Antenna device, power supply device, and power supply method

Abstract

To provide an antenna device, capable of easily calculating a phase adjustment amount of a power transmission signal in a plurality of antenna elements of an array antenna depending on a location of a power reception antenna so that received power becomes high.SOLUTION: An antenna device is configured to: acquire a projection elevation angle; determine a second elevation angle of first both end points and second both end points with respect to a third axis on the basis of coordinates of the first both end points and the second both end points of a marker image and a focal distance of a fisheye lens; determine a first distance between a marker center point and a fisheye lens; determine a second distance between the fisheye lens, and the first both end points and the second both end points, on the basis of third axis coordinates and the second elevation angle of the first both end points and the second both end points with respect to the third axis; and on the basis of a route difference between the first distance and the second distance, set a phase adjustment amounts of three of the antenna elements in each of a first axial direction and a second axial direction to set the phase adjustment amounts of the plurality of antenna elements disposed two-dimensionally by a parabolic interpolation of a quadratic function.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] This disclosure relates to an antenna device, a power supply device, and a power supply method. [Background technology]

[0002] Conventionally, there are power supply devices that include a first detection means for detecting the direction of a power receiving device, a first radiation that wirelessly radiates power in the direction of the power receiving device detected by the first detection means, and a second radiation that wirelessly radiates power while changing the direction of the radiated power within a defined range. The radiated unit is an array antenna (see, for example, Patent Document 1). [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2019-083648 [Overview of the project] [Problems that the invention aims to solve]

[0004] By the way, adjusting the phase of the transmission signals transmitted by multiple antenna elements in an array antenna according to the position of the receiving antenna of the receiving equipment, so that the received power at the receiving antenna is large, requires an enormous amount of computation. However, conventional power supply equipment (power supply devices) have not solved this problem.

[0005] Therefore, the objective is to provide an antenna device, a power supply device, and a power supply method that can easily calculate the amount of phase adjustment of the power transmission signal in multiple antenna elements of an array antenna according to the position of the receiving antenna, so as to increase the received power. [Means for solving the problem]

[0006] The antenna device of the embodiment of the present disclosure is an array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, the array antenna transmitting a transmission signal toward a receiving antenna located at the center of a marker which has the same size as the array antenna in a plan view and is arranged opposite to the array antenna, a phase adjustment unit which adjusts the phase of the transmission signal supplied to the plurality of antenna elements in the first axis direction and the second axis direction, an image acquisition unit which acquires an image of the marker through a fisheye lens arranged opposite to the marker, a first elevation angle acquisition unit which acquires a first elevation angle of the marker center point with respect to the third axis and a projected elevation angle obtained by projecting the first elevation angle onto a plane including the first axis and the third axis based on the marker image center point which is the center point of the marker in the image of the marker and the focal length of the fisheye lens, and the coordinates of the first endpoints of the marker in the first axis direction in the image of the marker, the coordinates of the second endpoints of the marker in the second axis direction in the image of the marker and the focal length of the fisheye lens A second elevation angle acquisition unit that determines the second elevation angle with respect to the third axis; a coordinate acquisition unit that determines the coordinate of the marker on the third axis based on the projected elevation angle, the marker image center point which is the center point of the marker in the image of the marker, either one of the projected coordinates of the second endpoints, and the length of the marker in the direction connecting the second endpoints; a first distance estimation unit that determines the first distance between the marker center point and the fisheye lens based on the first elevation angle and the coordinate of the marker on the third axis; and the second elevation angles of the first and second endpoints with respect to the third axis, and the marker The control unit includes a second distance estimation unit that determines a second distance between the first and second endpoints and the fisheye lens based on the coordinates of the third axis, and a control unit that controls a phase adjustment amount for adjusting the phase of the power transmission signal in the first axis direction and the second axis direction, wherein the control unit sets the phase adjustment amount for the three antenna elements including the antenna elements at both ends in the first axis direction and the three antenna elements including the antenna elements at both ends in the second axis direction, based on the path difference between the first distance and the second distance.The phase adjustment amount of the plurality of antenna elements arranged in two dimensions is set by parabolic interpolation of a quadratic function. [Effects of the Invention]

[0007] An antenna device, a power supply device, and a power supply method can be provided that can easily calculate the amount of phase adjustment of the power transmission signal in multiple antenna elements of an array antenna according to the position of the receiving antenna, so as to increase the received power. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example of how the power supply device 100 of the embodiment is used. [Figure 2] This figure shows an example of a power supply device 100 and a power receiving device 50 according to the embodiment. [Figure 3] This figure shows an example of the configuration of the power supply device 100 of the embodiment. [Figure 4A] This figure shows the two-dimensional phase distribution when each antenna element radiates radio waves in the same direction, assuming long-distance power transmission. [Figure 4B] This figure shows the two-dimensional phase distribution when each antenna element radiates radio waves in the same direction, assuming short-distance power transmission. [Figure 5] This figure shows an example of the positional relationship between an array antenna 110 having (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis and a receiving antenna 51, using XZ coordinates. [Figure 6] This figure illustrates an example of how to set the normalized path difference length θiX for (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis. [Figure 7A] This figure shows an example of the positional relationship between the array antenna 110 and the power receiving device 50. [Figure 7B] This figure shows an example of the positional relationship between the array antenna 110 and the power receiving device 50. [Figure 8] This figure shows the polar coordinate system of the array antenna 110. [Figure 9A]This figure shows an example of the distribution of normalized path difference lengths calculated in the X and Y directions. [Figure 9B] This figure shows an example of the distribution of normalized path difference lengths calculated in the X and Y directions. [Figure 10A] This figure shows an example of the simulation results of the transmitting antenna gain as seen at the position of the receiving antenna 51. [Figure 10B] This figure shows an example of the simulation results for the power received by the receiving antenna 51. [Modes for carrying out the invention]

[0009] The following describes embodiments to which the antenna device, power supply device, and power supply method of this disclosure are applied.

[0010] <Embodiment> Figure 1 shows an example of how the power supply device 100 of the embodiment is used. The power supply device 100 has an array antenna and, as an example, is mounted on an AGV (Automatic Guided Vehicle) 20 and is movable. The power supply device 100 moves to a position facing the power receiving device 50 attached to the power supply target object 10 and sends a power transmission signal to the power receiving device 50. The positions of the power receiving device 50 and the power supply target object 10 are fixed.

[0011] The power supply device 100 can efficiently transmit power by adjusting the phase of the radio waves radiated from each antenna element of the array antenna, even if the center of the array antenna is shifted in any direction (up, down, left, or right) relative to the center of the receiving antenna of the power receiving device 50.

[0012] Furthermore, if the power supply device 100 transmits a power transmission signal not only when the AGV 20 is stopped relative to the power receiving device 50, but also when it is approaching or reversing, efficient power transmission becomes possible, especially when there are multiple power receiving devices 50 and power supply targets 10. In this case, if the phase of the radio waves radiated from each antenna element of the array antenna of the power supply device 100 is adjusted according to the distance between the power supply device 100 and the power receiving device 50 to improve power transmission efficiency, even more efficient power transmission becomes possible.

[0013] Figure 2 shows an example of a power supply device 100 and a power receiving device 50 according to the embodiment. Figure 3 shows an example of the configuration of the power supply device 100 according to the embodiment.

[0014] The following explanation will use the XYZ coordinate system. A planar view refers to an 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.

[0015] <Configuration of power supply device 100 and power receiving device 50> Figure 2 shows a power receiving device 50 positioned opposite the array antenna 110. The array antenna 110 has multiple antenna elements 111, which are arranged in an array along the X and Y axes. The array antenna 110 is a super-multi-element phased array. The number of antenna elements 111 included in the array antenna 110 as a super-multi-element phased array is, for example, about 200 to 1000.

[0016] The distance in the Z direction (opposing distance) between the array antenna 110 and the power receiving device 50 is, for example, about 1m to 2m. The power supply device 100 transmits a power transmission signal from the array antenna 110 to the power receiving device 50 via microwave wireless transmission. The transmission of a power transmission signal from the array antenna 110 to the power receiving device 50 is equivalent to the array antenna 110 supplying power to the power receiving device 50.

