and (20), it can be easily calculated using the coordinates (xc, yc) of the image data obtained through the fisheye lens 141 projected onto the xy plane, and since the amount of calculation is small, it is possible to speed up the directivity control in the horizontal and vertical directions.

[0092] <Comparison of the power supply method for comparison and the power supply method of the embodiment> 6 is a diagram showing the results of a comparison between a power feeding method for comparison and the power feeding method of the embodiment. The power feeding method for comparison and the power feeding method of the embodiment are directivity control methods that control the directivity of the array antenna 110 in order to feed power from the array antenna 110 to the power receiving antenna 50B.

[0093] As shown in Fig. 6, in the comparative power supply method, the elevation angle θ T and azimuth angle φ T Then, the elevation angle θ T and azimuth angle φ T In order to estimate the angle of elevation θc, it is necessary to calculate the square root of the sum of the squares of the two variables xc and yc, and to divide the variables xc and yc and calculate the arctangent in equations (9) and (10). In addition to this, the calculation required for phase adjustment is to calculate the angle of elevation θc to find the phase Ψn. T and azimuth angle φ T Calculate the cosine of the elevation angle θ T and azimuth angle φ T Also, to calculate the phase Ψm, we need to multiply the cosine of the elevation angle θ T and azimuth angle φ T Calculate the sine of the angle of elevation θ T and azimuth angle φ T As such, the comparative power supply method requires a large amount of calculation, making it unsuitable for use cases that require high-speed calculation processing, and results in a large tracking error when calculating the argument φc, which has a large displacement.

[0094] In contrast, in the power supply method of the embodiment, the horizontal angle θ H and the vertical angle θ V The horizontal angle θ H and the vertical angle θ VTo estimate this, it can be easily calculated based on equations (13) and (20) using the coordinates (xc, yc) projected onto the xy plane of the image data obtained through the fisheye lens 141. Therefore, the power supply method of the embodiment requires a significantly smaller amount of calculation than the power supply method for comparison, and can achieve faster directivity control in the horizontal and vertical directions.

[0095] Fig. 7 is a diagram showing the time variation of parameter values ​​in a comparative power feeding method and the power feeding method of the embodiment. Fig. 7 shows the time variation of parameter values ​​when the opposing distance FD in the Z direction between the array antenna 110 and the power receiving antenna 50B is 4.0 m and the vertical positional deviation in the Y direction between the array antenna 110 and the power receiving antenna 50B is 0.5 m. The parameters of the power feeding method of the embodiment are sinθ H and sinθ V are shown by solid lines. The parameters of the comparative power supply method are sinθc·cosφc and sinθc·sinφc, shown by dashed lines. The parameters of the comparative power supply method require a large amount of calculation but are highly accurate.

[0096] Also, -48 ms on the time axis corresponds to the angle θ H The time at which the power supply device 100 passes in the X direction is equal to +15 degrees of the angle θ H The time it takes for the power supply device 100 to pass in the X direction through a position corresponding to 0 degrees of the angle θ H This is the time it takes for the power supply device 100 to pass through a position corresponding to -15 degrees of the angle θ in the X direction. H The position corresponding to 0 degrees is the position where the power receiving antenna 50B is located directly in front of the power feeding device 100 in the +Z direction. This also applies to the power feeding device using the comparative power feeding method.

[0097] As shown in FIG. 7, the sinθ H is approximately equal to sinθc·cosφc in the comparative power supply method, and is equal to sinθ VIt was confirmed that the sinθc·sinφc parameter of the power supply method for comparison was approximately equal to the sinθc·sinφc parameter of the power supply method for the embodiment. H and sinθ V It was confirmed that the approximate calculation was performed with very high accuracy.

[0098] Fig. 8 is a diagram showing the time variation of parameter values ​​in a comparative power feeding method and the power feeding method of the embodiment. Fig. 8 shows the time variation of parameter values ​​when the opposing distance FD in the Z direction between the array antenna 110 and the power receiving antenna 50B is 4.0 m and the vertical positional deviation in the Y direction between the array antenna 110 and the power receiving antenna 50B is 1.0 m. The parameters of the power feeding method of the embodiment are sinθ H and sinθ V The parameters of the power supply method for comparison are sinθc·cosφc and sinθc·sinφc, which are shown by dashed lines. The rest are the same as in Figure 7.

