Power transmission equipment, control method, and control program

Abstract

To improve the impact of radio waves emitted indoors on the outside.SOLUTION: A power transmission device 10 includes a transmitter / receiver unit 13 that transmits a transmission wave to a power receiving device placed within a structure, and a control unit 17 that sets the radio wave intensity of the transmission wave at the opening to a first intensity that is lower than the radio wave intensity of the transmission wave at a location other than the opening, on the basis of a direction indicating an opening in the structure, such that the intensity in a certain direction is different whether there is an opening, and such that a null is formed in that direction when there is an opening.SELECTED DRAWING: Figure 4

Description

[Technical Field] 【0001】 This application relates to a power transmission device, a control method, and a control program. [Background technology] 【0002】 In wireless power transmission using array antennas, the retrodirective method is sometimes employed. In the retrodirective method, a pilot signal is transmitted from the power receiving device prior to power transmission, and the power transmitting device estimates the radio wave propagation channel characteristics of the pilot signal and controls the antenna directivity by generating a transmission weight based on this. Patent Document 1 discloses a wireless power transmission device that calculates the propagation coefficient between multiple antenna elements and the antenna of the powered device, and adjusts the phase and amplitude of the power transmission signal for each of the multiple antenna elements based on the propagation coefficient. Reference Document 2 discloses a wireless power transmission device that, when an object is within a predetermined range, weakens the intensity of radio waves reaching the location of the object without stopping the power transmission by radio waves to the powered object. Non-Patent Document 1 describes its effectiveness in multipath environments where reflected waves exist and beyond-line-of-sight environments where shielding exists. In that document, this method is called the multipath retrodirective method. Furthermore, the document describes a technology that ensures that even when people are present in the environment, the pilot signal propagating from the power receiving device to the power transmitting device does not pass through the human body, and therefore is not radiated from the power transmitting device toward the human body. [Prior art documents] [Patent Documents] 【0003】 [Patent Document 1] Japanese Patent Publication No. 2020-10485 [Patent Document 2] Japanese Patent Publication No. 2020-005468 [Non-patent literature] 【0004】 [Non-Patent Document 1] Taichi Sasaki, Naoki Shinohara, “Study on Multipath Retrodirective for Efficient and Safe Indoor Microwave Power Transmission,” 2019 IEEE Wireless Power Transfer Conference(WPTC), 2019 [Overview of the Initiative] [Problems that the invention aims to solve] 【0005】 In spatial wireless transmission systems, compatibility with other systems is considered before commencing operation (service). In indoor systems, leakage power to the outdoors is calculated considering wall loss, which is power attenuation when passing through indoor walls, and the separation distance from other systems is calculated to determine the area where sharing is possible. However, if there is glass such as windowpanes in the wall, the attenuation of radio waves is smaller compared to walls, and the separation distance from other systems located outdoors needs to be increased. In this case, conventional systems may not be able to be installed in the desired location. Alternatively, conventional systems may not be able to achieve the desired power supply, such as having to operate with reduced transmission power. For this reason, there was room for improvement in conventional systems regarding the impact of radio waves radiated indoors on the outside. [Means for solving the problem] 【0006】 A power transmission device according to one embodiment includes a transmitting unit that transmits a transmission wave to a power receiving device located within a structure, and a control unit that, based on the direction indicating the opening of the structure, sets the radio wave intensity of the transmission wave at the opening to a first intensity lower than the radio wave intensity of the transmission wave at a location other than the opening, so that the intensity in a certain direction differs depending on whether or not there is an opening, and if there is an opening, a null is formed in that direction. 【0007】 A control method according to one embodiment involves a power transmission device equipped with a transmitting / receiving unit that transmits a wave to a power receiving device located within a structure, and based on at least one of a first position and direction indicating an opening in the structure, the radio wave intensity of the transmitted wave at an opening is set to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether or not there is an opening, and if there is an opening, a null is formed in that direction. 