[0017] The power receiving device 50 has a power receiving antenna 51 and a position marker 52. Figure 2 shows the arrangement of the multiple antenna elements 111, the power receiving antenna 51, and the position marker 52 for clarity, but in reality, the power receiving antenna 51 and the position marker 52 are arranged along the X and Y axes, similar to the multiple antenna elements 111. The size of the position marker 52 in plan view is the same as the size of the array antenna 110 in plan view.

[0018] The array antenna 110 transmits a power transmission signal to the receiving antenna 51 of the power receiving device 50 by scanning the angle of the beam, which is a power transmission signal, as the radio waves emitted from the multiple antenna elements 111 that form a beam.

[0019] The power receiving device 50 supplies power from the transmission signal received by the power receiving antenna 51 from the array antenna 110 to the power supply target object 10. The power supply target object 10 can be any device that consumes power. For example, one power supply target object 10 is connected to one power receiving antenna 51.

[0020] <Configuration of power supply device 100> As shown in Figure 3, the power supply device 100 includes an array antenna 110, a phase shifter 120, a microwave source 130, a camera 140, and a control device 150. The antenna device 100A of this embodiment is the power supply device 100 with the microwave source 130 removed. Note that in Figure 2, the phase shifter 120 and the microwave source 130 are omitted.

[0021] <Configuration of array antenna 110> The array antenna 110 includes, as an example, (2N+1) × (2N+1) antenna elements 111, where N is an integer greater than or equal to 2. The (2N+1) × (2N+1) antenna elements 111 are arranged in (2N+1) in the X direction (first axis direction) and (2N+1) in the Y direction (second axis direction). That is, the (2N+1) × (2N+1) antenna elements 111 are arranged in (2N+1) rows × (2N+1) columns. This indicates the elements from the -Nth (#-N) to the Nth (#N) in the X direction. The antenna elements 111 are rectangular patch antennas in plan view. The array antenna 110 may have a ground plate held at ground potential on the -Z direction side of the antenna elements 111. As an example, the center of the positions of the (2N+1) × (2N+1) antenna elements 111 coincides with the origin of the XYZ coordinate system. The center of the positions of (2N+1)×(2N+1) antenna elements 111 is an example of the reference position of an array antenna.

[0022] <Configuration of Phase Shifter 120> Each of the (2N+1)×(2N+1) antenna elements 111 is connected to a phase shifter 120. The phase shifter 120 is an example of a phase adjustment unit that adjusts the phase, and is an example of a phase shifter. Each phase shifter 120 is supplied with a transmission signal of the same phase. Furthermore, the phases of the transmission signals output by the (2N+1)×(2N+1) phase shifters 120 to the (2N+1)×(2N+1) antenna elements 111 are different from each other. Therefore, the angle of the beam formed by the radio waves radiated from the (2N+1)×(2N+1) antenna elements 111 can be controlled in both the horizontal and vertical directions.

[0023] The beam formed by the radio waves radiated from (2N+1)×(2N+1) antenna elements 111 is equivalent to the beam output by the array antenna 110. Furthermore, the beam output by the array antenna 110 is equivalent to the beams output by the antenna device 100A and the power supply device 100. The beam is a power transmission signal.

[0024] <Configuration of microwave source 130> The microwave source 130 is connected to (2N+1) × (2N+1) phase shifters 120 and supplies microwaves of a predetermined power. The microwave source 130 is an example of a radio wave source. The microwave frequency is, for example, in the 24 GHz band of the quasi-millimeter wave. Here, the power supply device 100 is described in a form that includes the microwave source 130, but it is not limited to microwaves; any radio wave of a predetermined frequency will suffice.

[0025] <Configuration of Camera 140> The camera 140 is positioned at the position of the 0th antenna element 111 among the -Nth to Nth antenna elements 111 in the X direction, and at the position of the 0th antenna element 111 among the -Nth to Nth antenna elements 111 in the Y direction. The 0th antenna element 111 in the X direction and the 0th antenna element 111 in the Y direction are the same, and are the antenna element 111 located at the center of the (2N+1) × (2N+1) antenna elements 111. In the following explanation, in order to determine the phase adjustment amount for each antenna element 111, it is assumed that there is an antenna element 111 located at the center of the (2N+1) × (2N+1) antenna elements 111. However, the fisheye lens 141 of the camera 140 may be placed without providing an antenna element 111 located at the center of the (2N+1) × (2N+1) antenna elements 111. Furthermore, the positions of (2N+1) × (2N+1) antenna elements 111 or fisheye lenses 141 may be shifted to an extent that does not hinder the calculation of the phase adjustment amount for each antenna element 111. Alternatively, the fisheye lens 141 may be positioned offset from the array antenna 110, and the beam may be radiated to a position that takes into account the positional shift between the fisheye lens 141 and the array antenna 110 relative to the position of the marker 52 as seen from the fisheye lens 141.

[0026] Camera 140 has a fisheye lens 141 and a camera body 142. Camera 140 is an example of an image acquisition unit. Camera 140 is used to estimate the position of the position marker 52 by image processing. Estimating the position of the position marker 52 by image processing is called vision sensing.

[0027] The fisheye lens 141 is a lens that employs an equidistant projection method. The center of the fisheye lens 141 coincides, for example, with the centers of (2N+1)×(2N+1) antenna elements 111 and the origin of the XYZ coordinate system. The center of the fisheye lens 141 is an example of the reference position of the image acquisition unit. The camera body 142 is the part 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.

[0028] Camera 140 acquires an image including the position marker 52 through the fisheye lens 141 and outputs the image data to the control device 150. The position marker 52 is attached to the receiving device 50, which has a receiving antenna 50B that is the target to be illuminated by the beams output by the antenna device 100A and the power supply device 100. The antenna device 100A and the power supply device 100 determine the position of the position marker 52 included in the image acquired by camera 140 and illuminate the receiving antenna 50B with the beam.

[0029] The camera body 142 includes an image sensor and acquires image data by taking images through a fisheye lens 141. The camera body 142 performs image processing such as binarization on the acquired image data and outputs the pixel index to the control device 150. The pixel index is an XY coordinate value (address) indicating the position of the position marker 52 on the image capture screen.

[0030] Furthermore, the camera body 142 performs processes to determine the contour of the position marker 52 and the maximum contour, and outputs data representing the coordinates of the position marker 52 to the control device 150.

[0031] The process of determining the contour of the position marker 52 involves extracting one or more contours based on the distribution of pixel indices obtained by binarizing the image data acquired by the camera body 142.

[0032] The process of finding the largest contour involves selecting the largest contour from one or more contours extracted based on the distribution of pixel indices (maximum contour extraction process by counting the number of pixels within the contour). By finding the largest contour, the effects of noise and other factors can be eliminated.

[0033] The process of reading the coordinates of the position marker 52 involves reading the coordinates of the position marker 52 from the largest contour determined by the process of finding the largest contour. The camera body 142 outputs the read coordinates of the position marker 52 to the control device 150.

[0034] <Configuration of control device 150> The control unit 150 is implemented by a computer that includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), input / output interface, and internal bus.

[0035] The control device 150 uses parabolic interpolation of a quadratic function to determine the phase adjustment amount to be set for all phase shifters 120, and sets the determined phase adjustment amount to each phase shifter 120. The control device 150 has a memory 155 in which it stores the determined phase adjustment amount. The control device 150 also stores the normalized path difference length that arises in the process of determining the phase adjustment amount in the memory 155. The normalized path difference length is a physical quantity corresponding to the phase adjustment amount, and its details will be described later.

[0036] The control device 150 includes an elevation angle acquisition unit 151, a coordinate acquisition unit 152, a distance estimation unit 153, a control unit 154, and a memory 155. The elevation angle acquisition unit 151, the coordinate acquisition unit 152, the distance estimation unit 153, and the control unit 154 represent the functions of the program executed by the control device 150 as functional blocks. The memory 155 functionally represents the memory of the control device 150. The elevation angle acquisition unit 151 is an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit. The distance estimation unit 153 is an example of a first distance estimation unit and a second distance estimation unit.

