Distance estimation device, antenna device, power supply system, power supply device, and power supply method

Abstract

To provide a distance estimation device that can estimate in real time the position of a power reception device with respect to a power supply device.SOLUTION: A distance estimation device includes an image acquisition unit that acquires an image through a fisheye lens, a position derivation unit that replaces a first position of a marker included in the image acquired by the image acquisition unit with respect to the image acquisition unit with a second position at the polar coordinates on a first plane including a first axis and a second axis; and a distance estimation unit that estimates the distance between the image acquisition unit and the marker. The distance estimation unit estimates the distance in the first axis direction between the image acquisition unit and the marker based on the coordinates of an upper end of the marker included in the image determined from a second angle of elevation to a third axis of the upper end and an azimuth to the first axis, the coordinates of a lower end of the marker included in the image determined from a third angle of elevation to the third axis of the lower end and an azimuth to the first axis, and the length between the upper end and the lower end.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a distance estimation device, an antenna device, a power feeding system, a power feeding device, and a power feeding method. [Background technology]

[0002] A conventional wireless power transmitting device has been known, which includes a beam transmitting unit that transmits an energy beam for power supply to a wireless power receiving device mounted on an aircraft, an information acquiring unit that acquires control information for increasing the power receiving efficiency of the wireless power receiving device, and a control unit that controls the energy beam based on the control information so as to increase the power receiving efficiency of the wireless power receiving device.It is also described that an array antenna may be used as a power transmitting antenna (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-135900 A Summary of the Invention [Problem to be solved by the invention]

[0004] When power is transmitted from multiple antenna elements of an array antenna and received by a wireless power receiving device, if the wireless power receiving device is mounted on an aircraft like a conventional wireless power transmitting device, there is a sufficient distance between the wireless power transmitting device (power supply device) and the wireless power receiving device (power receiving device). Therefore, the angle difference between the multiple antenna elements and the power receiving device is negligible, and even if power is transmitted from the multiple antenna elements to the same target, the reception phase shift when the power receiving device receives power is small and does not cause any significant problem.

[0005] However, when the distance between the power receiving device and the power supply device is short, such as a few meters, if power is transmitted from multiple antenna elements to the same target, when the power receiving device receives power, the difference in angle from each antenna element to the power receiving device will be large, resulting in a large deviation in the received potential, which can result in a problem of reduced composite received power.

[0006] To solve this problem, it is desirable to know the position of the power receiving device relative to the power feeding device in real time in order to adjust the phase of the power transmission signals transmitted from the multiple antenna elements and align the received potential phases.

[0007] Therefore, an object of the present invention is to provide a distance estimation device, an antenna device, a power feeding system, a power feeding device, and a power feeding method that are capable of estimating the position of a power receiving device relative to a power feeding device in real time. [Means for solving the problem]

[0008] A distance estimation device according to an embodiment of the present invention includes 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 the 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 a first axis and a second axis; and a distance estimation unit that estimates a distance between the image acquisition unit and the marker, wherein the distance estimation unit estimates the distance in the first axis direction between the image acquisition unit and the marker based on the coordinate of the upper end of the marker included in the image, which is calculated from a second elevation angle of the upper end of the marker relative to a third axis and an azimuth angle of the upper end of the marker included in the image, the coordinate of the lower end of the marker included in the image, which is calculated from a third elevation angle of the lower end of the marker relative to the third axis and an azimuth angle of the lower end of the marker included in the image, and the length between the upper end and the lower end. [Effects of the Invention]

[0009] It is possible to provide a distance estimation device, an antenna device, a power feeding system, a power feeding device, and a power feeding method that are capable of estimating the distance between a power receiving device and a power feeding device in real time. [Brief explanation of the drawings]

[0010] [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] FIG. 10 is a diagram illustrating how to obtain phase data. [Figure 5] 3A and 3B are diagrams illustrating the antenna gain of the antenna device 100A and the power supply device 100. FIG. [Figure 6] FIG. 10 is a diagram showing a marker 50A. [Figure 7] FIG. 2 is a diagram showing a polar coordinate system of the array antenna 110. [Figure 8] 10 is a diagram showing the change over time in power transmission efficiency when the power supply device 100 moves in the X-axis direction relative to the power receiving device 50B. [Figure 9] 10 is a diagram showing the change over time in power transmission efficiency when the power supply device 100 moves in the X-axis direction relative to the power receiving device 50B. [Figure 10] 10 is a diagram illustrating the relationship between the power transmission start angle θSTART and the moving distance W hat. FIG. [Figure 11] 10 is a flowchart showing a process for calculating a power transmission start angle θSTART. [Figure 12] 1A and 1B are diagrams illustrating application examples of a power supply device 100. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments to which a distance estimation device, an antenna device, a power feeding system, a power feeding device, and a power feeding method of the present invention are applied will be described.

[0012] <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.

[0013] 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.

[0014] The array antenna 110 is divided into, for example, N subarrays 110A. The N subarrays 110A are numbered from 1 (#1) to N (#N). #1 to #N represent the coordinates of the N subarrays 110A in the X-axis direction. Here, N is an integer equal to or greater than 2, but FIG. 1 shows an example in which N is an even number equal to or greater than 4. The N subarrays 110A are arranged in the X-axis direction (first axis direction), and each subarray 110A includes, for example, four antenna elements 111. Therefore, the array antenna 110 includes, for example, 4N antenna elements 111. Each array antenna 110 extends in the Y-axis direction (second axis direction). The antenna elements 111 are patch antennas that are rectangular in plan view. The array antenna 110 may have a ground plate maintained at ground potential on the -Z-axis side of the antenna elements 111. As an example, the center of the positions of the 4N antenna elements 111 coincides with the origin of the XYZ coordinate system. The number of antenna elements 111 included in each subarray 110A only needs to be two or more, and they only need to be arranged two-dimensionally.

[0015] 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 made assuming that the origin of the XYZ coordinate system coincides with the center of the positions of the 4N antenna elements 111, as shown in FIG. 1. For each subarray 110A, FIG. 2 also illustrates one antenna element 111 adjacent to the negative Y-axis side of the X-axis. FIG. 2 also illustrates components included in the control device 150, a marker 50A, and a power receiving device 50B. The marker 50A and the power receiving device 50B are fixed to an inner wall 51 of a tunnel, as an example. 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 to a power receiving device 50B.

[0016] 2, marker 50A is located at an angle θb from the Z axis when viewed on 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 4N 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 axis direction, angle θb is indicated as a positive value when deflected toward the +X axis direction, and as a negative value when deflected toward the -X axis direction.

[0017] Here, distance estimation device 100B of the embodiment is a device that includes camera 140, and elevation angle acquisition unit 152, positional deviation detection unit 153, and distance estimation unit 154 of control device 150, and estimates the distance between camera 140 and marker 50A. In Fig. 2, camera 140, elevation angle acquisition unit 152, positional deviation detection unit 153, and distance estimation unit 154 included in distance estimation device 100B are denoted by the reference symbol 100B in parentheses.

[0018] The power feeding system of the embodiment includes an antenna device 100A, a microwave generation source 130, a marker 50A, and a power receiving device 50B, and is a system that transmits a power transmission signal composed of microwaves generated by the microwave generation source 130 from the antenna device 100A to the power receiving device 50B. The power feeding system will be described later with reference to Fig. 12. The method executed by the power feeding device 100 to feed power to the power receiving device 50 is the power feeding method of the embodiment.

[0019] N phase shifters 120 are provided corresponding to the N subarrays 110A, and the N phase shifters 120 are connected to the antenna elements 111 of the N subarrays 110A, respectively. The phase shifters 120 are an example of a phase adjustment unit that adjusts the phase, and are also an example of a phase shifter. In each subarray 110A, four antenna elements 111 are connected in parallel to one phase shifter 120.

[0020] In each subarray 110A, a transmission signal of the same phase is supplied to the four antenna elements 111. The phases of the transmission signals output from the N phase shifters 120 to the N subarrays 110A are different from one another. This makes it possible to control the angle (elevation angle) of the beam formed by the radio waves radiated from the 4N antenna elements 111 within the XZ plane.

[0021] The beam formed by the radio waves radiated from the 4N 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.

[0022] The microwave generation source 130 is connected to the 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 frequency of the microwaves 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 generation source is not limited to microwaves and may be any radio wave of a predetermined frequency.

[0023] The camera 140 is disposed between the N / 2-th subarray 110A and the N / 2+1-th subarray 110A in the X-axis direction, and is disposed between the second and third antenna elements 111 from the +Y-axis direction side of the four antenna elements 111 included in each subarray in the Y-axis direction. The camera 140 has a fisheye lens 141 and a camera body 142. The camera 140 is an example of an image acquisition unit. In FIG. 2, the camera body 142 is shown divided into an imaging unit 142A and an image processing unit 142B.

[0024] The fisheye lens 141 is a lens that employs an equidistant projection method. For example, the center position of the fisheye lens 141 coincides with the center of the 4N antenna elements 111 and the origin of the XYZ coordinate system. 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.