【0008】 A control program according to one embodiment causes a power transmission device, which includes a transmitting / receiving unit that transmits a transmission wave to a power receiving device located within a structure, to set the radio wave intensity of the transmission wave at an opening to a first intensity lower than the radio wave intensity of the transmission wave at a location other than the opening, based on at least one of a first position and direction indicating an opening in the structure, such that the intensity in a certain direction differs depending on whether or not there is an opening, and if there is an opening, a null is formed in that direction. [Brief explanation of the drawing] 【0009】 [Figure 1] Figure 1 is a diagram illustrating the overview of a wireless power transmission system according to an embodiment. [Figure 2] Figure 2 shows an example of the results of computer simulations calculating the intensity distribution of radio waves emitted by a reference power transmission device using a conventional retrodirective method. [Figure 3] Figure 3 is a diagram illustrating other problems caused by radio waves emitted by a reference power transmission device using the conventional retrodirective method. [Figure 4] Figure 4 shows an example of the configuration of a power transmission device according to Embodiment 1. [Figure 5] Figure 5 shows an example of an equivalent low-pass analysis model for an adaptive array antenna. [Figure 6] Figure 6 shows an example of an adaptive array antenna and its directivity. [Figure 7] Figure 7 shows an example of the configuration of a power receiving device according to Embodiment 1. [Figure 8] Figure 8 is a diagram illustrating an example of power transmission equipment control. [Figure 9] Figure 9 is a flowchart showing an example of a processing procedure performed by a power transmission device. [Figure 10] Figure 10 shows an example of the configuration of a power transmission device according to a modified example of Embodiment 1. [Figure 11] Figure 11 shows an example of the configuration of a power transmission device according to a modified embodiment of Embodiment 1. [Figure 12] Figure 12 shows an example of the configuration of a power transmission device according to Embodiment 2. [Figure 13] Figure 13 shows an example of vectorization under differential constraints. [Figure 14] Figure 14 shows an example of the configuration of a power transmission device according to Embodiment 3. [Figure 15] Figure 15 shows an example of vectorization using a multi-point null constraint method. [Figure 16] Figure 16 shows an example of vectorization using the differential constraint method. [Figure 17] Figure 17 shows an example of null depth processing in the preprocessing unit. [Figure 18] Figure 18 shows another example of null depth processing in the preprocessing unit. [Modes for carrying out the invention] 【0010】 Multiple embodiments for carrying out this application will be described in detail with reference to the drawings. However, the present invention is not limited by the following description. Furthermore, the components described below include those readily conceivable to those skilled in the art, those substantially identical, and those within the so-called equivalent range. Similar components may be denoted by the same reference numerals in the following description. Furthermore, redundant descriptions may be omitted. 【0011】 Figure 1 is a diagram illustrating the overview of a wireless power transmission system according to an embodiment. System 1 shown in Figure 1 includes, for example, a wireless power transmission system capable of microwave transmission type (space transmission type) wireless power transmission. Wireless power transmission is a mechanism that enables power transmission without using cables or plugs, for example. The microwave transmission type system 1 can use a retrodirective method. The microwave transmission type system 1 uses radio waves (microwaves) as energy transmission. Multiple frequency bands can be used for the radio waves used in the microwave transmission type system 1, for example, in Japan, these include the 920 MHz band, 2.4 GHz band, 5.7 GHz band, etc. In this embodiment, system 1 makes it possible to achieve both improved power supply efficiency and safety suitable for the situation. System 1 can also be applied to, for example, space-based solar power generation. 【0012】 In the example shown in Figure 1, System 1 uses a multipath retrodirective method. System 1 comprises a power transmission device 10 and a power receiving device 20. System 1 transmits power from the power transmission device 10 to the power receiving device 20 using multiple paths (propagation channels). The power transmission device 10 is a transmission device that transmits power wirelessly in System 1 and is a device that can transmit radio waves for power supply. The power transmission device 10 is equipped with a sensor unit 15 that can detect objects such as a human body in the vicinity of the array antenna 11. In the following description, the power transmission device 10 may be referred to as "the device itself". 