[0037] Details of the processing of the elevation angle acquisition unit 151, coordinate acquisition unit 152, distance estimation unit 153, and control unit 154 will be described later, mainly with reference to Figure 8.

[0038] <Comparison of transmission signal phase distribution (explanation for comparison)> Here, using Figures 4A and 4B, we have diagrams showing the phase distribution when radio waves are radiated from each antenna element toward the receiving antenna during long-distance and short-distance power transmission. Here, similar to the array antenna 110 and receiving antenna 51 with multiple antenna elements 111 shown in Figure 2, we will explain the difference in power transmission (communication) between long-distance and short-distance power transmission when a comparative array antenna with multiple antenna elements and a comparative receiving antenna are facing each other. The explanation using Figures 4A and 4B and equations (1) to (6) shown below is an explanation of the comparative array antenna and the comparative receiving antenna, and is not included in the embodiment.

[0039] Figure 4A shows the two-dimensional phase distribution when each antenna element radiates radio waves in the same direction, assuming long-distance power transmission. Long-distance power transmission refers to power transmission where the distance to the receiving antenna is sufficiently long relative to the wavelength, and the direction of the receiving antenna as seen from each antenna element can be considered the same. Since the receiving antenna is located in the front direction of each antenna element of the array antenna, the phase difference between antenna elements is zero. Therefore, when each antenna element radiates radio waves in the same direction, assuming long-distance power transmission, the phases are the same.

[0040] Figure 4B shows the two-dimensional phase distribution when each antenna element radiates radio waves in the same direction, assuming short-distance power transmission. Short-distance power transmission refers to power transmission where the path difference from each antenna element to the receiving antenna is so large that it does not change linearly with respect to the antenna element position, and it is necessary to adjust the phase of the transmission signal sent from each antenna element. When the receiving antenna is facing the center of the antenna array, the distance from the surrounding antenna elements to the receiving antenna is longer compared to the central antenna element, so it can be seen that the amount of phase adjustment changes.

[0041] In short-distance power transmission, as shown in Figure 4B, by appropriately adjusting the phase of the radio waves emitted by each antenna element, the phase of the radio waves arriving from all antenna elements becomes equal at the receiving antenna's position, maximizing the power received by the receiving antenna.

[0042] When an array antenna is a multi-element phased array, estimating the path difference from each antenna element to the receiving antenna and setting the phase adjustment amount for adjusting the phase of the radio wave at each antenna element requires sending a test signal from each individual antenna element, measuring the phase at the receiving antenna, and feeding the phase measurement values ​​back to the transmitting side. This direct method results in an enormous amount of computation and is difficult to implement. Furthermore, the transmission signal from each individual antenna element is weak, leading to insufficient measurement accuracy. Specifically, the phase adjustment amount for adjusting the phase of the radio wave at each antenna element is determined as follows.

[0043] Here, if the ultra-multi-element phased array has (2N+1) × (2N+1) array antennas in the X direction × Y direction, the index of each antenna element is (i X ,i Y Let ) be the coordinates (X,Y,Z) of that coordinate point be (di X ,di Y Let (0). The center coordinates of the array antenna are (0,0,0). The range of the index (integer) of the antenna element is -N≦i X ≤N, -N ≤i Y≤N. N is an integer greater than or equal to 1. Also, let the coordinates where the power receiving antenna is located be (T X , T Y , T Z ). Then, the distance from each antenna element to the power receiving antenna is expressed by the following formula (1).

[0044]

Equation

[0045] Let the distance from the center of the array antenna to the power receiving antenna be the reference distance R ref . Then, the reference distance R ref is expressed by the following formula (2).

[0046]

Equation

[0047] The path difference length τ ref with respect to the reference distance R iX , iY is expressed by the following formula (3).

[0048]

Equation

[0049] The normalized path difference length η iX , iY obtained by normalizing the path difference length τ iX , iY by the wavelength λ is as follows in formula (4).

[0050]

Equation

[0051] Between each antenna element and the power receiving antenna, the normalized path difference length η iX , iYA phase displacement corresponding to this (including rotations of 2π or more) is obtained, so a phase adjustment amount is applied to the radio waves output by the antenna element to cancel this phase displacement. The phase adjustment amount at the antenna element can be expressed as a complex number in the following equation (5).

[0052]

number

[0053] The phase ω(i) of this complex number X ,i Y ) is expressed by the following equation (6).

[0054]

number

[0055] The phase ω(i X ,i Y The range of ) is represented as [-π, π].

[0056] The phase ω(i) of such complex numbers X ,i Y ) Calculating this for each antenna element of an array antenna as a multi-element phased array would require an enormous amount of computation and would be difficult to implement.

[0057] Therefore, in this embodiment, an antenna device 100A, a power supply device 100, and a power supply method are provided that can easily calculate the amount of phase adjustment of the power transmission signal in multiple antenna elements 111 of the array antenna 110 according to the position of the receiving antenna, so as to increase the received power. Details will be described below.

[0058] To simplify the explanation, consider (2N+1) antenna elements arranged one-dimensionally along the X-axis. Figure 5 shows an example of the positional relationship between an array antenna 110 having (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis and a receiving antenna 51, in XZ coordinates.

[0059] The index of antenna element 111 is i X Let the (X,Z) coordinates be (d iX d iZ ) d iZ = 0. The center coordinates of the array antenna 110 are (0,0). The index i of antenna element 111. X The range of (integers) is -N ≤ i X ≤N. Also, the (X,Z) coordinates of the receiving antenna 51 are (T X ,T Z )

[0060] The distance R from each antenna element 111 to the receiving antenna 51 iX This can be expressed by the following equation (7).

[0061]

number

[0062] The distance from the center of the array antenna 110 to the receiving antenna 51 is the reference distance R. ref Therefore, the reference distance R ref This can be expressed by the following equation (8).

[0063]

number

[0064] Reference distance R ref Path difference length τ iX This can be expressed by the following equation (9).

[0065]

number

[0066] Distance R iX and reference distance R ref By rearranging these equations, we obtain equations (10) and (11).

[0067]

number

[0068]

number

[0069] Here, by substituting equations (10) and (11) into the Taylor expansion formula shown in equation (12), we obtain equations (13) and (14).

[0070]

number

[0071]

number

[0072]

number

[0073] In equations (13) and (14), if we consider up to the second term, the path difference length τ iX This can be expressed by the following equation (15).

[0074]

number

[0075] Thus, for (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis, the path difference length τ iX This can be expressed as a quadratic function. Therefore, the index i of antenna element 111 X Regarding the path difference length τ iX The normalized path difference length θ obtained by normalizing with wavelength. iX It can also be expressed as a quadratic function. The index i of the central antenna element 111 among the (2N+1) antenna elements 111 arranged one-dimensionally along the x-axis.X The distance from the central antenna element 111 among the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis to the receiving antenna 51 is the reference distance R. ref Therefore, index i X For antenna element 111 where is 0, the normalized path difference length θ(0) is 0. Index i X For antenna element 111 where is 0, the phase corresponding to the normalized path difference length θ(0) is an example of the first reference phase.

[0076] Figure 6 shows the normalized path difference length θ for (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis. iX This diagram illustrates an example of how to configure it. As shown in Figure 6, index i X The antenna elements 111 at both ends of -N and N, and index i X Using the three points of the antenna element 111 at the center of 0, the normalized path difference length θ of the (2N+1) antenna elements 111 arranged one-dimensionally along the X-axis by parabolic interpolation of a quadratic function is obtained. iX This can be set. The index i of the three antenna elements 111 X to (i s ,i m ,i e ) and the normalized path difference length (θ) is ,θ im ,θ ie ) from this, the normalized path difference length θ for the remaining antenna element 111. X(i) This is estimated by parabolic interpolation of a quadratic function as shown in equation (16).

[0077]

number

[0078] Here, the coefficient c s (I C m (i), and c e (i) is given by equation (17).