[0025] 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 a power receiving device 50B having a power receiving antenna, which is a target to be irradiated with a 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 device 50B.

[0026] 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.

[0027] In addition, the image processing unit 142B performs processing to determine the contour of the marker 50A, processing to determine the maximum contour, and processing to read out the coordinates of the upper and lower ends of the marker 50A, and outputs data representing the coordinates of the upper and lower ends of the marker 50A to the control unit 150.

[0028] 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.

[0029] 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.

[0030] The process of reading the coordinates of the upper and lower ends of the marker 50A is a process of reading the coordinates of the upper and lower ends from the largest contour obtained by the process of obtaining the maximum contour. The image processing unit 142B outputs the read coordinates of the upper and lower ends of the marker 50A to the control device 150.

[0031] The control device 150 includes a position derivation unit 151, an elevation angle acquisition unit 152, a positional deviation detection unit 153, a distance estimation unit 154, a velocity estimation unit 155, an angle estimation unit 156, a control unit 157, and a memory 158. The control device 150 is realized by a computer including a CPU (Central Processing Unit) and a memory. The position derivation unit 151, the elevation angle acquisition unit 152, the positional deviation detection unit 153, the distance estimation unit 154, the velocity estimation unit 155, the angle estimation unit 156, and the control unit 157 are functional blocks representing the functions of a program executed by the control device 150. The memory 158 is a functional representation of the memory of the control device 150.

[0032] Here, the position derivation unit 151, elevation angle acquisition unit 152, positional deviation detection unit 153, distance estimation unit 154, velocity estimation unit 155, angle estimation unit 156, control unit 157, and memory 158 will be described using FIG. 3 in addition to FIG. 1 and FIG. 2. FIG. 3 is a diagram showing a polar coordinate system of the array antenna 110. FIG. 3 shows subarrays 110A of the array antenna 110 in the power supply device 100, antenna elements 111 included in each subarray 110A, and beams 115 output from the array antenna 110, while omitting other components. FIG. 3 also shows a polar coordinate system on plane 1 parallel to the XY plane. Plane 1 is the xy plane of image data acquired by the imaging unit 142A and is identical to the xy plane used for pixel indexes 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.

[0033] Furthermore, the position of marker 50A in the XYZ coordinate system is defined as P1, and the elevation angle of the line segment connecting origin O and position P1 is defined as θ, and the azimuth angle is defined as φ. The elevation angle is the angle with respect to the +Z axis direction, and the azimuth angle is the angle with respect to the +X axis direction, with a clockwise direction being a positive value in a planar view seen from the +Z axis direction. Furthermore, the elevation angle of the line segment connecting position P1a, which is a projection of position P1 onto the XZ plane, and origin O is defined as θa. Elevation angle θa is an angle obtained approximately by projecting elevation angle θ onto the XZ plane when the position of marker 50A is close to the XZ plane. Like angle θb, elevation angle θa indicates a positive value when tilted toward the +X axis direction when viewed from the +Y axis direction of the XZ plane, and a negative value when tilted toward the -X axis direction.

[0034] 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.

[0035] The antenna device 100A and the power feeding device 100 control the elevation angle of the beam 115 output by the array antenna 110 only within the XZ plane. This is based on the assumption that because the array antenna 110 performs in-phase power feeding in the Y-axis direction, the beam is fixed in the Y-axis direction and can be swung in an elevation angle direction with the Z-axis at 0 degrees, and that the position of the power receiving device 50B does not deviate much from the XZ plane (for example, within approximately ±30 degrees in elevation angle relative to the Z-axis in the YZ plane). If the power receiving device 50B is located in such a position, simply controlling the elevation angle of the beam 115 within the XZ plane allows the power receiving device 50B to be efficiently irradiated with the beam 115 while keeping the size of the control unit of the array antenna 110 small.

[0036] 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.

[0037] The position P2 is expressed by the radius vector r and the deflection angle φ 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 The position P2 is represented by θ. The deflection angle φ is the same as the azimuth angle φ. The position derivation unit 151 obtains r·cosφ 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 elevation angle acquisition unit 152.

[0038] The elevation angle acquisition unit 152 calculates the X coordinate (r·cosφ) 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 The value divided by (r cosφ / f L) is acquired (calculated) as the elevation angle θa. The reason why the elevation angle θa can be acquired in this manner will be described later. The elevation angle acquisition unit 152 outputs the elevation angle θa to the distance estimation unit 154 and the control unit 157.

[0039] The misalignment detection unit 153 determines the shape and center of gravity of the marker 50A based on the pixel index output from the image processing unit 142B, and detects the misalignment between the camera 140 and the marker 50A in the Y-axis direction based on the position of the center of gravity within the range in which the marker 50A exists. For example, the center of the fisheye lens 141 coincides with the center of the 4N antenna elements 111 and the origin of the XYZ coordinate system. Therefore, for example, the position of the center of gravity in the Y-axis direction when there is no misalignment between the camera 140 and the marker 50A can be set to Y = 0. If the determined position of the center of gravity in the Y-axis direction within the range in which the marker 50A exists is Y = 0, the misalignment detection unit 153 determines that there is no misalignment between the camera 140 and the marker 50A. Furthermore, if the determined position of the center of gravity in the Y-axis direction within the range in which the marker 50A exists is not Y = 0, the misalignment detection unit 153 determines that there is a misalignment between the camera 140 and the marker 50A, and detects the misalignment. The position shift detection unit 153 outputs the detection result to the distance estimation unit 154. The position of the center of gravity may be acquired from the position derivation unit 151.

[0040] When the elevation angle θa calculated by the elevation angle acquisition unit 152 is zero degrees (0 degrees), the distance estimation unit 154 estimates the distance from the center of the fisheye lens 141 to the marker 50A based on the number of pixel indexes output from the image processing unit 142B of the camera 140. An elevation angle θa of 0 degrees means that the marker 50A is located in front of the fisheye lens 141 in the Z-axis direction (the center of gravity of the marker 50A is located on the Z-axis).

[0041] The distance estimation unit 154 calculates the facing distance r from the center of the fisheye lens 141 to the marker 50A when the elevation angle θa is 0 degrees. FD The elevation angle θa being 0 degrees is an example of the elevation angle θa being included in a predetermined angle range including 0 degrees. FDis the distance when the marker 50A faces the camera 140 on the Z axis.

[0042] For example, the number of multiple binarized pixel indexes acquired by the image processing unit 142B when the camera 140 and the marker 50A are separated by multiple distances on the Z axis is stored in advance in the memory 158. Then, the distance estimation unit 154 counts the number of pixel indexes output from the image processing unit 142B of the camera 140 when the elevation angle θa is zero degrees (0 degrees), and estimates the multiple opposing distances r stored in the memory 158. FD By comparing with a plurality of reference data corresponding to the angle of elevation θa, the facing distance r from the center of the fisheye lens 141 to the marker 50A when the angle of elevation θa is 0 degrees can be calculated. FD Estimate the opposing distance r FD Since the number of pixel indices varies depending on FD can be estimated.

[0043] In addition, when the elevation angle θa is zero degrees (0 degrees), if the image processing unit 142B of the camera 140 outputs pixel indices multiple times, the facing distance r is calculated based on the average number of the multiple pixel indices. FD can be estimated.

[0044] Furthermore, since the fisheye lens 141 is used, when there is a positional deviation between the camera 140 and the marker 50A, the distance r FD Therefore, when the positional deviation detection unit 153 determines that a positional deviation occurs between the camera 140 and the marker 50A in the Y-axis direction, the distance estimation unit 154 stores in advance in the memory 158 data indicating the degree of change in the pixel index number with respect to the positional deviation in the Y-axis direction, and calculates the facing distance r using the pixel index number corrected according to the degree of positional deviation in the Y-axis direction. FD can be estimated.

[0045] When the elevation angle θa is within a predetermined angle range including 0 degree, the distance estimation unit 154 estimates the facing distance r FD However, when the elevation angle θa is not within a predetermined angle range including 0 degrees, the distance X and the facing distance Z are estimated in real time using an estimation method different from the above. The distance X and the facing distance Z are the X and Z components of the distance from the center of the fisheye lens 141 to the marker 50A. Estimating the distance X and the facing distance Z in real time means that when the elevation angle θa is not within a predetermined angle range including 0 degrees, the distance X and the facing distance Z are estimated in real time according to the elevation angle θa at that time. The above-mentioned facing distance r FD can be estimated only when the elevation angle θa is zero degrees (0 degrees), whereas the distance X and the opposing distance Z can be estimated when the elevation angle θa is at various angles not included in a predetermined angle range including 0 degrees, and therefore can be estimated in real time. A method for estimating the distance X and the opposing distance Z will be described later with reference to FIG. 7.

[0046] The speed estimation unit 155 estimates the moving speed of the power supply device 100 in the X-axis direction relative to the marker 50A by acquiring the distance X estimated by the distance estimation unit 154 at a time difference. The speed estimation unit 155 outputs data representing the estimated moving speed to the angle estimation unit 156. The method of estimating the moving speed will be described later with reference to FIG. 7.