【0013】 The power receiving device 20 is a powered device in System 1 that receives radio waves for power supply and obtains power. The power receiving device 20 includes, for example, smartphones, tablet terminals, IoT (Internet of Things) sensors, notebook personal computers, drones, electric vehicles, electric bicycles, game consoles, etc. Thus, the power receiving device in this disclosure may be a movable device. The power receiving device 20 in this disclosure may also include devices that are normally used without being moved, such as base stations, traffic lights, and vending machines. 【0014】 In scenario C1, the receiving device 20 can transmit a predetermined signal 1000 between itself and the transmitting device 10. The predetermined signal 1000 includes, for example, a beacon, a pilot signal, etc. The receiving device 20 can transmit the predetermined signal 1000 at, for example, a transmission cycle. The receiving device 20 can transmit the predetermined signal 1000 by radiating radio waves that include the predetermined signal 1000. On the other hand, when the transmitting device 10 receives the predetermined signal 1000, it estimates the characteristic values ​​(array response vectors) of multiple paths from the receiving device 20 to the transmitting device 10 based on the predetermined signal 1000. The transmitting device 10 calculates the transmission weight coefficients using the estimated array response vectors for the receiving device 20. 【0015】 In scenario C2, the power transmission device 10 performs directional control by multiplying each antenna by a weighting coefficient and radiates radio waves including the transmission signal 2000 for power supply. Directional control means, for example, controlling the relationship between the direction of radiation and the radiation intensity of the radio waves. If the frequencies of the specified signal 1000 and the transmission signal 2000 are the same and time variations in the propagation path are ignored, the characteristics of the multiple paths from the power transmission device 10 to the power receiving device 20 will match the characteristics from the power receiving device 20 to the power transmission device 10. As a result, the 2000W of radio waves for power supply radiated from the power transmission device 10 will have a radiation pattern that utilizes not only the path toward the power receiving device 20, but also the path toward a different direction from the power receiving device 20. 【0016】 Figure 2 shows an example of the results of a computer simulation of the intensity distribution of radio waves radiated by a reference power transmission device 100A using a conventional retrodirective method. The intensity distribution 3000 shown in Figure 2 represents the intensity distribution when a reference power transmission device 100A and a power receiving device 20 are placed in a room 4000, an object 5000 with physical properties similar to the human body is placed there, and a radio wave of 2000W including the transmission signal 2000 is radiated from the reference power transmission device 100A using a retrodirective method. Similar to the power transmission device 10 in this embodiment, the reference power transmission device 100A is configured to estimate the characteristic values ​​of multiple paths from the power receiving device 20 to the power transmission device 10 based on a specified signal 1000, and to control the antenna directivity using these characteristic values ​​to transmit a radio wave of 2000W including the transmission signal 2000 for power supply. Room 4000 is a 3m x 3m x 3m room with concrete walls. Object 5000 is positioned between the reference power transmission device 100A and the power receiving device 20, at a location offset to the left from the straight line connecting the reference power transmission device 100A and the power receiving device 20. Object 5000 has physical properties such as a relative permittivity of 35.4 and an electrical conductivity of 5.17. 【0017】 In the example shown in Figure 2, the intensity distribution 3000 shows that the intensity of the radio wave 2000W-1 traveling directly from the reference power transmission device 100A to the power receiving device 20 is strong, as is the intensity of the radio wave 2000W-2 traveling from the reference power transmission device 100A to the object 5000. In other words, the intensity distribution 3000 is thought to indicate that the reference power transmission device 100A is receiving the specified signal 1000 directly from the power receiving device 20, as well as the specified signal 1000 reflected by the object 5000. 