[0079]

number

[0080] Specifically, i s =-N, i m =0, and i e Set =N. i is located at the reference distance. m For antenna elements 111 with =0, the normalized path difference length θ(0) is always 0. Therefore, for the two antenna elements 111 at both ends, the appropriate normalized path difference length is determined and set by vision sensing.

[0081] Due to the symmetry of the array antenna 110 in the X and Y directions, the same reasoning applies to equations (7) to (17) above, even for (2N+1) antenna elements 111 arranged one-dimensionally along the Y axis.

[0082] Then, the normalized path difference length θ(i) for the two-dimensional array antenna 110 is obtained by taking the sum of the normalized path difference lengths in the X and Y directions. X ,i Y Set ) as shown in equation (18).

[0083]

number

[0084] Furthermore, the normalized path difference length θ(i X ,i Y ) is given by the following equation (19) as the phase adjustment amount wi X ,i Y Converted to this, the phase adjustment amount wi is applied to each of the (2N+1) × (2N+1) antenna elements 111 arranged in two dimensions by the phase shifter 120 connected to each of them. X ,i Y The phase of the radio waves is adjusted, and the power transmission signal is transmitted.

[0085]

number

[0086] Figures 7A and 7B show an example of the positional relationship between the array antenna 110 and the power receiving device 50. In Figures 7A and 7B, the position of the array antenna 110 is offset from the power receiving device 50 in the X direction. The positional relationship between the array antenna 110 and the power receiving device 50 shown in Figures 7A and 7B is the same. Here, we will explain using the positional relationship in the left-right direction in Figures 7A and 7B. Also, here we will explain using the positional relationship in the up-down direction. The up direction is the +Y direction, and the down direction is the -Y direction.

[0087] The positional relationship between the left, right, top, and bottom ends of the array antenna 110 and the left, right, top, and bottom ends of the position marker 52 will be explained below. In the following, the left, right, top, and bottom ends of the array antenna 110 and the left, right, top, and bottom ends of the position marker 52 will be used. The Y coordinates of the left and right ends of the array antenna 110 are equal to the Y coordinate of the center of the array antenna 110. Similarly, the X coordinates of the top and bottom ends of the array antenna 110 are equal to the X coordinate of the center of the array antenna 110. Likewise, the Y coordinates of the left and right ends of the position marker 52 are equal to the Y coordinate of the center of the position marker 52. Similarly, the X coordinates of the top and bottom ends of the position marker 52 are equal to the X coordinate of the center of the position marker 52.

[0088] The distance R(-N) from the leftmost point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52, and the distance R from the fisheye lens 141 to the rightmost point of the position marker 52. R This is identical, and also the distance R(N) from the rightmost point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52, and the distance R from the fisheye lens 141 to the leftmost point of the position marker 52. L It is identical to this.

[0089] The distance that can be directly calculated (estimated) by camera 140 is the distance R from the fisheye lens 141 to the rightmost point of the position marker 52. R The distance R from the fisheye lens 141 to the leftmost point of the position marker 52. LTherefore, using the above relationship, we can estimate the distance R(-N) from the leftmost point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52, and the distance R(N) from the rightmost point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52.

[0090] Similarly, the distance from the upper end point of the array antenna 110 to the receiving antenna 51 located at the center of the position marker 52 is the same as the distance from the fisheye lens 141 to the lower end point of the position marker 52. Also, the distance from the lower end point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52 is the same as the distance from the fisheye lens 141 to the upper end point of the position marker 52.

[0091] The distances that can be directly calculated (estimated) by camera 140 are the distance from the fisheye lens 141 to the lower end point of the position marker 52 and the distance from the fisheye lens 141 to the upper end point of the position marker 52. Using the above relationship, it is possible to estimate the distance from the upper end point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52, and the distance from the lower end point of the array antenna 110 to the receiving antenna 51 located at the center of the target position marker 52.

[0092] Since the array antenna 110 and the position marker 52 are of equal size in a plan view, the relationship that the distances between them remain the same is maintained regardless of whether the positions of the array antenna 110 and the position marker 52 are shifted in the X, Y, or Z directions.

[0093] FIG. 8 is a diagram showing the polar coordinate system of the array antenna 110. FIG. 8 shows an antenna element 111 included in the array antenna 110 and a beam 115 output from the array antenna 110. In addition, FIG. 8 shows a position marker 52 and omits other components. FIG. 8 also shows a polar coordinate system on a plane 1 parallel to the XY plane. Plane 1 is the xy plane of the image data acquired by the camera body 142 and is equal to the xy plane used for the pixel index output from the camera body 142. The x-axis and y-axis are parallel to the X-axis and Y-axis of the XYZ coordinates, respectively, and have the same direction.

[0094] The coordinates of the center C of the position marker 52 are (T X , T Y , T Z ), which is equal to the coordinates of the center of the power receiving antenna 51. The coordinates (T X , T Y , T Z ) of the center C of the position marker 52 are shifted to the +X direction side and +Y direction side from the Z-axis as an example. FIG. 8 shows the left end point 52L, right end point 52R, upper end point 52T, and lower end point 52B of the position marker 52.

[0095] In addition, the polar coordinates of the upper end point 52T are elevation angle θ T , declination angle φ T , and the polar coordinates of the lower end point 52B are elevation angle θ B , declination angle φ B , and the polar coordinates of the center C are elevation angle θ C , declination angle φ C . In FIG. 8, the polar coordinates (elevation angle θ L and θ R , declination angle φ L and φ R ) of the left end point 52L and the right end point 52R are omitted.

[0096] In addition, the points obtained by projecting the left end point 52L, right end point 52R, upper end point 52T, lower end point 52B, and center C onto the plane 1 are P3 L , P3 R , P3 T , P3 B , P3 C . Let the point be P3L P3 R P3 T P3 B P3 C The x and y coordinates in plane 1 are, respectively, (x L ,y C ), (x R ,y C ), (x C ,y T ), (x C ,y B ), (x C ,y C ) Also, point P3 L P3 R P3 T P3 B P3 C The diameters of the vectors are, respectively, r L , r R , r T , r B , r C That is the case.

[0097] Radius r of center C C This is the focal length f of the fisheye lens 141. L And the elevation angle θ of the center C C Using r C =f L θ C It is represented as follows: Similarly, the radial vector r of the left endpoint 52L, the right endpoint 52R, the upper endpoint 52T, and the lower endpoint 52B. L , r R , r T , r B is, r L =f L θ L , r R =f L θ R , r T =f L θ T , r B =f L θ B It is represented as follows.

[0098] Also, the x and y coordinates of the center C (x C ,y C ) is the radial r C And, the angle of opposition φ C Using this, xC =r C cosφ C , y C =r C sinus φ C The x and y coordinates of the left endpoint 52L, the right endpoint 52R, the upper endpoint 52T, and the lower endpoint 52B can also be expressed similarly in terms of radial and angular values.

[0099] The center coordinates of position marker 52 in 3D space are the center coordinates of position marker 52 (T X ,T Y ,T Z ) is considered to be equal to the center coordinates (T) of the position marker 52 in 3D space. X ,T Y ,T Z ) in spherical coordinates (elevation angle θ) T ,Azimuth φ T When converted to ), it is expressed as shown in equation (20).

[0100]

number

[0101] The xy-plane of the image data from camera 140 through fisheye lens 141 shows the center coordinates (T) of the position marker 52. X ,T Y ,T Z The coordinates (x) projected onto the x C ,y C ) is the focal length f L By equidistant projection, it can be expressed by the following equation (21): The center coordinates (T) of the position marker 52 X ,T Y ,T Z ) represents the coordinates of the centroid point of the image at position marker 52.

[0102]

number

[0103] radius r C Since it is represented by the square root of the sum of the squares of xc and yc, the projected coordinates of position marker 52 (x C ,y CThe elevation angle θ representing C is expressed by the following equation (22). That is, the elevation angle θ C can be represented from the focal length f L by polar coordinate transformation and the projection coordinates.