[0047] The angle estimation unit 156 estimates a power transmission start angle at the timing to start power transmission, based on the facing distance Z estimated by the distance estimation unit 154 and the moving speed estimated by the speed estimation unit 155. The power transmission start angle, like the elevation angle θa, represents the angle of the marker 50A relative to the Z axis as viewed from the origin O of the XYZ coordinate system in the XZ plane. The angle estimation unit 156 outputs data representing the estimated power transmission start angle to the control unit 157.

[0048] The control unit 157 controls the amount of phase shift (adjustment amount) in the phase shifter 120 so that the direction of the beam 115 radiated by the array antenna 110 becomes equal to the elevation angle θa in the XZ plane. The elevation angle θa is acquired by the elevation angle acquisition unit 152. The control unit 157 also controls the output of the microwave generation source 130 and the shooting of the camera 140. When the elevation angle θa matches the power transmission start angle estimated by the angle estimation unit 156, the control unit 157 starts transmitting the power transmission signal. The start of power transmission by the control unit 157 will be described later with reference to FIG. 7.

[0049] Specifically, the control unit 157 controls the amount of phase shift in the phase shifter 120 as follows. FD and the elevation angle θa acquired by the elevation angle acquisition unit 152, and the phase shift amounts of the N phase shifters 120 are controlled based on the read phase data. FD is the facing distance r estimated by the distance estimation unit 154 when the elevation angle θa is within a predetermined angle range including 0 degrees and when the elevation angle θa is not within the predetermined angle range including 0 degrees. FD is.

[0050] Here, in order for the power receiving antenna of the power receiving device to efficiently receive power, it is ideal that the phases of the power transmission signals when the power receiving antenna of the power receiving device receives power from the N subarrays 110A are equal. Meanwhile, the antenna device 100A and the power feeding device 100 transmit the power transmission signal to the power receiving device 50B located at a short distance, for example, about 3 to 7 m from the array antenna 110. When transmitting power to the power receiving device 50B attached to the inner wall 51 of a tunnel, the distance from the array antenna 110 to the power receiving device 50B is about 3 to 5 m when the angle θb is 0 degrees.

[0051] Since power transmission over such short distances is assumed, the relative difference in distance from each of the N subarrays 110A to the power receiving antenna of the power receiving device is relatively large, and when the N subarrays 110A transmit power to the same target, the phases of the power transmission signals received by the power receiving antenna of the power receiving device from the N subarrays 110A will not be aligned, preventing the power receiving device 50B from receiving power efficiently. The difference in distance from each of the N subarrays 110A to the power receiving antenna of the power receiving device varies depending on the angle θb and the distance in the Z-axis direction from the N subarrays 110A to the power receiving antenna of the power receiving device.

[0052] Therefore, the antenna device 100A and the power feeding device 100 use phase data for adjusting the phase of each of the N subarrays 110A when transmitting power so that the phases of the power transmission signals received by the power receiving antenna of the power receiving device from the N subarrays 110A are aligned. The phase data represents the amount of phase shift (adjustment amount). As an example, assuming that power transmission is performed when the elevation angle θa changes from +70 degrees to −70 degrees as the antenna device 100A and the power feeding device 100 move, multiple sets of phase data are prepared that can adjust the amount of phase shift of the N subarrays 110A in increments of 1 degree. Each piece of phase data includes N phase shift amounts to be set in the N phase shifters 120 connected to the N subarrays 110A, respectively, corresponding to a certain elevation angle θa. 141 sets of such phase data are prepared in increments of 1 degree for the elevation angle θa in the range from +70 degrees to −70 degrees, and are used to calculate a phase shift amount for a certain facing distance r. FD The phase data are multiple sets of data for multiple opposing distances r FD In order to adjust the phase shift amount of the N subarrays 110A according to each of the plurality of opposing distances r FD. Note that, because the phase data is data created based on the angle θb, multiple sets of phase data ψ3(θb) to ψ7(θb) are shown using θb in FIG. 2. The control unit 157 may use multiple sets of phase data for the angle θb equal to the elevation angle θa. Furthermore, each of the phase data ψ3(θb) to ψ7(θb) has shift amounts θs#1 to θs#N corresponding to the coordinates (#1 to #N) of the N subarrays 110A. For example, of the shift amounts θs#1 to θs#N included in the phase data ψ3(θb), the shift amount θs#1 is used for the antenna element 111 of the subarray 110A at coordinate #1, and the shift amount θs#N is used for the antenna element 111 of the subarray 110A at coordinate #N. Note that, hereinafter, when there is no need to distinguish between the shift amounts θs#1 to θs#N, they will be referred to as the shift amount θs.

[0053] The control unit 157 calculates the facing distance r estimated by the distance estimation unit 154. FD The phase shift amount in the N phase shifters 120 is controlled by using phase data for an angle θb that is equal to the elevation angle θa acquired by the elevation angle acquisition unit 152 from among the multiple sets of phase data, using multiple sets of phase data corresponding to the angle θb.

[0054] Here, the control unit 157 determines the facing distance r estimated by the distance estimation unit 154. FD The phase shift amount in the N phase shifters 120 is controlled by using phase data for an angle θb that is equal to the elevation angle θa acquired by the elevation angle acquisition unit 152 from among the multiple sets of phase data, using multiple sets of phase data corresponding to the angle θb.

[0055] The memory 158 is an example of a storage unit, and stores the programs executed when the position derivation unit 151, the elevation angle acquisition unit 152, and the control unit 157 perform processing, data used in conjunction with the execution of the programs, data generated by the execution of the programs, image data acquired by the camera 140, etc. The memory 158 also stores a plurality of opposing distances r FD For each of these, multiple sets of phase data are stored. For example, five opposing distances rFD For the marker 50A, 141 sets of phase data are stored in increments of 1 degree for an elevation angle θa ranging from +70 degrees to −70 degrees. The memory 158 also stores length data representing the length between the upper and lower ends of the marker 50A.

[0056] Next, a method for determining the elevation angle θa will be described.

[0057] The elevation angle θa can be calculated from the geometric relationship between the position P1 and the position P1a using the azimuth angle φ and the elevation angle θ using the following equation (1).

[0058]

number

[0059]

number

[0060]

number

[0061] As described above, the focal length of the fisheye lens 141 is f L Then, the radius vector r is expressed by the following equation (4).

[0062]

number

[0063]

number

[0064] Next, a method for obtaining phase data will be described. Fig. 4 is a diagram for explaining the method for obtaining phase data. Fig. 4 shows a fisheye lens 141 of a camera 140, a marker 50A, a power receiving device 50B, and N antenna elements 111. Each antenna element 111 is one of four antenna elements 111 included in N subarrays 110A. The position of the marker 50A is the same as the position of the power receiving device 50B.

[0065] As shown in FIG. 4, the distances from the N subarrays 110A to the marker 50A are set to r1 to rN. Here, for simplicity of explanation, it is assumed that there is no positional deviation between the camera 140 and the marker 50A in the Y-axis direction. Since the centers of the 4N antenna elements 111 coincide with the origin of the XYZ coordinate system, the coordinates of the centers of the 4N antenna elements 111 are (X, Y, Z) = (0, 0, 0). Furthermore, there is no positional deviation between the camera 140 and the marker 50A in the Y-axis direction, and the facing distance is r FD The angle of the power receiving device 50B as viewed from the fisheye lens 141 is θb, and therefore the position of the power receiving device 50B is expressed as (X, Y, Z)=(r FD ·tanθb,0,r FD ) where the distance from the fisheye lens 141 to the power receiving device 50B is r ref Then, the distance r ref can be expressed by the following equation (6).

[0066]

number

[0067] The position of the i-th antenna element 111 among the N antenna elements 111 is (X, Y, Z)=(d i , 0, 0), the distance r from the i-th antenna element 111 to the power receiving device 50B is i can be expressed by the following equation (7).

[0068]

number

[0069] Therefore, the distance r from the fisheye lens 141 to the power receiving device 50B is ref and the path difference τ between the distance ri from the i-th antenna element 111 to the power receiving device 50B. i can be expressed by the following equation (8).

[0070]

number

[0071] Path difference τ i Since the unit is meters, it can be converted to the wavelength λ of the microwave used to obtain the phase difference φ i When calculated, it can be expressed as the following equation (9).

[0072]

number

[0073] -ψr, which is the phase difference expressed by Equation (9) with the opposite sign FDi (θb) is set as the phase to be set in the phase shifter 120 when the i-th antenna element 111 transmits power, and multiple sets of phase data corresponding to multiple elevation angles θa for the N subarrays 110A are prepared and stored in the memory 158. In addition, multiple opposing distances r FD A plurality of sets of phase data for the angles θb can be prepared and stored in the memory 158. By using such a plurality of sets of phase data, it is possible to make the power transmission signals transmitted from the N subarrays 110A reach the power receiving device 50B in the same phase. The plurality of sets of phase data corresponding to the plurality of angles θb are expressed by the following equation (10).