【0018】 Figure 3 is a diagram illustrating other problems caused by radio waves emitted by a reference power transmission device 100A using a conventional retrodirective method. In one example shown in Figure 3, a reference power transmission device 100A and a power receiving device 20 are placed in a room 4000, and radio waves 2000W, including a transmission signal 2000, are emitted from the reference power transmission device 100A towards the power receiving device 20 using a retrodirective method. The room 4000 comprises structures 4100 such as walls, ceilings, and floors, and openings 4200 formed in part of the structures 4100. The structures 4100 include objects that do not allow radio waves 2000W to pass to the outside, and objects that reflect radio waves 2000W into the room 4000. The openings 4200 include, for example, windows and doors. In the case of a window, since the openings 4200 have window glass, there is a possibility that some of the radio waves 2100W of the radio waves 2000W may pass through the window glass to the outside of the room 4000. If the opening 4200 is a door, when the door is open, there is a possibility that radio waves 2100W may penetrate from the open door portion to the outside of room 4000. 【0019】 For example, while it is possible to control the beam so that it is not directed towards the window using the beamformer method, there is a possibility of leakage of 2100W of radio waves due to side lobes, and leakage power cannot be reliably controlled by the beam alone. Side lobes are the beams other than the main lobe of the strongest beam of the radiated 2000W of radio waves. In contrast, the power transmission device 10 could also direct a null of 2000W of radio waves towards the window, but the window has a size, and null formation in only one typical direction may not be sufficient to sufficiently suppress radiation to the outside (outdoors). In this disclosure, System 1 provides a technology to suppress the leakage of 2000W of radio waves to the outdoors. 【0020】 (Embodiment 1) [Configuration of the power transmission device according to Embodiment 1] Figure 4 shows an example of the configuration of the power transmission device 10 according to Embodiment 1. Figure 5 shows an example of an equivalent low-pass analysis model of an adaptive array antenna. Figure 6 shows an example of an adaptive array antenna and its directivity. 【0021】 As shown in Figure 4, the power transmission device 10 includes an array antenna 11, a transmission signal generation unit 12, a transmitting / receiving unit 13, an estimation unit 14, a sensor unit 15, a detection unit 16, a control unit 17, and a multiplication unit 18. 【0022】 The array antenna 11 is configured to allow for directional control (beamforming). The array antenna 11 is equipped with multiple antenna elements 11A. The array antenna 11 is configured such that, for example, each of the multiple antenna elements 11A emits the same radio wave, and by adjusting their respective phases and power strengths, it is possible to strengthen the radio wave in a specific direction and weaken it by canceling it out in another direction. The array antenna 11 emits radio waves including the transmission signal 2000 and receives radio waves including a specified signal 1000 from the power receiving device 20. The array antenna 11 supplies the received signal to the transmitting / receiving unit 13. In this embodiment, for the sake of simplicity, the case in which the array antenna 11 is equipped with three or more antenna elements 11A is described, but the number of antenna elements 11A is not limited to this. 【0023】 The transmission signal generation unit 12 generates a transmission signal 2000 for power supply to be transmitted to the power receiving device 20. The transmission signal 2000 is a signal for radiating 2000W of radio waves capable of supplying power. For example, the transmission signal 2000 may be a baseband signal. The transmission signal 2000 may be, for example, an unmodulated signal or a modulated signal. In the case of an unmodulated signal, there is no time variation in the transmission signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generation unit 12 varies the transmission signal 2000 over time during the transmission period. The transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 when it receives a specified signal 1000. The transmission signal generation unit 12 is electrically connected to the multiplication unit 18 and supplies the generated transmission signal 2000 to the multiplication unit 18. 【0024】 The transmitting / receiving unit 13 has a plurality of transmitting / receiving circuits 13A that are electrically connected to each of the plurality of antenna elements 11A of the array antenna 11. The transmitting / receiving circuits 13A are electrically connected to the estimation unit 14, the multiplication unit 18, etc. The transmitting / receiving circuits 13A extract the received signals received by the antenna elements 11A and supply them to the estimation unit 14. The transmitting / receiving circuits 13A cause the antenna elements 11A to radiate a transmission signal 2000 that has been multiplied by a transmission weight in the multiplication unit 18. The transmission weight includes, for example, a weighting coefficient whose amplitude and phase can be adjusted. The transmitting / receiving unit 13 causes the plurality of antenna elements 11A to simultaneously radiate a radio wave 2000W containing the transmission signal 2000 multiplied by the transmission weight (complex amplitude), so that the power transmission device 10 radiates a radio wave 2000W with controlled directionality. 