[0099] As shown in FIG. 8, the sinθ H is approximately equal to sinθc·cosφc in the comparative power supply method, and is equal to sinθ V It was confirmed that the sinθc·sinφc parameter of the power supply method for comparison was approximately equal to the sinθc·sinφc parameter of the power supply method for the embodiment. H and sinθ V It was confirmed that the approximate calculation was performed with very high accuracy.

[0100] 9 is a diagram showing the change over time in the amount of received power of the power receiving antenna 50B in the power feeding method of the embodiment. In FIG. 9, the horizontal angle θ is calculated when the opposing distance FD in the Z direction between the array antenna 110 and the power receiving antenna 50B is 4.0 m, and the positional deviation in the vertical direction (Y direction) between the array antenna 110 and the power receiving antenna 50B is 0.0 m (solid line), 0.5 m (dashed line), and 1.0 m (chain line). H and the vertical angle θ V9 also shows, for comparison, the amount of received power (integrated value) obtained by the power receiving antenna 50B by adjusting the horizontal angle θ when the opposing distance FD in the Z direction between the array antenna 110 and the power receiving antenna 50B is 4.0 m and the positional deviation in the Y direction between the array antenna 110 and the power receiving antenna 50B is 1.0 m. H Adjust only the vertical angle θ V The amount of received power (integrated value) when not adjusted is shown by the two-dot chain line.

[0101] As shown in Figure 9, the horizontal angle θ H and the vertical angle θ V When the vertical positional deviation in the Y direction between the array antenna 110 and the power receiving antenna 50B is adjusted, even if the vertical positional deviation in the Y direction between the array antenna 110 and the power receiving antenna 50B increases from 0.0 m (solid line) to 0.5 m (dashed line) and 1.0 m (chain line), the decrease in the received power is small, and it is found that even if the positional deviation is 0.5 m or 1.0 m, power can be sufficiently supplied to the power receiving antenna 50B. H Adjust only the vertical angle θ V When the horizontal angle θ is not adjusted, the amount of received power is approximately zero, and it was found that, with the quasi-millimeter wave beam 115, power cannot be fed if the facing distance FD is 4.0 m and the vertical positional deviation is 1.0 m. In other words, when the facing distance FD is 4.0 m and the vertical positional deviation is 1.0 m, H In addition to the vertical angle θ V By adjusting the above, it was confirmed that sufficient power supply was possible.

[0102] <Effects> The antenna device 100A includes an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, a phase shifter 120 that adjusts the phase of a power transmission signal supplied to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction, a camera 140 that acquires an image through a fisheye lens 141, a position derivation unit 151 that converts a position P1 of a marker 50A included in an image acquired by the camera 140 with respect to the camera 140 into a position P2 in polar coordinates on an XY plane including the X-axis and the Y-axis, and an angle θ with respect to the Z-axis in the XZ plane of a position P1a obtained by projecting the position P1 onto an XZ plane including the X-axis and the Z-axis based on the position P2. H and an angle acquisition unit 152 for obtaining the position P2 and the angle θ H Based on this, the angle θ formed by the second line connecting the reference position of the camera 140 and the position P1 with respect to the first line connecting the reference position of the camera 140 and the position P1a is V and the direction of the beam 115 emitted by the array antenna 110 is at an angle θ H and angle θ V Therefore, the horizontal angle θ H and the vertical angle θ V The angle θ can be easily calculated with a simple calculation that requires little computation. H and angle θ V Based on this, the beam 115 can be scanned horizontally and vertically.

[0103] Therefore, it is possible to provide the antenna device 100A that can control the direction of the beam 115 with simple calculations. Also, because the amount of calculation is small, it is possible to provide the antenna device 100A that is suitable for use cases that require high-speed calculation processing. Furthermore, even in the case of a narrow beam width such as the millimeter-wave beam 115, power can be reliably fed by scanning the beam 115 in the horizontal and vertical directions according to the horizontal and vertical positional deviations between the power receiving antenna 50B and the array antenna 110.

[0104] The angle acquisition unit 153 also calculates the Y-axis coordinate yc of the position P2 using the focal length f of the fisheye lens 141. L Divide by and add the angle θ H The angle θ is calculated by multiplying the cosine of the angle obtained by dividing by a predetermined coefficient η. V Therefore, the Y-axis coordinate yc of position P2 and the angle θ H and based on the angle θ V Therefore, the Y-axis coordinate yc of the position P2 and the angle θ H The angle θ can be calculated based on V It is possible to provide an antenna device 100A that can control the direction of the beam 115 by using the above.