[0074]

number

[0075] The control unit 157 may use the phase data of the angle θb corresponding to the elevation angle θa to set the shift amounts in the N phase shifters 120 connected to the N subarrays 110A, respectively.

[0076] 5 is a diagram illustrating the effects of the antenna device 100A and the power supply device 100. FD 10 is a diagram showing the antenna gain of power received by the power receiving antenna of the power receiving device when the height is 4 m and the speed of a vehicle equipped with antenna device 100A and power feeding device 100 is 80 km / h. The horizontal axis represents time, with 0 second representing the time when the elevation angle θa becomes 0 degrees, -300 seconds representing the time when the elevation angle θa becomes +70 degrees, and +300 seconds representing the time when the elevation angle θa becomes -70 degrees. In other words, the time on the horizontal axis corresponds to the elevation angle θa.

[0077] 5, the solid line indicates the antenna gain when the shift amount in the phase shifter 120 is adjusted using phase data based on the facing distance and elevation angle in the antenna device 100A and the power feeding device 100, and the dashed line indicates the antenna gain when phase data based only on the elevation angle is used for comparison. The antenna gain when phase data based only on the elevation angle is the antenna gain obtained in the power receiving device 50B when the shift amounts in the N phase shifters 120 connected to the N subarrays 110A are set to values ​​corresponding to the elevation angle θa.

[0078] 5, the antenna gain when using phase data based on the facing distance and elevation angle was larger than or equal to the antenna gain when using phase data based only on the elevation angle, and the closer to 0 seconds the time period was (the smaller the absolute value of the elevation angle θa), the larger the difference between the antenna gain when using phase data based on the facing distance and elevation angle and the antenna gain when using phase data based only on the elevation angle. It is considered that the closer the elevation angle θa was to 0 degrees, the shorter the distance between the N subarrays 110A and the power receiving device 50B, and the more pronounced the effect of individual phase control of the N subarrays 110A using phase data based on the facing distance and elevation angle became.

[0079] <Marker 50A Configuration> Fig. 6 is a diagram showing a marker 50A. The up-down direction in Fig. 6 represents the up-down direction when the marker 50A is installed. As shown in Fig. 6(A), the marker 50A has an upper end 50AU, a lower end 50AL, and a wide portion 50AW. As an example, the marker 50A includes a reflector that reflects infrared rays by retroreflection (retroreflection), and the entire surface of the marker 50A can reflect infrared rays.

[0080] The marker 50A has a vertically elongated cylindrical shape, with the widest portion 50AW being the widest (thickest), and the widths at the upper end 50AU and the lower end 50AL are narrower than those at the wide portion 50AW. The vertical length of the portion closer to the upper end 50AU than the wide portion 50AW is, for example, equal to the vertical length of the portion closer to the lower end 50AL than the wide portion 50AW. The marker 50A may be reflective of infrared and visible light, and may be capable of acquiring the coordinates of the upper end 50AU, the lower end 50AL, and the center of gravity through image processing by the camera 140. The configuration shown here is merely an example.

[0081] 6(B) shows an example of pixel indexes obtained by image processing unit 142B performing image processing such as binarization on image data acquired by imaging unit 142A. In FIG. 6(B), the horizontal axis is the x-axis and the vertical axis is the y-axis. The x-axis and y-axis are the same as the x-axis and y-axis of plane 1 shown in FIG. 3, and they also have the same origin.

[0082] The pixel index includes the outline of the marker 50A, and the coordinate of the top edge 50AU is (x U ,y U ), the coordinate of the bottom 50AL is (x L ,y L ), and the coordinate of the center of gravity of the marker 50A is (x C ,y C) The contour of marker 50A is found by image processing unit 142B performing a process to extract the contour based on the distribution of pixel indexes. Since the actual pixel index may include small contours caused by noise, etc., in addition to the contour of marker 50A, the contour of marker 50A is found by performing a process to find the largest contour from among multiple contours extracted based on the distribution of pixel indexes. Furthermore, image processing unit 142B finds the coordinates of the upper end 50AU and the lower end 50AL from the contour of marker 50A found as the largest contour. The coordinates of the center of gravity are found by position derivation unit 151.

[0083] The reason why the marker 50A has the above-described configuration is to minimize the deviation of the position of the center of gravity from the center (the center in the vertical direction and in the planar view) of the marker 50A when 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. Ideally, the position derivation unit 151 derives the center of the marker 50A as the center of gravity of the marker 50A.

[0084] The reason for minimizing the deviation of the center of gravity position relative to the center of marker 50A is to minimize the deviation in height in the Y-axis direction between the center of gravity of marker 50A and the origin O in the polar coordinate system shown in Figure 3, thereby enabling the elevation angle θa to be determined with high precision in the XZ plane and phase control to be performed with high precision.

[0085] Furthermore, it is possible to estimate the facing distance Z in the Z-axis direction from the origin O to the marker 50A in real time using the coordinates of the upper end 50AU, the lower end 50AL, and the center of gravity of the marker 50A and length data representing the length of the marker 50A in the up-down direction. The fact that the facing distance Z can be estimated will be described later with reference to FIG.

[0086] Note that, here, a description will be given of a mode in which the image processing unit 142B determines the coordinates of the upper end 50AU and the lower end 50AL of the marker 50A; however, these coordinates are not necessarily the upper end 50AU and the lower end 50AL of the marker 50A. For example, if a reflector is provided up to a portion offset downward from the upper end of the marker 50A, the coordinates of the upper end of the upper portion of the marker 50A where the reflector is located may be used. Also, if a reflector is provided up to a portion offset upward from the lower end of the marker 50A, the coordinates of the lower end of the lower portion of the marker 50A where the reflector is located may be used. Also, as the length data representing the vertical length of the marker 50A, length data representing the length between the upper end and the lower end may be used.

[0087] <Method for estimating distance X and opposing distance Z in real time, and method for estimating the power transmission start angle> 7 is a diagram showing a polar coordinate system of the array antenna 110. The process of estimating the facing distance Z is executed by the control device 150. The method of estimating the facing distance Z is realized by executing the process of estimating the facing distance Z.

[0088] 7, like Fig. 3, shows subarrays 110A of the array antenna 110, antenna elements 111 included in each subarray 110A, and beams 115 output from the array antenna 110. In addition to these, Fig. 7 also shows a marker 50A. The marker 50A is configured so that its center 50AC1 and center of gravity 50AC2 coincide with each other, but since the center of gravity 50AC2 derived by the position derivation unit 151 based on the maximum contour of the pixel index may deviate from the center 50AC1, Fig. 7 shows the center 50AC1 and center of gravity 50AC2 separated from each other.

[0089] The Y coordinate of the center 50AC1 of the marker 50A is Y=0. That is, the height of the center 50AC1 of the marker 50A in the Y axis direction is aligned with the height of the origin O of the XYZ coordinate system. The coordinates of the upper end 50AU, the lower end 50AL, and the center of gravity 50AC2 of the marker 50A in the XYZ coordinate system are (X, Y U ,Z), (X,Y L ,Z), (X,YC , Z). Since the marker 50A extends parallel to the Y axis, the X coordinate and Z coordinate of the upper end 50AU, the lower end 50AL, and the center of gravity 50AC2 are the same. Note that in FIG. 7, the marker 50A is shown as a simplified cylinder.

[0090] The polar coordinates of the top 50 AU are as follows: U , azimuth φ U The polar coordinates of the lower end 50AL are the elevation angle θ L , azimuth φ L The polar coordinates of the center of gravity 50AC2 are C , azimuth φ C Elevation angle θ U is an example of the second elevation angle, and the elevation angle θ L is an example of the third elevation angle. Also, the points obtained by projecting the upper end 50AU, the lower end 50AL, and the center of gravity 50AC2 onto the plane 1 are P3 U , P3 L , P3 C Point P3 U , P3 L , P3 C The x and y coordinates of plane 1 are (x U ,y U ), (x L ,y L ), (x C ,y C ) Also, point P3 U , P3 L , P3 C The radius of each is r U , r L , r C is.

[0091] Radius r of center of gravity 50AC2 C is the focal length f of the fisheye lens 141 L and the elevation angle θ of the center of gravity 50AC2 C Using and, r C =f L θ C Also, the x and y coordinates of the center of gravity 50AC2 (x C ,y C ) is the radius r C and the azimuth angle φ C Using and, x C =rC cosφ C , y C =r C sinφ C Therefore, the coordinates of the center of gravity 50AC2 (x C ,y C ) can be expressed by the following equations (11) and (12).

[0092]

number

[0093]

number

[0094] When the elevation angle θa shown in equation (3) is applied to the center of gravity 50AC2, the following equation (13) is established. Here, θa=x C / f L holds true for the center of gravity 50AC2, r C =f L θ C This is because the following holds true. The elevation angle θa is an example of a first elevation angle.

[0095]

number

[0096] Elevation angle θ at top 50 AU U , azimuth φ U are the XYZ coordinates (X,Y U , Z), it can be expressed by the following equations (14) and (15).