[0104]

Equation

[0105] The projection elevation angle (horizontal angle) θ of the line obtained by projecting the line from the origin of the XYZ coordinates to the center coordinates (T X , T Y , T Z ) of the position marker 52 onto the XZ plane H is, when y C = 0 in Equation (22), expressed by the following equation (23). Thus, the projection elevation angle θ H can be easily obtained.

[0106]

Equation

[0107] Here, the Z coordinate T X , T Y , T Z ) of the center coordinates (T Z of the position marker 52 is estimated. Assuming the length of the position marker 52 in the Y direction (height direction) is T h , the Y coordinate of the upper end point 52T of the position marker 52 is T Y + T h / 2. Therefore, using the azimuth angle φ T shown in Equation (20), the azimuth angle φ T of the upper end point 52T of the position marker 52 can be expressed by the following equation (24).

[0108]

Equation

[0109] Similarly, the Y coordinate of the lower end point 52B of the position marker 52 is T Y - T hSince it becomes / 2, the azimuth angle φ shown in equation (20) C Using this, the azimuth angle φ of the lower endpoint 52B of the position marker 52 is achieved. B This can be expressed by the following equation (25).

[0110]

number

[0111] Length T in the Y direction (height direction) of position marker 52 h From equations (24) and (25), it can be expressed by the following equation (26).

[0112]

number

[0113] Rearranging equation (26), we get the X coordinate T of the center of position marker 52. X This can be expressed by the following equation (27).

[0114]

number

[0115] Therefore, the Z coordinate T of the center of position marker 52 Z This is expressed by equation (28). In this way, using equation (28), the Z coordinate T of the center of the position marker 52 can be determined based on the image. Z It is possible to estimate the Z coordinate T of the center of position marker 52. Z x in equation (28) C We will perform the calculation while avoiding zero for this. Note that the projected elevation angle θ H This can be found from equation (23).

[0116]

number

[0117] From equation (20), we can derive the following relationship (29).

[0118] [Math]

[0119] Square both sides of Equation (29) and add T to both sides, then the following Equation (30) is obtained. Z 2

[0120] [Math]

[0121] Taking the square root of both sides of Equation (30) gives the reference distance Rref, which is expressed by the following Equation (31).

[0122] [Math]

[0123] Similarly, the coordinates of the left end point 52L of the position marker 52 are (T X -T w / 2, T Y , T Z ). From the coordinates (x L , y L L , y C L ) of the point P3 L corresponding to the left end point P3 L of the position marker 52 on the xy plane of the image data of the camera 140, when the elevation angle θ

[0124] [Math]

[0125] The path length R L and the path length difference τ ref between the reference distance R L are expressed by the following Equation (33). ​

[0126]

number

[0127] Path length difference τ L The normalized path difference length η is obtained by dividing it by the wavelength λ. L This can be expressed by the following equation (34).

[0128]

number

[0129] Here, the projected coordinates of position marker 52 are (x C ,y C The elevation angle θ represents the elevation angle ) C This can be determined from equation (22). Also, the elevation angle θ of the leftmost endpoint 52L L This is the coordinate (x) of point P3L in the xy-plane of the image data. R ,y C ) can be expressed by the following equation (35) through polar coordinate transformation.

[0130]

number

[0131] Similarly, point P3 in the xy-plane of the image data corresponding to the right endpoint 52R, upper endpoint 52T, and lower endpoint 52B of the position marker 52 in the xy-plane of the image data of camera 140. R P3 T P3 B coordinates (x R ,y C ), (x C ,y T ), (x C ,y B ) By polar coordinate transformation, the elevation angles θ of the rightmost point 52R, uppermost point 52T, and lowermost point 52B of the position marker 52 are obtained. R ,θ T , and θ B By calculating this, the normalized path difference length, expressed by equations (36) to (38), can be calculated.

[0132]

number

[0133]

number

[0134]

number

[0135] Therefore, the normalized path difference length η between the left endpoint 52L and the right endpoint 52R is therefore... L and η R Using the normalized path difference length (η0=0) for the antenna element 111 located at the center in the X direction, a two-dimensional phase adjustment amount can be set for the phase shifter 120 connected to all antenna elements 111 in the left-right direction (X direction).

[0136] Furthermore, the normalized path difference length η between the upper endpoint 52T and the lower endpoint 52B T and η B Using the normalized path difference length (η0=0) for the antenna element 111 located at the center in the Y direction, a two-dimensional phase adjustment amount can be set for the phase shifter 120 connected to all antenna elements 111 in the vertical direction (Y direction).

[0137] More specifically, the normalized path difference length η between the left endpoint 52L and the right endpoint 52R. L and η R Using the normalized path difference length (η0=0) for the antenna element 111 located at the center in the X direction, the normalized path difference length θ for all antenna elements 111 in the left-right direction (X direction) is calculated. X(i) This is found using parabolic interpolation of a quadratic function.

[0138] Similarly, the normalized path difference length η between the upper endpoint 52T and the lower endpoint 52B T and η BUsing the normalized path difference length (η0=0) for the antenna element 111 located at the center in the Y direction, the normalized path difference length θ for all antenna elements 111 in the vertical direction (Y direction) is calculated. Y(i) This is found using parabolic interpolation of a quadratic function.

[0139] The process described above using Figure 8 can be summarized as follows:

[0140] <Summary of processing by the elevation angle acquisition unit 151> The elevation angle acquisition unit 151 acquires the center coordinates (T) of the position marker 52. X ,T Y ,T Z Projected coordinates (x C ,y C ) and the focal length f of the fisheye lens 141 L Based on this, the first elevation angle θ of the marker center point of position marker 52 with respect to the Z axis C and 1 elevation angle θ C Projected elevation angle θ when projected onto a plane containing the X and Z axes. H Obtain it.

[0141] Furthermore, the elevation angle acquisition unit 151 acquires the projection coordinates of the first endpoints 52L and 52R of the position marker 52 in the X-axis direction in the image, the projection coordinates of the second endpoints 52T and 52B of the position marker 52 in the Y-axis direction in the image, and the focal length f of the fisheye lens 141. L Based on this, the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis T θ B θ L θ R We seek.

[0142] <Summary of the processing in the coordinate acquisition unit 152> The coordinate acquisition unit 152 acquires the projection elevation angle θ H And, the center coordinates (T) of position marker 52 X ,T Y ,T Z Projected coordinates (x C ,y C) and the length T of the position marker 52 in the direction connecting the second endpoints 52T and 52B, with either of the projected coordinates of the second endpoints 52T and 52B. h Based on this, the Z-axis coordinate T of position marker 52 Z We seek.

[0143] <Summary of processing by distance estimation unit 153> The distance estimation unit 153 determines the first elevation angle θ C And the Z-axis coordinate T of position marker 52 Z Based on this, the first distance Rref between the marker center point and the fisheye lens 141 is determined. The distance estimation unit 153 also determines the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis. T θ B θ L θ R And the Z-axis coordinate T of position marker 52 Z Based on this, the second distance R between the first endpoints 52L, 52R and the second endpoints 52T, 52B and the fisheye lens 141 T , R B , R L , R R We seek.

[0144] <Summary of processing by control unit 154> The control unit 154 controls the first distance Rref and the second distance R T , R B , R L , R R Based on the path difference, the phase adjustment amount is set for the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction, thereby setting the phase adjustment amount for the multiple antenna elements 111 arranged two-dimensionally by parabolic interpolation of a quadratic function.

[0145] Furthermore, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the X-axis direction to the first reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the first end points 52L and 52R. Furthermore, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the Y-axis direction to the second reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second end points 52T and 52B.

[0146] More specifically, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the X-axis direction to a first reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the first endpoints 52L and 52R, and then sets the phase adjustment amount of multiple antenna elements 111 in the X-axis direction using parabolic interpolation of a quadratic function. Furthermore, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the Y-axis direction to a second reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second endpoints 52T and 52B, and then sets the phase adjustment amount of multiple antenna elements 111 in the Y-axis direction using parabolic interpolation of a quadratic function.

[0147] <An example of the distribution of normalized path difference length> Figures 9A and 9B show examples of the distribution of normalized path difference lengths calculated in the X and Y directions.