[0105] The predetermined coefficient η is 1.5 to 2, so the angle θ V The approximate equation (20) can be obtained by using a predetermined coefficient η, which is a fitting parameter of an appropriate value, and the elevation angle θ T and azimuth angle φ T It is possible to calculate the positions of the marker 50A and the power receiving antenna 50B with the same accuracy as the comparative power feeding method based on the above.

[0106] The angle acquisition unit 152 also calculates the coordinate x of the mapping position P2a obtained by mapping the position P2 onto the X axis. c is divided by the focal length fL of the fisheye lens 141 and the resulting value is used as the angle θ H Therefore, the angle θ can be calculated by simple calculation. H can be obtained.

[0107] In addition, the coordinate xc of the mapping position P2a is expressed as the value obtained by multiplying the radius vector r in polar coordinates by the cosine of the argument φc, so the angle θ H can be obtained.

[0108] In addition, the control unit 154 adjusts the phase of the transmission signal supplied to the antenna element 111 that is nth (n is an integer of 2 or more) from the reference position of the array antenna 110 in the X-axis direction and mth (m is an integer of 2 or more) from the reference position of the array antenna 110 in the Y-axis direction to Ψn expressed by the following equation (23) in the X-axis direction, and adjusts it to Ψm expressed by the following equation (24) in the Y-axis direction.

[0109]

number

[0110]

number

[0111] Therefore, the angle θ H and angle θ V Using this, the phase of the power transmission signal supplied to each antenna element 111 can be easily adjusted. Since equations (23) and (24) only include one trigonometric function each and require a small amount of calculation, it is possible to provide an antenna device 100A that is suitable for use cases that require high-speed calculation processing. Since the phase of the power transmission signal supplied to each antenna element 111 can be easily adjusted using equations (23) and (24), power can be reliably fed by scanning the beam 115 in the horizontal and vertical directions according to the horizontal and vertical positional deviations between the power receiving antenna 50B and the array antenna 110 through simple calculations.

[0112] The power supply device 100 also includes an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, a microwave generation source 130, a phase shifter 120 provided between the array antenna 110 and the microwave generation source 130 and configured to adjust the phase of a power transmission signal supplied from the microwave generation source 130 to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction, a camera 140 that acquires an image through a fisheye lens 141, a position derivation unit 151 that converts a position P1 of the marker 50A included in the image acquired by the camera 140 with respect to the camera 140 into a position P2 in polar coordinates on an XY plane including the X-axis and the Y-axis, and an angle θ with respect to the Z-axis in the XZ plane of a position P1a obtained by projecting the position P1 onto an XZ plane including the X-axis and the Z-axis based on the position P2. H and an angle acquisition unit 152 for obtaining the position P2 and the angle θ H Based on this, the angle θ formed by the second line connecting the reference position of the camera 140 and the position P1 with respect to the first line connecting the reference position of the camera 140 and the position P1a is V and the direction of the beam 115 emitted by the array antenna 110 is at an angle θ H and angle θ V Therefore, the horizontal angle θ H and the vertical angle θ V The angle θ can be easily calculated with a simple calculation that requires little computation. H and angle θ V Based on this, the beam 115 can be scanned horizontally and vertically.

[0113] Therefore, it is possible to provide a power supply device 100 that can control the direction of the beam 115 with simple calculations. Also, because the amount of calculation is small, it is possible to provide a power supply device 100 that is suitable for use cases that require high-speed calculation processing. Furthermore, even when the beam width is narrow, such as in the case of a millimeter-wave beam 115, power can be reliably supplied by scanning the beam 115 in the horizontal and vertical directions in accordance with the horizontal and vertical positional deviations between the power receiving antenna 50B and the array antenna 110.