【0025】 The estimation unit 14 estimates the propagation channel characteristics (impulse response) from a specified signal 1000 included in the received signal received by multiple antenna elements 11A. The propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics. The array response vector shows, for example, the channel characteristics for each antenna. The array response vector includes, for example, a vector obtained by arranging the propagation channel characteristics (impulse responses) for each of the multiple antenna elements 11A. The array response vector in the reception processing is also called the received response vector. The estimation unit 14 estimates the received response vector using a well-known algorithm, for example, as disclosed in Japanese Patent Application Publication No. 2002-43995. The estimation unit 14 supplies the vector data of the array response vector to the control unit 17. 【0026】 The sensor unit 15 can acquire information that allows detection of the presence, direction, etc., of objects 5000 and openings 4200 of structures 4100 that are different from those of the power receiving device 20 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, the space between the power transmission device 10 and the power receiving device 20 through which radio waves of 2000W propagate. The sensor unit 15 acquires information about objects 5000 and openings 4200 present in the radio wave propagation environment using, for example, a camera, LIDAR (Laser Imaging Detection and Ranging), radar such as millimeter-wave radar, ToF (Time of Flight) sensor, infrared sensor, temperature sensor, sound sensor, human presence sensor, etc. The sensor unit 15 may be provided outside the power transmission device 10. The sensor unit 15 is electrically connected to the detection unit 16 and supplies sensor information that allows detection of the direction of objects 5000 and openings 4200 in the radio wave propagation environment to the detection unit 16. The sensor information includes, for example, information such as the presence or absence of object 5000 and aperture 4200, distance, position, size, field of view, and image. 【0027】 The detection unit 16 detects information regarding the location of objects 5000 and openings 4200 of structures 4100 that are different from the power receiving device 20 in the radio wave propagation environment, based on sensor information from the sensor unit 15. Objects 5000 include, for example, humans, animals, robots, mobile objects, plants, food, and equipment that transmits or receives electromagnetic waves. The detection unit 16 performs known object recognition processing on the image shown by the sensor information and detects the direction of objects 5000 and openings 4200 from the array antenna 11. For example, the detection unit 16 detects the direction of objects 5000 and openings 4200 from the array antenna 11 based on the direction, position, etc. of objects 5000 and openings 4200 shown by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. If there are multiple objects 5000 and openings 4200, the detection unit 16 detects the positions of the multiple objects 5000 and openings 4200. The detection unit 16 is electrically connected to the control unit 17 and supplies the direction of the object 5000 and the aperture 4200 from the array antenna 11 to the control unit 17 as identifiable direction information. The direction information includes, for example, information indicating the direction of the object 5000 and the aperture 4200 from the array antenna 11. Thus, the detection unit 16 of this disclosure may detect information regarding the position of an object 5000 and an aperture 4200 of a structure 4100 that is different from the power receiving device 20 in a radio wave propagation environment, based on sensor information from the sensor unit 15, including position information such as GPS information of the object 5000 and the aperture 4200, direction information, distance information, etc. 【0028】 The control unit 17 has the function of generating power transmission weights based on the array response vector to the power receiving device 20, which is the estimation result of the estimation unit 14, and the direction information of the object 5000 and the aperture 4200 from the detection unit 16. For example, the ZF (Zero-Forcing) algorithm and the MMSE (Minimum Mean Square Error) algorithm used in MIMO can be used as methods for generating the weights. The control unit 17 is electrically connected to the multiplication unit 18 and supplies weight information indicating the power transmission weights to the multiplication unit 18. In the following description, for the sake of simplicity, we will describe the case in which the multiple antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction. 