[0148] Figure 9A shows the normalized path difference length θ for the antenna elements 111 located at both ends in the X direction. X (-N) = (η) R ), θ X (N) = (η) LThis figure shows an example of the distribution of normalized path difference lengths when the normalized path difference lengths for antenna elements 111 located from the -N+1th to the -1st and from the 1st to the N-1th in the X direction are calculated by setting () and performing parabolic interpolation of a quadratic function.

[0149] Figure 9B shows the normalized path difference length θ for the antenna elements 111 located at both ends in the Y direction. Y (-N) = (η) T ), θ Y (N) = (η) B This figure shows an example of the distribution of normalized path difference lengths when the normalized path difference lengths for antenna elements 111 located from the -N+1th to the -1st and from the 1st to the N-1th in the Y direction are calculated by setting () and performing parabolic interpolation of a quadratic function.

[0150] Then, according to equation (18), the normalized path difference length θ(i) for the two-dimensional array antenna 110 is obtained by taking the sum of the normalized path difference lengths in the X and Y directions. X ,i Y Set the normalized path difference length θ(i X ,i Y ) is adjusted according to equation (19) by the phase adjustment amount wi X ,i Y Converted to this, the phase adjustment amount wi is applied to each of the (2N+1) × (2N+1) antenna elements 111 arranged in two dimensions by the phase shifter 120 connected to each of them. X ,i Y Then, by adjusting the phase of the radio waves, the power transmission signal can be transmitted.

[0151] In this way, the beam 115 of the transmission signal can be transmitted from the array antenna 110 while the received power at the receiving antenna 51 increases according to the position of the position marker 52.

[0152] <Simulation Results> The simulation results will be explained using Figures 10A and 10B. Here, a simulation was performed on a comparative power supply device, similar to the power supply device 100 in the embodiment. The comparative power supply device is a power supply device that radiates a beam in the direction in which the receiving antenna 51 is located relative to the center of the array antenna 110, without adjusting the phase of radio waves at each antenna element 111 of the array antenna 110.

[0153] Figure 10A shows an example of a simulation result of the transmitting antenna gain as seen at the position of the receiving antenna 51. In Figure 10A, the horizontal axis represents the opposing distance (m), and the vertical axis represents the transmitting antenna gain (dBi) as seen at the position of the receiving antenna 51.

[0154] When the opposing distance is 2m or more, the difference in transmitting antenna gain between the feeder 100 of the embodiment and the comparative feeder is less than 1dB. However, when the opposing distance becomes less than approximately 1m, the transmitting antenna gain of the comparative feeder decreases sharply. In contrast, the transmitting antenna gain of the feeder 100 of the embodiment remained constant with almost no decrease even when the opposing distance was shortened to 0.3m.

[0155] Figure 10B shows an example of the simulation results for the power received by the receiving antenna 51. In Figure 10B, the horizontal axis represents the distance to the receiving antenna (m), and the vertical axis represents the power received (dBm) when using the receiving antenna 51 with a gain of 15 dBi.

[0156] When the opposing distance is 2m or more, the difference in received power between the power supply device 100 of the embodiment and the comparison power supply device is less than 1dB. However, when the opposing distance becomes less than approximately 1m, the rate of increase in the received power of the comparison power supply device decreases. In contrast, the received power of the power supply device 100 of the embodiment tended to increase in rate as the distance attenuation of power reception decreased as the opposing distance shortened.

[0157] As described above, the power supply device 100 of the embodiment can optimize the phase adjustment amount of radio waves at all antenna elements 111 by performing parabolic interpolation of a quadratic function based on the normalized path difference length at both ends of the array antenna 110 in the X and Y directions, thereby maximizing the power received at the receiving antenna 51.

[0158] <Effects> The antenna device 100A includes an array antenna 110, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna having a plurality of antenna elements 111 arranged two-dimensionally along the X and Y axes, and transmits a power transmission signal to a receiving antenna 51 located at the center of a position marker 52 which has the same size as the array antenna 110 in a plan view and is positioned opposite the array antenna 110. The phase shifter 120 adjusts the phase of the power transmission signal supplied to the plurality of antenna elements 111 in the X and Y axes. The camera 140 acquires an image of the position marker 52 through a fisheye lens 141 positioned opposite the position marker 52. The elevation angle acquisition unit 151 acquires the center coordinate (T X ,T Y ,T Z Projected coordinates (x C ,y C ) and the focal length f of the fisheye lens 141 L Based on this, the first elevation angle θ of the marker center point of position marker 52 with respect to the Z axis C and 1 elevation angle θ C Projected elevation angle θ when projected onto a plane containing the X and Z axes. H The elevation angle acquisition unit 151 acquires the projection coordinates of the first endpoints 52L and 52R of the position marker 52 in the X-axis direction in the image, the projection coordinates of the second endpoints 52T and 52B of the position marker 52 in the Y-axis direction in the image, and the focal length f of the fisheye lens 141. L Based on this, the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis T θB θ L θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ. H And, the center coordinates (T) of position marker 52 X ,T Y ,T Z Projected coordinates (x C ,y C ) and the length T of the position marker 52 in the direction connecting the second endpoints 52T and 52B, with either of the projected coordinates of the second endpoints 52T and 52B. h Based on this, the Z-axis coordinate T of position marker 52 Z The distance estimation unit 153 calculates the first elevation angle θ. C And the Z-axis coordinate T of position marker 52 Z Based on this, the first distance Rref between the marker center point and the fisheye lens 141 is determined. The distance estimation unit 153 also determines the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis. T θ B θ L θ R And the Z-axis coordinate T of position marker 52 Z Based on this, the second distance R between the first endpoints 52L, 52R and the second endpoints 52T, 52B and the fisheye lens 141 T , R B , R L , R R The control unit 154 controls the phase adjustment amount by which the phase shifter 120 adjusts the phase of the power transmission signal in the X-axis and Y-axis directions. The control unit 154 determines the first distance Rref and the second distance R T , R B , R L , R R Based on the path difference, the phase adjustment amount is set for the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction, thereby setting the phase adjustment amount for the multiple antenna elements 111 arranged two-dimensionally by parabolic interpolation of a quadratic function.

[0159] Therefore, using images of the array antenna 110 and the position marker 52 which are the same size in plan view, the first distance Rref and the second distance R T , R B , R L , R R The path difference can be calculated. Furthermore, based on the path difference, the phase adjustment amount can be set for the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction, thereby setting the phase adjustment amount for multiple antenna elements 111 arranged two-dimensionally by parabolic interpolation of a quadratic function.

[0160] Therefore, it is possible to provide an antenna device 100A that can easily calculate the amount of phase adjustment of the power transmission signal in multiple antenna elements 111 of the array antenna 110 according to the position of the receiving antenna 51, so as to increase the received power.

[0161] Furthermore, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the X-axis direction to the first reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the first end points 52L and 52R. The control unit 154 also sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the Y-axis direction to the second reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second end points 52T and 52B.

[0162] Therefore, the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction is set to the first reference phase, and the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction is set to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the first endpoints 52L and 52R, and the phase adjustment amount of the antenna element 111 at the center point in the Y-axis direction is set to the second reference phase, and the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction is set to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second endpoints 52T and 52B, thereby setting the first distance Rref and the second distance R T , R B , R L , R R The amount of phase adjustment can be set according to the path difference between the first distance Rref and the second distance R. L , R R The phase adjustment amount corresponding to the path difference is set to the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction, and the first distance Rref and the second distance R T , R B By setting the phase adjustment amount corresponding to the path difference to the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction, and setting the phase adjustment amounts of the antenna element 111 at the center point in the X-axis direction and the Y-axis direction to the first reference phase and the second reference phase, it is possible to provide an antenna device 100A that can easily calculate the phase adjustment amount of the transmission signal in multiple antenna elements 111 of the array antenna 110 according to the position of the receiving antenna 51, so that the received power is more reliably increased.