[0114] The power feeding method includes an array antenna 110 having a plurality of antenna elements 111 arranged two-dimensionally along the X-axis and the Y-axis, a microwave generation source 130, a phase shifter 120 provided between the array antenna 110 and the microwave generation source 130 and configured to adjust the phase of a power transmission signal supplied from the microwave generation source 130 to the plurality of antenna elements 111 in the X-axis direction and the Y-axis direction, a camera 140 that acquires an image through a fisheye lens 141, a position derivation unit 151 that converts a position P1 of the marker 50A included in the image acquired by the camera 140 with respect to the camera 140 into a position P2 in polar coordinates on an XY plane including the X-axis and the Y-axis, and an angle θ with respect to the Z-axis in the XZ plane of a position P1a obtained by projecting the position P1 onto an XZ plane including the X-axis and the Z-axis based on the position P2. H and an angle acquisition unit 152 for obtaining the position P2 and the angle θ H Based on this, the angle θ formed by the second line connecting the reference position of the camera 140 and the position P1 with respect to the first line connecting the reference position of the camera 140 and the position P1a is V In the power supply device 100, the direction of the beam 115 emitted by the array antenna 110 is angled by an angle θ with respect to the reference position of the camera 140. H and angle θ V Therefore, the phase shifter 120 is controlled so that the horizontal angle θ H and the vertical angle θ V The angle θ can be easily calculated with a simple calculation that requires little computation. H and angle θ VBased on this, the beam 115 can be scanned horizontally and vertically.

[0115] Therefore, it is possible to provide a power feeding method that can control the direction of the beam 115 with simple calculations. Also, because the amount of calculation is small, it is possible to provide a power feeding method that is suitable for use cases that require high-speed calculation processing. Furthermore, even when the beam width is narrow, such as in the case of a millimeter-wave beam 115, power feeding can be reliably performed by scanning the beam 115 in the horizontal and vertical directions according to the horizontal and vertical positional deviations between the power receiving antenna 50B and the array antenna 110.

[0116] <Application Examples of Power Supply Device 100> 10 is a diagram showing an application example of the power supply device 100. As an example, the power supply device 100 is mounted on a vehicle 60, and a power receiving device 50 is provided as a target on an inner wall 51 of a tunnel. The power receiving device 50 has a marker 50A and a power receiving antenna 50B.

[0117] For example, if a power receiving antenna 50B, a sensor that monitors loosening of bolts or the like at the fixing portion, a rectenna, and a wireless communication module are provided at a fixing portion that fixes an infrastructure such as a jet fan or a sign attached to the inner wall 51 of a tunnel to the inner wall 51, and when a beam is radiated from power feeding device 100 to power receiving antenna 50B while vehicle 60 is traveling, the rectenna connected to power receiving antenna 50B generates power and activates the wireless communication module, which then radiates a signal representing the output of the sensor, which is then received by vehicle 60, making it possible to inspect the fixing state of the infrastructure while traveling. In this case, the wireless communication module may receive the signal representing the output of the sensor at array antenna 110.

[0118] The power supply device 100 also calculates a horizontal angle θ H and the vertical angle θ Vis used to adjust the phases Ψn, Ψm of the power transmission signals supplied to each antenna element 111 of the array antenna 110. Therefore, even if the positions of the power receiving antenna 50B and the array antenna 110 in the Y direction are misaligned, the direction of the beam 115 can be adjusted in the vertical direction in accordance with the misalignment, thereby enabling efficient power supply using the millimeter wave beam 115.

[0119] 10 has been used to explain a configuration in which the power supply device 100 (antenna device 100A) communicates with a wireless communication module provided on the inner wall 51 of a tunnel, but the wireless communication module is not limited to being provided on the inner wall 51 of a tunnel and may be installed in various locations, etc. In this way, the power supply device 100 (antenna device 100A) can be used as a communication device.

[0120] The above describes an antenna device, a power supply device, and a power supply method according to exemplary embodiments of the present invention. However, the present invention is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims. [Explanation of symbols]

[0121] 50 Power receiving device 50A marker 50B receiving antenna 100 Power supply device 100A Antenna Unit 100B Distance Estimator 110 Array Antenna 111 Antenna element 120 Phase Shifter 130 Microwave Source 140 Camera 141 Fisheye Lens 150 control device 151 Position derivation part 152, 153 Angle acquisition part 154 Control Unit 155 memory