[0097]

number

[0098]

number

[0099] Radial r at the top 50 AU U is the focal length f of the fisheye lens 141 L and the elevation angle θ at the top of 50 AU U Using and, r U =f L θ U Also, the x and y coordinates (x U ,y U ) is the radius r U and the azimuth angle φ U Using and, x U =r U cosφ U , y U =r U sinφ U Therefore, the coordinate of the top 50 AU (x U ,y U ) can be expressed by the following equations (16) and (17).

[0100]

number

[0101]

number

[0102] Similarly to the upper end 50AU, the elevation angle θ L , azimuth φ L are the XYZ coordinates (X,Y L , Z), it can be expressed by the following equations (18) and (19).

[0103]

number

[0104]

number

[0105] Radius r at bottom 50AL Lis the focal length f of the fisheye lens 141 L and the elevation angle θ of the lower end 50AL L Using and, r L =f L θ L Also, the x and y coordinates (x L ,y L ) is the radius r L and the azimuth angle φ L Using and, x L =r L cosφ L , y L =r L sinφ L Therefore, the coordinates of the bottom 50AL (x L ,y L ) can be expressed by the following equations (20) and (21).

[0106]

number

[0107]

number

[0108] By transforming equations (15) and (19), the following equations (22) and (23) are obtained, respectively.

[0109]

number

[0110]

number

[0111] By taking the difference between equation (22) and equation (23), the following equation (24) is obtained.

[0112]

number

[0113] Therefore, the distance X in the X-axis direction between the center of the fisheye lens 141, which is the origin O of the XYZ coordinate system, and the center of gravity 50AC2 of the marker 50A can be estimated from equation (24) as shown in the following equation (25). The distance X is an estimated value. The distance X is the X-axis component of the distance between the center of the fisheye lens 141, which is the origin O of the XYZ coordinate system, and the center of gravity 50AC2 of the marker 50A.

[0114]

number

[0115] Furthermore, the center 50AC1 of the marker 50A is at the same height as the center of the fisheye lens 141, which is the origin O of the XYZ coordinate system, and the Y coordinate (Y C ) for Y C ≒0. Furthermore, if the Y coordinate of point P1 at elevation angle θ shown in FIG. 3 is set to 0 (Y=0), then elevation angle θ can be considered to be elevation angle θa obtained by projecting elevation angle θ onto the XZ plane. Therefore, facing distance Z in the Z-axis direction between the center of fisheye lens 141, which is the origin O of the XYZ coordinate system, and center of gravity 50AC2 of marker 50A can be expressed by the following equation (26). Facing distance Z is an estimated value.

[0116]

number

[0117] Here, the length L between the upper end 50AU and the lower end 50AL of the marker 50A is PM is Y U -Y L Therefore, the following equation (27) is obtained from equation (26).

[0118]

number

[0119] In addition, Y U -Y Lis also included in the numerator of equation (25) which estimates the distance X, so the length L PM may be substituted to estimate the distance X, and the facing distance Z may be calculated from the equation (26) using the estimated distance X and the elevation angle θa.

[0120] The distance estimation unit 154 estimates the facing distance Z using image data, so the facing distance Z is an estimated value. When the elevation angle θa is 0 degrees, the facing distance Z is expressed as follows: U , x L , the value of tanθa becomes 0 and cannot be calculated, but when it is other than 0 degrees, it can be calculated in real time. The facing distance Z is the Z component (distance in the Z-axis direction) of the distance between the center of the array antenna 110 (origin O of the XYZ coordinate system) and the center of gravity 50AC2 of the marker 50A. The center of the array antenna 110 (origin O of the XYZ coordinate system) is the center of the fisheye lens 141.

[0121] When the power supply device 100 mounted on the vehicle moves with respect to the marker 50A and the power receiving device 50B, the relative position of the marker 50A seen from the power supply device 100 changes from moment to moment, and therefore, it is possible to detect and track the center of gravity 50AC2 of the marker 50A using image data of the marker 50A. However, since the facing distance Zhat is a substantially constant value, the facing distance Z may be estimated for each predetermined discrete angle of the elevation angle θa (for example, 60 degrees, 50 degrees, 40 degrees, 30 degrees, and 20 degrees), the facing distance Zhat estimated at the plurality of discrete angles may be averaged, and phase control may be performed using the average facing distance Zhat.

[0122] The distance Rref between the center of the array antenna 110 (origin O of the XYZ coordinate system) and the power receiving antenna of the power receiving device can be calculated by the following equation (28).

[0123]

number

[0124] Here, the height of the center 50AC1 of the marker 50A is aligned with the height of the origin O of the XYZ coordinate system, and therefore can be considered as Y = 0 in equation (28). The distance Ri between the antenna element 111 included in the i-th subarray 110A among the N subarrays 110A and the power receiving antenna of the power receiving device can be expressed by the following equation (29) using equation (28).

[0125]

number

[0126]

number

[0127] When the facing distance Z hat and the elevation angle θa are given, in order to align the phase of the transmission signal received by the antenna of the power receiving device 50 from the antenna elements 111 included in N subarrays 110A, the phase of the transmission signal supplied to the antenna element 111 of the i-th subarray 110A is given by the following equation (31).

[0128]

number

[0129] The phase expressed by equation (31) is based on the same concept as the phase data described above, and may be used instead of the phase data. The phase expressed by equation (31) can be calculated in real time, so phase control may be performed by calculating it in real time. When calculating the phase using equation (31), it may be performed by, for example, the control unit 157. Furthermore, it is not necessarily required to perform the calculation in real time; the phase may be calculated for several discrete opposing distances Z hat and elevation angles θa and stored in memory 158, and the phase corresponding to the opposing distances Z hat and elevation angles θa estimated in real time may be read out and used for phase control.

[0130] Next, the power transmission start angle θ at the timing of starting power transmission START Here, the explanation will be given using Figs. 8 to 10 in addition to Fig. 7. Figs. 8 and 9 are diagrams showing the change over time in the power transmission efficiency when the power feeding device 100 moves in the X-axis direction relative to the power receiving device 50B. Fig. 10 shows the change over time in the power transmission efficiency when the power transmission start angle θ START and the moving distance W hat.

[0131] The distance X at times t1 and t2 is defined as X(t1) and X(t2). Time t1 is an example of a first time, and time t2 is an example of a second time. From the amount of displacement between X(t1) and X(t2), the movement speed v of the power supply device 100 from time t1 to t2 can be expressed by the following equation (32).

[0132]

number

[0133] Here, it may be necessary to reduce interference caused by the power transmission signal with other devices that may be present around the power receiving device 50B. In such cases, it is necessary to suppress the amount of power, which is the time integral value of the power of the power transmission signal transmitted by the power supply device 100, to a predetermined amount or less. The predetermined amount of power is the upper limit of the amount of power that does not affect (interfere with) other devices. In order to ensure that the effect of the power transmission signal on other devices, such as mobile phones, smartphones, or portable mobile stations such as transceivers, is below a predetermined amount of power limited by restrictions on the amount of power received by other devices, the control unit 157 limits the time for transmitting the power transmission signal. Such restrictions may be determined, for example, by standardization or the like.

[0134] Here, the duration is defined as the time obtained by subtracting a predetermined margin from the power transmission time during which the power amount of the power transmission signal reaches the upper limit of power amount that does not affect (interfere with) other devices. The power supply device 100 limits the power amount of the power transmission signal to a predetermined power amount or less by setting the time during which the power transmission signal can be transmitted to less than the duration.

[0135] Duration is T P Then, the duration T P The moving distance W hat of the power supply device 100 during this period can be expressed by the following equation (33).

[0136]

number

[0137] 8 and 9, the horizontal axis represents time, and the vertical axis represents power transmission efficiency (%). High power transmission efficiency corresponds to a high antenna gain of the power receiving antenna of the power receiving device 50. In FIGS. 8 and 9, time t=0 (0 seconds) represents the time when the elevation angle θa becomes 0 degrees. Time T S represents the time when power transmission starts, and time T E represents the time when power transmission ends. S From time T E The time until the duration T PThe power transmission efficiency is maximum at time t=0 when the elevation angle θa is 0 degrees, and decreases as the time moves away from t=0. This is similar to the fact that, in FIG. 5, the antenna gain of the power receiving antenna of the power receiving device 50 is maximum when the elevation angle θa is 0 degrees, and the antenna gain decreases as the absolute value of the elevation angle θa increases.

[0138] Therefore, as shown in FIG. 8, the timing t=0 when the elevation angle θa becomes 0 degrees is the same as the duration T P At time t=0, the center of P Power transmission starts from the timing t / 2 before time t=0, and T P If the power transmission is ended at a timing equal to or later than 1 / 2, the amount of power received by the power receiving device 50 can be maximized.