[0163] The control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the X-axis direction to a first reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the X-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the first endpoints 52L and 52R, and sets the phase adjustment amount of multiple antenna elements 111 in the X-axis direction using parabolic interpolation of a quadratic function. Furthermore, the control unit 154 sets the phase adjustment amount of the antenna elements 111 at the center points of both ends in the Y-axis direction to a second reference phase, and sets the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction to a phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second endpoints 52T and 52B, and sets the phase adjustment amount of multiple antenna elements 111 in the Y-axis direction using parabolic interpolation of a quadratic function. L , R R The phase adjustment amount corresponding to the path difference is set as the phase adjustment amount for the antenna elements 111 at both ends in the X-axis direction, and with the phase adjustment amount of the antenna element 111 at the center point in the X-axis direction set to the first reference phase, the phase adjustment amounts of multiple antenna elements 111 in the X-axis direction can be set to a phase adjustment amount optimized to increase the received power by parabolic interpolation of a quadratic function. The first distance Rref and the second distance R T , R B By setting the phase adjustment amount corresponding to the path difference to the phase adjustment amount of the antenna elements 111 at both ends in the Y-axis direction, and setting the phase adjustment amounts of the antenna element 111 at the center point in the X-axis direction and the Y-axis direction to the first reference phase and the second reference phase, the phase adjustment amounts of multiple antenna elements 111 in the Y-axis direction can be set to optimized phase adjustment amounts that increase the received power by parabolic interpolation of a quadratic function.

[0164] Furthermore, since the first and second reference phases are zero, calculations using parabolic interpolation of quadratic functions become even easier, making it easier to determine the phase adjustment amount of the transmission signal supplied to each antenna element 111, and thus increasing the received power at the receiving antenna 51.

[0165] Furthermore, the multiple antenna elements 111 arranged in two dimensions are arranged in odd numbers along each of the X and Y axes. Therefore, by utilizing the symmetry with respect to the centrally located antenna element 111 in the X and Y directions, calculations using parabolic interpolation of quadratic functions become easier, making it easier to determine the amount of phase adjustment of the transmission signal supplied to each antenna element 111, and thus increasing the received power at the receiving antenna 51.

[0166] Furthermore, since parabolic interpolation of a quadratic function is an interpolation interpolation of a quadratic function, the amount of phase adjustment of the transmission signal supplied to the antenna element 111 located between the antenna elements 111 at both ends can be easily determined by interpolation, and the received power at the receiving antenna 51 can be increased.

[0167] The power supply device 100 includes an array antenna 110, a microwave source 130, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna having a plurality of antenna elements 111 arranged two-dimensionally along the X and Y axes, and transmits a power transmission signal to a receiving antenna 51 located at the center of a position marker 52 that has the same size as the array antenna 110 in a plan view and is positioned opposite the array antenna 110. The phase shifter 120 is provided between the array antenna 110 and the microwave source 130 and adjusts the phase of the power transmission signal supplied from the microwave source 130 to the plurality of antenna elements 111 in the X and Y directions. Camera 140 acquires an image of the position marker 52 through a fisheye lens 141 positioned opposite the position marker 52. The elevation angle acquisition unit 151 obtains the center coordinates (T) of the position marker 52. X ,T Y ,T Z Projected coordinates (x C ,y C ) and the focal length f of the fisheye lens 141 L Based on this, the first elevation angle θ of the marker center point of position marker 52 with respect to the Z axisC and 1 elevation angle θ C Projected elevation angle θ when projected onto a plane containing the X and Z axes. H The elevation angle acquisition unit 151 acquires the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis, based on the coordinates of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis in the image of the position marker 52, the coordinates of the second endpoints 52T, 52B with respect to the Y axis in the image of the position marker 52, and the focal length of the fisheye lens 141. T θ B θ L θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ. H And, the center coordinates (T) of position marker 52 X ,T Y ,T Z Projected coordinates (x C ,y C ) and the length T of the position marker 52 in the direction connecting the second endpoints 52T and 52B, with either of the projected coordinates of the second endpoints 52T and 52B. h Based on this, the Z-axis coordinate T of position marker 52 Z The distance estimation unit 153 calculates the first elevation angle θ. C And the Z-axis coordinate T of position marker 52 Z Based on this, the first distance Rref between the marker center point and the fisheye lens 141 is determined. The distance estimation unit 153 also determines the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis. T θ B θ L θ R And the Z-axis coordinate T of position marker 52 Z Based on this, the second distance R between the first endpoints 52L, 52R and the second endpoints 52T, 52B and the fisheye lens 141 T , R B , R L , R R The control unit 154 calculates the first distance Rref and the second distance R. T , R B , R L , R RBased on the path difference, the phase adjustment amount is set for the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction, thereby setting the phase adjustment amount for the multiple antenna elements 111 arranged two-dimensionally by parabolic interpolation of a quadratic function.

[0168] Therefore, a power supply device 100 can be provided that can easily calculate the amount of phase adjustment of the power transmission signal in multiple antenna elements 111 of the array antenna 110 according to the position of the receiving antenna 51, so as to increase the received power.

[0169] The power supply device 100 used in the power supply method includes an array antenna 110, a microwave source 130, a phase shifter 120, a camera 140, an elevation angle acquisition unit 151 (an example of a first elevation angle acquisition unit and a second elevation angle acquisition unit), a coordinate acquisition unit 152, a distance estimation unit 153 (an example of a first distance estimation unit and a second distance estimation unit), and a control unit 154. The array antenna 110 is an array antenna having a plurality of antenna elements 111 arranged two-dimensionally along the X and Y axes, and transmits a power transmission signal toward a power receiving antenna 51 located at the center of a position marker 52 that has the same size as the array antenna 110 in a plan view and is positioned opposite the array antenna 110. The phase shifter 120 is provided between the array antenna 110 and the microwave source 130 and adjusts the phase of the power transmission signal supplied from the microwave source 130 to the plurality of antenna elements 111 in the X and Y directions. Camera 140 acquires an image of the position marker 52 through a fisheye lens 141 positioned opposite the position marker 52. The elevation angle acquisition unit 151 obtains the center coordinates (T) of the position marker 52. X ,T Y ,T Z Projected coordinates (x C ,y C ) and the focal length f of the fisheye lens 141 L Based on this, the first elevation angle θ of the marker center point of position marker 52 with respect to the Z axis C and 1 elevation angle θ C Projected elevation angle θ when projected onto a plane containing the X and Z axes. HThe elevation angle acquisition unit 151 acquires the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis, based on the coordinates of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis in the image of the position marker 52, the coordinates of the second endpoints 52T, 52B with respect to the Y axis in the image of the position marker 52, and the focal length of the fisheye lens 141. T θ B θ L θ R The coordinate acquisition unit 152 calculates the projection elevation angle θ. H And, the center coordinates (T) of position marker 52 X ,T Y ,T Z Projected coordinates (x C ,y C ) and the length T of the position marker 52 in the direction connecting the second endpoints 52T and 52B, with either of the projected coordinates of the second endpoints 52T and 52B. h Based on this, the Z-axis coordinate T of position marker 52 Z The distance estimation unit 153 calculates the first elevation angle θ. C And the Z-axis coordinate T of position marker 52 Z Based on this, the first distance Rref between the marker center point and the fisheye lens 141 is determined. The distance estimation unit 153 also determines the second elevation angle θ of the first endpoints 52L, 52R and the second endpoints 52T, 52B with respect to the Z axis. T θ B θ L θ R And the Z-axis coordinate T of position marker 52 Z Based on this, the second distance R between the first endpoints 52L, 52R and the second endpoints 52T, 52B and the fisheye lens 141 T , R B , R L , R R We will determine the power supply method, which involves a first distance Rref and a second distance R T , R B , R L , R RBased on the path difference, the phase adjustment amount is set for the three antenna elements 111 including the antenna elements 111 at both ends in the X-axis direction and the three antenna elements 111 including the antenna elements 111 at both ends in the Y-axis direction, thereby setting the phase adjustment amount for the multiple antenna elements 111 arranged two-dimensionally by parabolic interpolation of a quadratic function.