Claims

1. an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis; a phase adjusting unit that adjusts the phases of the power transmission signals supplied to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image through a fisheye lens; a position derivation unit that converts a first position of a marker included in an image acquired by the image acquisition unit with respect to the image acquisition unit into a second position in polar coordinates on a first plane including a first axis and a second axis; a first angle acquisition unit that calculates, based on the second position, a first angle of a projection position obtained by projecting the first position onto a second plane including the first axis and a third axis, with respect to the third axis within the second plane; a second angle acquisition unit that calculates, based on the second position and the first angle, a second angle formed by a first line that connects a reference position of the image acquisition unit and the projection position and a second line that connects the reference position of the image acquisition unit and the first position; a control unit that controls the phase adjustment unit so that the direction of the beam radiated by the array antenna is a direction specified by the first angle and the second angle with respect to a reference position of the image acquisition unit; An antenna device comprising:

2. 2. The antenna device according to claim 1, wherein the second angle acquisition unit obtains the second angle by multiplying the quotient obtained by dividing the coordinate of the second axis of the second position by the focal length of the fisheye lens by the cosine of the angle obtained by dividing the first angle by a predetermined coefficient.

3. 3. The antenna device according to claim 2, wherein the predetermined coefficient is 1.5 to 2.

4. The antenna device according to claim 1 , wherein the first angle acquisition unit obtains the first angle by dividing the coordinates of a mapping position obtained by mapping the second position onto the first axis by a focal length of the fisheye lens.

5. 5. The antenna device according to claim 4, wherein the coordinates of the mapping position are expressed by a value obtained by multiplying the radius vector in the polar coordinate system by the cosine of the angle of deviation.

6. 6. The antenna device according to claim 1, wherein the control unit adjusts the phase of a transmission signal supplied to an antenna element that is nth (n is an integer of 2 or more) from a reference position of the array antenna in the first axis direction and mth (m is an integer of 2 or more) from a reference position of the array antenna in the second axis direction to Ψn expressed by the following equation (1) in the first axis direction, and adjusts the phase of a transmission signal supplied to an antenna element that is mth (m is an integer of 2 or more) from a reference position of the array antenna in the second axis direction to Ψm expressed by the following equation (2) in the second axis direction. [Equation 1] where dx is the pitch of the plurality of antenna elements in the first axis direction, dy is the pitch of the plurality of antenna elements in the second axis direction, and θ Ｈ is the first angle, θ Ｖ is the second angle, and λ is the wavelength of the transmission signal in free space.

7. an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis; The radio wave source, a phase adjusting unit provided between the array antenna and the radio wave generating source, the phase adjusting unit adjusting a phase of a power transmission signal supplied from the radio wave generating source to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image through a fisheye lens; a position derivation unit that converts a first position of a marker included in an image acquired by the image acquisition unit with respect to the image acquisition unit into a second position in polar coordinates on a first plane including a first axis and a second axis; a first angle acquisition unit that calculates, based on the second position, a first angle of a projection position obtained by projecting the first position onto a second plane including the first axis and a third axis, with respect to the third axis within the second plane; a second angle acquisition unit that calculates, based on the second position and the first angle, a second angle formed by a first line that connects a reference position of the image acquisition unit and the projection position and a second line that connects the reference position of the image acquisition unit and the first position; a control unit that controls the phase adjustment unit so that the direction of the beam radiated by the array antenna is a direction specified by the first angle and the second angle with respect to a reference position of the image acquisition unit; A power supply device including:

8. an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis; The radio wave source, a phase adjusting unit provided between the array antenna and the radio wave generating source, the phase adjusting unit adjusting a phase of a power transmission signal supplied from the radio wave generating source to the plurality of antenna elements in the first axis direction and the second axis direction; an image acquisition unit that acquires an image through a fisheye lens; a position derivation unit that converts a first position of a marker included in an image acquired by the image acquisition unit with respect to the image acquisition unit into a second position in polar coordinates on a first plane including a first axis and a second axis; a first angle acquisition unit that calculates, based on the second position, a first angle of a projection position obtained by projecting the first position onto a second plane including the first axis and a third axis, with respect to the third axis within the second plane; a second angle acquisition unit that calculates a second angle formed by a second line connecting a reference position of the image acquisition unit and the first position with respect to a first line connecting a reference position of the image acquisition unit and the projection position, based on the second position and the first angle; In a power supply device including: A power feeding method that controls the phase adjustment unit so that the direction of the beam radiated by the array antenna is a direction specified by the first angle and the second angle with respect to a reference position of the image acquisition unit.

Images