[0139] On the other hand, as shown in FIG. 9, the timing t=0 when the elevation angle θa becomes 0 degrees is the duration T P 8. If the power receiving device 50 is shifted from the center of the P This is lower than when transmitting electricity via

[0140] Therefore, the duration T P 10, power transmission starts when the distance in the X direction between the power supply device 100 and the marker 50A is W hat / 2. P Assuming that the vehicle speed is constant, the marker 50A is in front of the fisheye lens 141, and the elevation angle θa becomes 0 degrees. P The distance traveled, W hat, will be divided equally between them.

[0141] Power transmission start angle θ at the timing when power transmission starts START can be expressed by the following equation (34).

[0142]

number

[0143] The power supply device 100 starts power transmission at the power transmission start angle θ calculated by the formula (34). START Power transmission can be started when the elevation angle θa obtained by equation (13) matches, and the duration T P When the time has elapsed, power transmission can be terminated.

[0144] For the sake of explanation, FIG. 10 shows the power transmission end angle θ END Before and after the timing when the elevation angle θa becomes 0 degrees, a duration T P Since the travel distance W is divided equally into halves, the power transmission end angle θ END is the power transmission start angle θ START The power transmission end angle θ END is the power transmission start angle θ START Similarly to the elevation angle θa, the elevation angle θa represents the angle of the marker 50A relative to the Z axis as viewed from the origin O of the XYZ coordinate system in the XZ plane. START When the time coincides with the time, power transmission starts and continues for a duration of T P The power transmission device 100 ends the power transmission when the power transmission end angle θ END For the sake of explanation, it is not necessary to manage the timing of ending power transmission using the power transmission end angle θ END This shows:

[0145] <Real-time estimation of oncoming distance Z> Figure 11 shows the power transmission start angle θ START 10 is a flowchart showing a process of calculating When the process starts, the image processing unit 142B reads the luminance value of each pixel of the image data acquired by the imaging unit 142A (step S1).

[0146] The image processing unit 142B binarizes the image data acquired by the imaging unit 142A and obtains the distribution of pixel indices (step S2).

[0147] The image processing unit 142B extracts one or more contours based on the distribution of pixel indices (step S3).

[0148] The image processing unit 142B performs processing to find the largest contour (maximum contour) from among one or more contours extracted based on the distribution of pixel indexes (step S4).

[0149] The position derivation unit 151 calculates the center of gravity of the largest contour included in the pixel index obtained by the image processing unit 142B (step S5A). As a result, the coordinates of the center of gravity 50AC2 of the marker 50A are derived. The position derivation unit 151 handles the center of gravity of the largest contour as the coordinates of the center of gravity 50AC2.

[0150] Image processing unit 142B reads out the coordinates of the upper and lower ends of the maximum contour calculated by image processing unit 142B (step S5B). As a result, the coordinates of the upper end 50AU and the lower end 50AL of marker 50A are calculated. The processing of step S5B is performed in parallel with step S5A. Image processing unit 142B outputs the coordinates of the upper and lower ends of the read maximum contour to control device 150 as the coordinates of the upper end 50AU and the lower end 50AL of marker 50A.

[0151] The elevation angle acquisition unit 152 acquires the elevation angle θ of the center of gravity 50AC2. C and azimuth angle φ C The elevation angle θa of the center of gravity 50AC2 is calculated based on the formula (13) using the formula (13) (step S6A). C and azimuth angle φ C is the coordinate of the center of gravity 50AC2 (x C ,y C ) can be found from

[0152] The distance estimation unit 154 calculates the length L PM The data representing the distance X is read out and the distance X is estimated using equation (25) (step S6B).

[0153] Distance estimation unit 154 estimates facing distance Z based on distance X hat and elevation angle θa using equation (26) (step S7A).

[0154] The speed estimation unit 155 obtains the distances X(t1) and X(t2) estimated by the distance estimation unit 154 at time t1 and time t2, respectively, and estimates the moving speed v of the power supply device 100 in the X-axis direction relative to the marker 50A using equation (32) (step S7B).

[0155] The angle estimation unit 156 estimates the moving speed v estimated by the speed estimation unit 155 and the duration T P Using the above, the moving distance W hat is calculated from the equation (33), and further, the power transmission start angle θ is calculated from the equation (34) using the facing distance Z hat estimated by the distance estimation unit 154 and the moving distance W hat. START is calculated (step S8).

[0156] Although not shown in FIG. 11, the control unit 157 determines the power transmission start angle θ START When the elevation angle θa obtained by equation (13) matches, power transmission can be started. P Power can be transmitted over a wide area.

[0157] Using equation (25), the distance estimation unit 154 can calculate the length L between the upper end 50AU and the lower end 50AL of the marker 50A. PM Using this, it is possible to obtain in real time the distance X hat, which is the X-axis component of the distance between the center of the fisheye lens 141, which is the origin O of the XYZ coordinate system, and the center of gravity 50AC2 of the marker 50A. The distance X represents an estimated value of the X coordinate of the center of gravity 50AC2 of the marker 50A as viewed from the origin O.

[0158] Therefore, it is possible to provide a distance estimation device 100B, an antenna device 100A, a power feeding system, a power feeding device 100, and a power feeding method that are capable of estimating the distance X between the power receiving device 50B and the power feeding device 100 in real time.

[0159] Furthermore, the speed estimation unit 155 can estimate the moving speed v of the power supply device 100 in the X-axis direction relative to the marker 50A based on the distance X(t1) and the distance X(t2) estimated by the distance estimation unit 154 at time t1 and time t2. Therefore, it is possible to provide the antenna device 100A, the power supply system, the power supply device 100, and the power supply method that can estimate the moving speed v of the power supply device 100 in the X-axis direction relative to the marker 50A in real time. Furthermore, since the moving speed v is used, it is possible to start transmitting a beam to the power receiving device 50B located at the position of the marker 50A at a desired timing. Furthermore, for example, it is not easy for the antenna device 100A and the power supply device 100 to obtain speed information from a speed sensor of the vehicle because the antenna device 100A and the power supply device 100 would acquire the speed information from a control device or the like that has the vehicle speed information. In this regard, the antenna device 100A and the power supply device 100 can estimate the moving speed v in the X-axis direction of the antenna device 100A and the power supply device 100 that are mounted on a vehicle and moving in the X-axis direction, and therefore, highly useful information can be easily obtained.

[0160] Furthermore, the elevation angle acquisition unit 152 can acquire the elevation angle θa in real time using equation (13), and the distance estimation unit 154 can estimate the facing distance Z in real time using equation (26) based on the elevation angle θa and the distance X. Therefore, it is possible to provide the antenna device 100A, the power feeding system, the power feeding device 100, and the power feeding method that can estimate the facing distance Z between the power receiving device 50B and the power feeding device 100 in real time.

[0161] Furthermore, distance estimation unit 154 estimates distance X and opposing distance Z in real time when elevation angle θa is not within a predetermined angle range including 0 degrees, and therefore it is possible to provide antenna device 100A, a power feeding system, power feeding device 100, and a power feeding method that are capable of estimating distance X and opposing distance Z in real time when elevation angle θa is not within a predetermined angle range including 0 degrees. The predetermined angle range is, for example, a range that is not suitable for distance estimation unit 154 to calculate distance X hat and opposing distance Z hat, and is a predetermined range around an angle where elevation angle θa is 0 degrees.

[0162] The angle estimation unit 156 also estimates the moving speed v and the duration T P The moving distance W is estimated using the above equation, and the power transmission start angle θ is calculated based on the facing distance Z hat and the moving distance W hat. START Therefore, when it is necessary to reduce interference of the power transmission signal with other devices that may be present around the power receiving device 50B, the power received by the other devices that may be present around the power receiving device 50B can be kept below a predetermined amount of power, and power transmission can be started at an appropriate timing. P By limiting the range to the above, it is possible to reduce the probability that other devices that may be present around the power receiving device 50B will be subjected to radio wave interference.

[0163] Furthermore, the angle estimation unit 156 estimates the time T P The angle with respect to the Z axis in the XZ plane at a position that is half the distance (W / 2) of the movement distance W at the timing when the transmission of the power signal starts is the power transmission start angle θ START Therefore, it is possible to suppress the received power of other devices that may be present around the power receiving device 50B to a predetermined power amount or less, and to start power transmission appropriately at the start of the range of the elevation angle θa where the power transmission efficiency is highest.

[0164] Also, the duration T P is the duration T P The time is the time when the amount of power, which is the integral value of the power of the power transmission signal transmitted within the space where the marker 50A arranged along the inner wall 51 exists, becomes equal to or less than the predetermined amount of power limited by the constraints on the received power of devices other than the power receiving device 50B. P By managing the power receiving device 50B so that the received power of other devices that may be present around the power receiving device 50B is kept below a predetermined amount of power, it is possible to reliably keep the received power of other devices that may be present around the power receiving device 50B below a predetermined amount of power.

[0165] Furthermore, the control unit 157 determines whether the elevation angle θa is the power transmission start angle θSTART When the power transmission signal is transmitted, it starts transmitting the power. Therefore, the power transmission start control is easy. P Therefore, power transmission can be reliably started at the timing determined based on the above.