[0170] Therefore, it is possible to provide a power supply method that allows for easy calculation of the amount of phase adjustment of the power transmission signal in multiple antenna elements 111 of the array antenna 110 according to the position of the receiving antenna 51, so as to increase the received power.

[0171] Although exemplary embodiments of the antenna device, power supply device, and power supply method of this disclosure have been described above, this disclosure 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]

[0172] 50 Power receiving device 51 Receiving antenna 52 Position markers 100A Antenna Equipment 100 Power supply device 110 Array Antenna 111 Antenna elements 120 Phase Shifter 130 Microwave Sources 140 Cameras 141 Fisheye lens 142 Camera body 150 Control device 150A Memory

Claims

1. An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, the array antenna transmitting a power transmission signal toward a power receiving antenna located at the center of a marker that has the same size as the array antenna in a plan view and is positioned opposite the array antenna, A phase adjustment unit that adjusts the phase of the power transmission signals supplied to the plurality of antenna elements in the first axis direction and the second axis direction, An image acquisition unit that acquires an image of the marker through a fisheye lens positioned opposite the marker, A first elevation angle acquisition unit acquires a first elevation angle of the marker's center point with respect to the third axis and a projected elevation angle obtained by projecting the first elevation angle onto a plane including the first and third axes, based on the marker image center point, which is the center point of the marker in the image of the marker, and the focal length of the fisheye lens. A second elevation angle acquisition unit determines the second elevation angle of the first and second endpoints with respect to the third axis based on the coordinates of the first endpoints of the marker in the first axis direction in the image of the marker, the coordinates of the second endpoints of the marker in the second axis direction in the image of the marker, and the focal length of the fisheye lens. A coordinate acquisition unit that determines the coordinates of the third axis of the marker based on the projection elevation angle, the marker image center point which is the center point of the marker in the marker image, the projection coordinates of either one of the second endpoints, and the length of the marker in the direction connecting the second endpoints, A first distance estimation unit that determines a first distance between the center point of the marker and the fisheye lens based on the first elevation angle and the coordinates of the third axis of the marker, A second distance estimation unit determines a second distance between the first and second endpoints and the fisheye lens based on the second elevation angles of the first and second endpoints with respect to the third axis and the coordinates of the marker on the third axis, The phase adjustment unit includes a control unit that controls a phase adjustment amount for adjusting the phase of the power transmission signal in the first axial direction and the second axial direction. Includes, The control unit sets the phase adjustment amount for the three antenna elements, including the antenna elements at both ends in the first axial direction, and the three antenna elements, including the antenna elements at both ends in the second axial direction, based on the path difference between the first distance and the second distance, thereby setting the phase adjustment amount for the plurality of antenna elements arranged two-dimensionally by parabolic interpolation of a quadratic function.

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

3. The control unit, With the phase adjustment amount of the antenna element at the center point in the first axial direction set to the first reference phase, and with the phase adjustment amounts of the antenna elements at both ends in the first axial direction set to phase adjustment amounts corresponding to the path difference between the second distance and the first distance for the first endpoints, the phase adjustment amounts of the plurality of antenna elements are set in the first axial direction by parabolic interpolation of a quadratic function. The antenna device according to claim 2, wherein the phase adjustment amount of the antenna element at the center point in the second axial direction is set to the second reference phase, and the phase adjustment amounts of the antenna elements at both ends in the second axial direction are set to the phase adjustment amount corresponding to the path difference between the second distance and the first distance for the second endpoints, and the phase adjustment amounts of the plurality of antenna elements are set in the second axial direction by parabolic interpolation of a quadratic function.

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

5. The antenna device according to any one of claims 1 to 4, wherein the plurality of antenna elements arranged in two dimensions are arranged in odd numbers along each of the first axis and the second axis.

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

7. An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, the array antenna transmitting a power transmission signal toward a power receiving antenna located at the center of a marker that has the same size as the array antenna in a plan view and is positioned opposite the array antenna, Radio wave source and A phase adjustment unit is provided between the array antenna and the radio wave source, and adjusts the phase of the transmission signal supplied from the radio wave source to the plurality of antenna elements in the first axial direction and the second axial direction. An image acquisition unit that acquires an image of the marker through a fisheye lens positioned opposite the marker, A first elevation angle acquisition unit acquires a first elevation angle of the marker's center point with respect to the third axis and a projected elevation angle obtained by projecting the first elevation angle onto a plane including the first and third axes, based on the marker image center point, which is the center point of the marker in the image of the marker, and the focal length of the fisheye lens. A second elevation angle acquisition unit determines the second elevation angle of the first and second endpoints with respect to the third axis based on the coordinates of the first endpoints of the marker in the first axis direction in the image of the marker, the coordinates of the second endpoints of the marker in the second axis direction in the image of the marker, and the focal length of the fisheye lens. A coordinate acquisition unit that determines the coordinates of the third axis of the marker based on the projection elevation angle, the marker image center point which is the center point of the marker in the marker image, the projection coordinates of either one of the second endpoints, and the length of the marker in the direction connecting the second endpoints, A first distance estimation unit that determines a first distance between the center point of the marker and the fisheye lens based on the first elevation angle and the coordinates of the third axis of the marker, A second distance estimation unit determines a second distance between the first and second endpoints and the fisheye lens based on the second elevation angles of the first and second endpoints with respect to the third axis and the coordinates of the marker on the third axis, The phase adjustment unit includes a control unit that controls a phase adjustment amount for adjusting the phase of the power transmission signal in the first axial direction and the second axial direction. Includes, The control unit sets the phase adjustment amount for the three antenna elements, including the antenna elements at both ends in the first axial direction, and the three antenna elements, including the antenna elements at both ends in the second axial direction, based on the path difference between the first distance and the second distance, thereby setting the phase adjustment amount for the plurality of antenna elements arranged two-dimensionally by parabolic interpolation of a quadratic function.

8. An array antenna having a plurality of antenna elements arranged two-dimensionally along a first axis and a second axis, the array antenna transmitting a power transmission signal toward a power receiving antenna located at the center of a marker that has the same size as the array antenna in a plan view and is positioned opposite the array antenna, Radio wave source and A phase adjustment unit is provided between the array antenna and the radio wave source, and adjusts the phase of the transmission signal supplied from the radio wave source to the plurality of antenna elements in the first axial direction and the second axial direction. An image acquisition unit that acquires an image of the marker through a fisheye lens positioned opposite the marker, A first elevation angle acquisition unit acquires a first elevation angle of the marker's center point with respect to the third axis and a projected elevation angle obtained by projecting the first elevation angle onto a plane including the first and third axes, based on the marker image center point, which is the center point of the marker in the image of the marker, and the focal length of the fisheye lens. A second elevation angle acquisition unit determines the second elevation angle of the first and second endpoints with respect to the third axis based on the coordinates of the first endpoints of the marker in the first axis direction in the image of the marker, the coordinates of the second endpoints of the marker in the second axis direction in the image of the marker, and the focal length of the fisheye lens. A coordinate acquisition unit that determines the coordinates of the third axis of the marker based on the projection elevation angle, the marker image center point which is the center point of the marker in the marker image, the projection coordinates of either one of the second endpoints, and the length of the marker in the direction connecting the second endpoints, A first distance estimation unit that determines a first distance between the center point of the marker and the fisheye lens based on the first elevation angle and the coordinates of the third axis of the marker, A second distance estimation unit determines a second distance between the first and second endpoints and the fisheye lens based on the second elevation angles of the first and second endpoints with respect to the third axis and the coordinates of the marker on the third axis. Includes, The phase adjustment unit controls the phase adjustment amount that adjusts the phase of the power transmission signal in the first axial direction and the second axial direction, A feeding method that sets the phase adjustment amount for the three antenna elements including the antenna elements at both ends in the first axial direction and the three antenna elements including the antenna elements at both ends in the second axial direction, based on the path difference between the first distance and the second distance, and sets the phase adjustment amount for the plurality of antenna elements arranged two-dimensionally by parabolic interpolation of a quadratic function.

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