【0029】 As shown in Figure 5, the adaptive array antenna transmission uses a complex amplitude w for the transmitted signal 2000. k The complex conjugate of (weight) w k * After multiplying by , 2000W of radio waves are simultaneously emitted from K antenna elements 11A. Note that in this disclosure, (·) * When an asterisk (*) is placed to the right of a character, it indicates the complex conjugate. Weight w k Here, k=0,...,K-1. At the receiving point 200P, a combined signal of 2000W of radio waves radiated from K antenna elements 11A is observed. At this time, the amplitude and phase change for each propagation channel. Therefore, the impulse response of the propagation channel between antenna elements 11A from #0 to #K-1 and the receiving point 200P is given by Z. k Assuming (complex number), the analytical array antenna characteristics are given by (Equation 11) below. 【number】 【0030】 In this disclosure, the analytical array antenna characteristics are referred to as the array response value AR. If the weight vector is W and the array response vector is V, then (Equation 11) can be expressed as the dot product of complex vectors in (Equation 12). Note that in this disclosure, (·) HWhen "H" is marked on the upper right of a character as shown, it means complex conjugate transpose (Hermitian transpose). AR = W H V ··· (Equation 12) When the weight vector W and the array response vector V are represented by specific elements, it becomes as follows in (Equation 13) below. 【Number】 【0031】 If the array response vector V is known, the array response value AR at the reception point 200P can be controlled by giving an appropriate weight vector W. When determining the weight vector W, the square of the norm of the weight vector W is set to 1 (||W|| 2 = 1) under the constraint condition. 【0032】 In the retro-directive system 1, based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, the array response vector V d is estimated, and the optimal weight vector W opt is generated using this. Ignoring the time variation of the propagation channel, due to the reversibility (reciprocity) of the propagation channel, the array response vector V d can be regarded as the array response vector from the power transmission device 10 to the power receiving device 20. However, the pilot signal shall have the same frequency as the radio wave during power transmission. ||W|| 2 = 1, the optimal weight vector W H V d that maximizes the magnitude |W opt V 【Number】 【0033】 As described above, the optimal weight vector W opt for retro-directive transmission is the array response vector V of the received pilot signal dIt is sufficient as it is, and information such as the direction of the reception point 200P is unnecessary. 【0034】 Next, the simultaneous realization of the retro-directive method and multiple (for example, M) null formations will be described. 【0035】 A null means that the gain such as the direction and point becomes zero in the directivity of the array antenna 11. To form a null with the array antenna 11, for the array response vector V i (i = 1, ···, M), the magnitude |W H V i | may be set to zero. Under this condition, the magnitude |W d of the array response value of the array response vector V H V d | is maximized. This can be formulated as an optimization problem shown in the following (Equation 15). In the present disclosure, this is referred to as a retro-directive method with linear constraints. Here, K is the number of antenna elements 11A. M is the number of nulls. Since the degree of freedom is K - 1, M < K is assumed. argmax (argument of the maximum) means the set of values that achieve the maximum value. (Equation 15) is an equation for obtaining the optimal weight vector W H V d for which |W opt V 【Equation】 【0036】 The optimization problem of (Equation 15) has a closed-form solution. If (Equation 16) is defined as follows, the optimal weight vector W opt is given by (Equation 17). 【Equation】 【Equation】 【0037】 Here, A is a matrix shown in (Equation 18) formed by arranging M complex column vectors, namely array response vectors V1, V2, ···, V M . 【Number】 A + is the Moore - Penrose generalized inverse matrix of A. The Moore - Penrose generalized inverse matrix A + satisfies AA + A = A, A + AA + = A + , (AA + ) H = AA + , (A + A) H = A + A. When the array response vectors V1, V2, ···, V which are complex column vectors are linearly independent, A M =(A + A) H A -1 A H . 【0038】 The array response value corresponding to the null must satisfy W H V i = 0 (i = 1, ····, M < K). Therefore, considering these as a system of homogeneous linear equations, it can be expressed as the product of a matrix and a vector using the matrix A formed by arranging M complex column vectors, namely array response vectors V1, V2, ···, V, like A M W = 0. The general solution is given by W=(I - AA H ) + z=(I - AA + ) H z=(I - AA + )z, where z is an arbitrary complex vector. Substituting W=(I - AA H V d ) + ) H z=(I - AA + )z into the magnitude of the array response value to be maximized |W H V d |, we get |W H (I - AA+ )V d | is obtained. Then, from the Cauchy - Schwarz inequality, |W H V d | = |z H (I - AA + )V d | ≤ ||z|| · ||(I - AA + )V d || holds. |W H V d | becomes maximum when the equality sign of this inequality holds. At this time, z = α(I - AA + )V d is satisfied. α is a complex constant. 