[0166] Furthermore, since the vertical length of the marker 50A is longer than the horizontal length, the center of gravity of the marker 50A derived by the position derivation unit 151 from the contour included in the pixel index is more likely to align with the vertical center of the marker 50A, thereby reducing the positional deviation of the center of gravity from the center. As a result, the elevation angle θa can be calculated with high accuracy, and phase control can be performed with high accuracy.

[0167] Furthermore, since the marker 50A has the wide portion 50AW in the center in the up-down direction, the position of the center of gravity of the marker 50A derived by the position derivation unit 151 from the contour included in the pixel index can be guided to the center of the marker 50A. As a result, the elevation angle θa can be calculated with high accuracy, and phase control can be performed with high accuracy.

[0168] Furthermore, since the wide portion 50AW is located at the center of the marker 50A in the vertical direction, the position of the center of gravity of the marker 50A derived by the position derivation unit 151 from the contour included in the pixel index can be guided to the center of the marker 50A. As a result, the elevation angle θa can be calculated with higher accuracy, and phase control can be performed with higher accuracy.

[0169] Furthermore, since length data representing the length between the upper end 50AU and the lower end 50AL of the marker 50A is stored in the memory 158, the distance X hat or the facing distance Z hat can be easily calculated.

[0170] Furthermore, the upper and lower ends of the marker 50A are the upper and lower ends of the marker 50A, respectively, and therefore the pixel index can be easily determined.

[0171] In addition, multiple sets of phase data are used for multiple opposing distances r FDare stored in the memory 158, and the distance estimation unit 154 calculates the facing distance r FD Therefore, the facing distance r FD It is possible to set the shift amounts in the N phase shifters 120 connected to the N subarrays 110A, respectively, by using a plurality of sets of phase data corresponding to the distance to the power receiving device 50B in the Z-axis direction. Therefore, by using a plurality of sets of phase data corresponding to the distance to the power receiving device 50B in the Z-axis direction, it is possible to provide the antenna device 100A and the power feeding device 100 that can transmit power so that the power receiving device 50B can efficiently receive power even at a short distance, according to the distance to the power receiving device 50B in the Z-axis direction. FD If there are no sets of phase data corresponding to the estimated opposing distance r FD The closest opposing distance r FD The phase data corresponding to the above can be used.

[0172] Furthermore, the multiple antenna elements 111 are grouped into multiple subarrays 110A extending along the Y-axis direction, and the phase shifter 120 is connected to each of the multiple subarrays 110A and adjusts the phase of the power transmission signal for each subarray 110A, so that a power transmission signal with a consistent phase can be transmitted to the power receiving device 50B by phase control in the X-axis direction. Furthermore, since phase control is performed only in the X-axis direction, the phase control can be simplified.

[0173] When the elevation angle θa is within a predetermined angle range including 0 degrees, the distance estimation unit 154 converts the position P1 obtained by the equidistant projection into polar coordinates on a plane 1 parallel to the XY plane to obtain a position P2, as shown in FIG. 3, and further calculates the X coordinate (r·cosφ) of a mapped position P2a obtained by mapping the position P2 onto the X axis by the focal length f of the fisheye lens 141. L By dividing by this, the elevation angle θa (= r cosφ / f L ) can be obtained.

[0174] Then, the control unit 157 may use phase data of the angle θb corresponding to the elevation angle θa to set the shift amounts in the N phase shifters 120 connected to the N subarrays 110A, respectively. By controlling the shift amounts in the N phase shifters 120 using phase data according to the change in the elevation angle θa accompanying the movement of the antenna device 100A and the power feeding device 100, it is possible to transmit power transmission signals from the N subarrays 110A to the power receiving antenna of the power receiving device in the same phase at all times, even while the antenna device 100A and the power feeding device 100 are moving.

[0175] Furthermore, when the elevation angle θa is within a predetermined angle range including 0 degrees, the positional deviation detection unit 153 detects the positional deviation between the camera 140 and the marker 50A in the Y-axis direction. If a positional deviation occurs, the distance estimation unit 154 reads out data indicating the degree of change in the pixel index number with respect to the positional deviation in the Y-axis direction from the memory 158, and calculates the facing distance r using the pixel index number corrected according to the degree of positional deviation in the Y-axis direction. FD Therefore, when the elevation angle θa is within a predetermined angle range including 0 degrees, if there is a positional deviation between the camera 140 and the marker 50A in the Y-axis direction, the control unit 157 estimates the facing distance r FD By using multiple sets of phase data according to the above, it is possible to provide an antenna device 100A, a power feeding system, a power feeding device 100, and a power feeding method that can transmit power so that the power receiving device 50B can efficiently receive power even at a short distance depending on the distance to the power receiving device 50B in the Z-axis direction even if there is a positional misalignment between the camera 140 and the marker 50A in the Y-axis direction.

[0176] Furthermore, since the antenna device 100A and the power feeding device 100 control the elevation angle of the beam 115 output by the array antenna 110 only in the XZ plane, the number of phase shifters 120 required is one-fourth of that required when the elevation angle is controlled both in the XZ plane and the YZ plane. This allows the antenna device 100A and the power feeding device 100 to be realized at low cost.

[0177] In the above, a configuration has been described in which the center of the fisheye lens 141 coincides with the centers of the 4N antenna elements 111. However, the center of the fisheye lens 141 may be shifted from the centers of the 4N antenna elements 111. In this case, the coordinate origin of the array antenna control phase calculation may be shifted by the amount of the positional shift. Alternatively, the marker 50A and the power receiving antenna may be installed apart by the amount of the positional shift.

[0178] Furthermore, although the above describes a configuration in which the control device 150 has a positional deviation detection unit 153, for example, if it is known that no positional deviation will occur between the camera 140 and the marker 50A, the control device 150 does not need to include the positional deviation detection unit 153, and the distance estimation unit 154 does not need to perform correction corresponding to the positional deviation.

[0179] <Application Examples of Power Supply Device 100 and Power Supply System 10> FIG. 12 is a diagram illustrating an application example of the power supply device 100. The power supply device 100 is mounted on a vehicle 60, for example. A target, a power receiving antenna 50C, is provided on the inner wall 51 of a tunnel. A marker 50A and a power receiving device 50B are attached to the power receiving antenna 50C. The marker 50A is the marker 50A shown in FIG. 6A, and the power receiving antenna 50C is disposed adjacent to the wide portion 50AW of the marker 50A. This is because the power supply device 100 radiates a beam of a power transmission signal toward the center of gravity 50AC2 calculated from image data of the marker 50A, enabling efficient power reception by the power receiving antenna 50C. The distance between the inner wall 51 of a tunnel and the vehicle 60 varies for each tunnel the vehicle 60 passes through. Furthermore, if the vehicle 60 travels in a direction diagonal to the travel lane, the distance between the inner wall 51 and the vehicle 60 may change from moment to moment.

[0180] Here, a system including the power supply device 100, the marker 50A, the power receiving device 50B, and the power receiving antenna 50C is the power supply system 10 of the embodiment. Since the power supply device 100 includes the antenna device 100A and the microwave generation source 130, the power supply system 10 includes the antenna device 100A, the microwave generation source 130, the marker 50A, the power receiving device 50B, and the power receiving antenna 50C.

[0181] When the vehicle 60 travels in the +X-axis direction, the power supply device 100 converts the position of the marker 50A into polar coordinates on a plane parallel to the XY plane using the camera 140, and further converts the X-coordinate (r·cosφ) of the mapped position (mapped position corresponding to P2a) onto the X-axis into a polar coordinate on a plane parallel to the XY plane using the focal length f of the fisheye lens 141. L Divide by the angle of elevation θa (= r cosφ / f L ) is calculated. The power feeding device 100 calculates the facing distance Z in real time based on the image data of the marker 50A and the vertical length LPM of the marker 50A, and reads phase data corresponding to the facing distance Z and the elevation angle θa from the memory 158 to control the shift amounts in the N phase shifters 120. This allows the power feeding device 100 to transmit power transmission signals of the same phase from the N subarrays 110A to the power receiving antenna 50C of the power receiving device 50B while the power feeding device 100 is moving. The power transmission signals of the same phase are irradiated as beams to the power receiving antenna 50C. The power feeding device 100 may set the phases of the power transmission signals to be transmitted from the N subarrays 110A in real time using the above-described equation (9) instead of reading the phase data from the memory 158.

[0182] When the elevation angle θa is within a predetermined angle range including 0 degree, the distance estimation unit 154 calculates the facing distance r from the center of the fisheye lens 141 to the marker 50A based on the number of pixel indexes acquired by the image processing unit 142B. FD Alternatively, the power supply device 100 may estimate the facing distance Z hat for each predetermined discrete angle of the elevation angle θa (for example, 60 degrees, 50 degrees, 40 degrees, 30 degrees, and 20 degrees), take the average of the facing distances Z hat estimated at the plurality of discrete angles, and perform phase control using the average value of the facing distances Z hat.

[0183] For example, if a power receiving antenna 50C, a sensor that monitors loosening of bolts or the like at the fixing part, a rectenna, and a wireless communication module are installed at a fixing part that fixes an infrastructure structure such as a jet fan or a sign attached to the inner wall 51 of a tunnel to the inner wall 51, and a beam is radiated from the power supply device 100 to the power receiving antenna 50C while the vehicle 60 is traveling, the rectenna connected to the power receiving antenna 50C will generate power and activate the wireless communication module, and the wireless communication module will radiate a signal representing the output of the sensor, which will then be received by the vehicle 60, allowing the fixing state of the infrastructure structure to be inspected while traveling.

[0184] In this case, the wireless communication module may receive a signal representing the output of the sensor via the array antenna 110 .

[0185] In addition, the X coordinate (r·cosφ) of the mapping position (the mapping position corresponding to P2a) on the X axis from the position of the receiving antenna 50C shifted from the XZ plane is calculated, and the X coordinate (r·cosφ) is calculated by multiplying the focal length f of the fisheye lens 141 by L The value divided by (r cosφ / f L ) is used as the elevation angle θa to control the beam, so even if the vehicle 60 traveling in the X-axis direction shifts either positively or negatively on the Y-axis, the positional deviation can be absorbed and the elevation angle θa can be determined.

[0186] 12 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 the tunnel, but the wireless communication module is not limited to being provided on the inner wall 51 of the 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.

[0187] The distance estimation device, antenna device, power supply system, power supply device, and power supply method according to exemplary embodiments of the present invention have been described above. 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]

[0188] 50A marker 50B Power receiving device 50C receiving antenna 100 Power supply device 100A Antenna Unit 100B Distance Estimator 110 Array Antenna 110A Sub-array 111 Antenna element 120 Phase Shifter 130 Microwave Source 140 Camera 141 Fisheye Lens 150 control device 151 Position derivation part 152 Elevation angle acquisition part 153 Position deviation detection unit 154 Distance estimation unit 155 Speed ​​estimation part 156 Angle estimation part 157 Control Unit 158 memory

Claims

1. 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 distance estimation unit that estimates a distance between the image acquisition unit and the marker; Including, a distance estimation unit that estimates a distance in the first axis direction between the image acquisition unit and the marker based on a coordinate of an upper end of the marker included in the image calculated from a second elevation angle of the upper end of the marker relative to a third axis and an azimuth angle of the upper end of the marker relative to the first axis, a coordinate of a lower end of the marker included in the image calculated from a third elevation angle of the lower end of the marker relative to the third axis and an azimuth angle of the lower end of the marker included in the image, and a length between the upper end and the lower end.

2. 2. The distance estimation device according to claim 1, further comprising a speed estimation unit that estimates a moving speed of the image acquisition unit in the first axis direction relative to the marker based on a distance estimated by the distance estimation unit at a first time and a distance estimated at a second time after the first time.

3. an elevation angle acquisition unit that acquires, based on the second position, a first elevation 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; 3. The distance estimation device according to claim 2, wherein the distance estimation unit estimates the distance in the third axis direction between the image acquisition unit and the marker based on a first elevation angle acquired by the elevation angle acquisition unit and the estimated distance in the first axis direction.

4. 4. The distance estimation device according to claim 3, wherein when a first elevation angle acquired by the elevation angle acquisition unit is not included in a predetermined angle range including zero degrees, the distance estimation unit estimates the distance in the first axis direction between the image acquisition unit and the marker, and estimates the distance in the third axis direction between the image acquisition unit and the marker based on the first elevation angle acquired by the elevation angle acquisition unit and the estimated distance in the first axis direction.

5. 5. The distance estimation device according to claim 4, wherein the distance estimation unit estimates the distance in the third axis direction from the image acquisition unit to the marker based on the image acquired by the image acquisition unit when the first elevation angle acquired by the elevation angle acquisition unit is included in the predetermined angle range including zero degrees.

6. a positional deviation detection unit that detects a positional deviation between the image acquisition unit and the marker in the second axis direction based on a position of a center of gravity of the marker included in an image acquired by the image acquisition unit, 6. The distance estimation device according to claim 5, wherein the distance estimation unit estimates the distance from the image acquisition unit to the marker in the third axis direction based on the image corrected according to the degree of positional shift detected by the positional shift detection unit.

7. 7. The distance estimation device according to claim 3, wherein the elevation angle acquisition unit obtains, as the first elevation angle, a value obtained by dividing coordinates of a mapped position obtained by mapping the second position onto the first axis by a focal length of the fisheye lens.

8. The distance estimation device according to claim 7 , 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.

9. The distance estimation device according to claim 1 , wherein the upper end and the lower end are the upper end and the lower end of the marker, respectively.

10. A distance estimation device according to any one of claims 1 to 9; an array antenna having a plurality of antenna elements arranged two-dimensionally along the first axis and the 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; a control unit that calculates timing to start transmission of the power transmission signal based on the distance in the first axis direction between the image acquisition unit and the marker estimated by the distance estimation unit and a duration for which power transmission of the power transmission signal is continued, and controls the phase adjustment unit; An antenna device comprising:

11. A distance estimation device according to any one of claims 3 to 8; an array antenna having a plurality of antenna elements arranged two-dimensionally along the first axis and the 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; a control unit that controls the phase adjustment unit based on the first elevation angle acquired by the elevation angle acquisition unit and the distance in the third axis direction estimated by the distance estimation unit; Including, The control unit calculates the angle of the position of the marker relative to the image acquisition unit with respect to the third axis in the second plane at the timing of starting transmission of the power transmission signal based on the moving speed estimated by the speed estimation unit and the duration for which transmission of the power transmission signal is continued.

12. The antenna device according to claim 11 , wherein the control unit starts transmitting the power transmission signal when the first elevation angle acquired by the elevation angle acquisition unit matches the calculated angle.

13. 13. The antenna device according to claim 11, further comprising an angle estimation unit that estimates, as a power transmission start angle at a timing to start transmitting the power transmission signal, an angle with respect to the third axis in the second plane at a position that is half the distance before a position where the first elevation angle acquired by the elevation angle acquisition unit is 0 degrees and that is a distance before the position where the first elevation angle acquired by the elevation angle acquisition unit is 0 degrees and that is half the distance moved during the duration at the moving speed estimated by the speed estimation unit.

14. The antenna device according to any one of claims 10 to 13, wherein the duration is a time period during which the amount of power, which is the integral value of the power of the transmission signal transmitted within the duration, becomes equal to or less than a predetermined amount of power, which is limited by constraints on the receiving power of other devices other than the receiving device located at the position of the marker, within a space in which the marker arranged along a wall portion is present.

15. the plurality of antenna elements are grouped into a plurality of subarrays extending along the second axis; The antenna device according to claim 10 , wherein the phase adjustment unit is a plurality of phase shifters connected to the plurality of subarrays, respectively, and configured to adjust the phase of the power transmission signal for each subarray.

16. The antenna device according to claim 10 , further comprising a storage unit configured to store length data representing a length between the upper end and the lower end of the marker.

17. an antenna device according to any one of claims 10 to 16; a radio wave generating source that supplies the power transmission signal to the plurality of antenna elements; a power receiving device located at the position of the marker; the marker attached to the power receiving device; Including, A power supply system, wherein the marker has a vertical length longer than a horizontal length.

18. The power supply system according to claim 17 , wherein the marker has a wide portion in a central portion in the up-down direction.

19. The power supply system according to claim 18 , wherein the wide portion is located at a center in the up-down direction.

20. 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; 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 distance estimation unit that estimates a distance between the image acquisition unit and the marker; a control unit that calculates timing to start transmission of the power transmission signal based on the distance in the first axis direction between the image acquisition unit and the marker estimated by the distance estimation unit and a duration for which power transmission of the power transmission signal is continued, and controls the phase adjustment unit; Including, a power supply device, wherein the distance estimation unit estimates the distance in the first axis direction between the image acquisition unit and the marker based on the coordinate of the upper end of the marker included in the image, which is calculated from a second elevation angle of the upper end of the marker relative to a third axis and an azimuth angle of the upper end of the marker relative to the first axis, the coordinate of the lower end of the marker included in the image, which is calculated from a third elevation angle of the lower end of the marker relative to the third axis and an azimuth angle of the lower end of the marker relative to the first axis, and the length between the upper end and the lower end.

21. 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; 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; In a power supply device including: Estimating a distance between the image acquisition unit and the marker; calculating a timing to start transmission of the power transmission signal based on the estimated distance between the image acquisition unit and the marker in the first axis direction and a duration for which power transmission of the power transmission signal is continued, and controlling the phase adjustment unit; a power supply method in which estimating the distance comprises estimating the distance in the first axis direction between the image acquisition unit and the marker based on the coordinate of the upper end of the marker included in the image, which is calculated from a second elevation angle of the upper end of the marker relative to a third axis and an azimuth angle of the upper end of the marker relative to the first axis, the coordinate of the lower end of the marker included in the image, which is calculated from a third elevation angle of the lower end of the marker relative to the third axis and an azimuth angle of the lower end of the marker relative to the first axis, and the length between the upper end and the lower end.

Images