【0039】 Optimal weight vector W opt is obtained by substituting z = α(I - AA + ) H z=(I - AA + )z into the above - mentioned W=(I - AA + )V d as follows: W opt =α(I - AA + )V d . Here, if we let V’ d =(I - AA + )V d , then ||W opt || 2 =|α| 2 ||V’ d || 2 . To satisfy ||W d || = 1, we can set α = 1 / ||V’ opt ||. Therefore, the optimal weight vector W 【0040】 Next, an example of a method for calculating an array response vector corresponding to a null will be described. The array response vector between the power transmission device 10 and the power reception device 20 is estimated from the prescribed signal 1000. However, assuming that the prescribed signal 1000 is not transmitted from the target towards which the null is to be directed, it is necessary to calculate the array response vector by another method. In the present disclosure, for the purpose of avoiding radio waves directly heading from the power transmission device 10 towards the target towards which the null is to be directed, the array response vector is calculated from the directions of the object 5000 and the opening 4200, which are null targets, obtained using the sensor unit 15. 【0041】 As shown in FIG. 6, in a linear array in which K antenna elements 11A are arranged at equal intervals, the array response vector in the far field radiated in a direction rotated clockwise by θ (-π / 2 < θ < π / 2) from the broadside is given by the following (Equation 19). The broadside is the direction perpendicular to the direction in which the antenna elements 11A are arranged, and is the upper direction in FIG. 6. The element interval from the antenna element 11A of #0 to the antenna element 11A of #k up to the reference point 200B is kd. The element interval from the antenna element 11A of #0 to the antenna element 11A of #K - 1 up to the reference point 200B is (K - 1)d. 【Number】 【0042】 Here, the impulse response Z is set as (Equation 20). 【Number】 Thus, if the direction θ of the null target is known, the array response vector V i can be calculated as in (Equation 21). Note that the direction θ is θ = θ i and i = 1, ···, M. j is the imaginary unit, and j 2 = -1. Here, the impulse response Z i can be obtained by (Equation 22). 【Number】 【number】 【0043】 The control unit 17 controls the direction θ of the null target. i Array response vector V corresponding to null i We derive this using (Equation 21) and (Equation 22), and then use (Equation 18) to form the matrix (I-AA + The control unit 17 calculates the calculated matrix (I-AA). + ) and the array response vector V corresponding to the power receiving device 20 d Therefore, the magnitude of the array response value |W H V d The optimal weight vector W that maximizes | opt This determines the matrix (I-AA). + ) and array response vector V d The timing of the calculation differs. Therefore, the control unit 17 calculates the matrix (I-AA + ) can be stored in memory unit 17D. 【0044】 As shown in Figure 4, the storage unit 17D may include any non-transient storage medium such as a semiconductor storage medium and a magnetic storage medium. The storage unit 17D may include a combination of a storage medium such as a memory card, optical disk, or magneto-optical disk and a storage medium reader. The storage unit 17D may include a storage device used as a temporary storage area such as RAM. The storage unit 17D may be provided outside the control unit 17. 【0045】 The memory unit 17D stores the control program 171. The control program 171 calculates power transmission weights to control the radio wave intensity of the 2000W radio wave based on the received signal received from the power receiving device 20, at least one of the first position and direction of the aperture 4200, and direction information relating to an object 5000 different from the power receiving device 20. 【0046】 The control unit 17 has a function to set the radio wave intensity of the 2000W radio wave at the opening 4200 to a first intensity that is lower than the radio wave intensity of the 2000W radio wave at a different structure 4100, based on at least one of the first position and direction of the opening 4200 through which the 2000W radio wave (transmitted wave) penetrates or passes to the outside of the structure 4100. The control unit 17 also has a function to set the radio wave intensity of the 2000W radio wave at the object 5000 to a second intensity that is below a predetermined level, based on the received signal received from the power receiving device 20 and information about an object 5000 different from the power receiving device 20. The control unit 17 may, when it detects an open state (first state) of the opening 4200 in which radio waves 2000W can reach outside the structure 4100, set the radio wave intensity of 2000W at the first position as the first intensity, and when it detects a closed state (second state) of the opening 4200 in which radio waves 2000W cannot reach outside the structure 4100, it may also choose not to set the radio wave intensity of 2000W at the first position as the first intensity. The open state of the opening 4200 includes, for example, a state in which a door, window, etc., is open. The closed state of the opening 4200 includes, for example, a state in which a door, window, etc., is closed and radio waves 2000W cannot pass through to the outside of the room 4000. 【0047】 The multiplication unit 18 multiplies the transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the multiple antenna elements 11A, based on the weight information from the control unit 17. The multiplication unit 18 has, for example, a multiplier. The multiplication unit 18 supplies the transmission signal 2000, multiplied by the weight corresponding to the antenna element 11A, to the transmit / receive circuit 13A of that antenna element 11A. 【0048】 The above describes an example of the functional configuration of the power transmission device 10 according to this embodiment. Note that the above configuration described using Figure 4 is merely an example, and the functional configuration of the power transmission device 10 according to this embodiment is not limited to this example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation. 【0049】 [Power receiving device according to Embodiment 1] Figure 7 shows an example of the configuration of a power receiving device 20 according to Embodiment 1. As shown in Figure 7, the power receiving device 20 comprises an antenna 21, a transmitting / receiving unit 22, a signal generating unit 23, and a power receiving unit 24. The power receiving device 20 of this disclosure may be a movable device. For example, such a power receiving device 20 may be a mobile battery, a smartphone, a camera, a device mounted on a moving object such as a drone or car, an autonomous vehicle, a vibration sensor, a biosensor, a temperature sensor, an alarm, etc. Since the power receiving device 20 is a movable device in this disclosure, the characteristics of the propagation channel based on a specified signal may change according to the position of the power receiving device 20. 【0050】 Antenna 21 is electrically connected to the transmitting / receiving unit 22. Antenna 21 is a receiving antenna capable of receiving 2000W of radio waves from the power transmission device 10. Antenna 21 can be, for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. Antenna 21 radiates radio waves including a specified signal 1000 and receives 2000W of radio waves including a transmission signal 2000 from the power transmission device 10. Antenna 21 supplies the received signal of the received radio waves 2000W to the transmitting / receiving unit 22. 【0051】 The transmitting / receiving unit 22 is electrically connected to the signal generating unit 23 and the power receiving unit 24. The transmitting / receiving unit 22 radiates radio waves, including a specified signal 1000, from the signal generating unit 23, through the antenna 21. The transmitting / receiving unit 22 supplies the received signal of the radio waves received by the antenna 21 to the power receiving unit 24. 【0052】 The signal generation unit 23 generates a specified signal 1000. The signal generation unit 23 radiates radio waves containing the specified signal 1000 to the antenna 21 via the transmitting / receiving unit 22. The signal generation unit 23 can generate the specified signal 1000 based on the transmission period. The signal generation unit 23 may also be configured to generate a signal different from the specified signal 1000. 【0053】 The power receiving unit 24 converts the radio wave 2000W received by the antenna 21 into a direct current, and receives power using this direct current. The power receiving unit 24 converts the radio wave into a direct current using, for example, a known rectifier circuit or the like. The power receiving unit 24 supplies the received power to, for example, a battery or a load corresponding to Qi (an international standard for wireless power supply). The load includes, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic devices, lighting devices, and the like. 【0054】 The functional configuration example of the power receiving device 20 according to the present embodiment has been described above. Note that the above configuration described using FIG. 7 is merely an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to such an example. The functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operations. 【0055】 [Control Example of Power Transmission Device According to Embodiment 1] FIG. 8 is a diagram for explaining a control example of the power transmission device 10. In the following description, as shown in FIG. 8, in the system 1, the power transmission device 10 and the power receiving device 20 are arranged to face each other in the room 4000. The room 4000 has a structure 4100 and an opening 4200 provided in a part of the structure 4100. In an example shown in FIG. 8, the opening 4200 is a door that can be opened and closed. Alternatively, the opening 4200 may be a window provided with a curtain, a blind, or the like. The opening 4200 has a first state in which the radio wave 2000W (transmission wave) can reach the outside of the structure 4100 as shown in scene C1. The opening 4200 has a second state in which the radio wave 2000W cannot reach the outside of the structure 4100 as shown in scene C2. When the power transmission device 10 detects the position, direction, etc. of the object 5000 using the sensor unit 15, it grasps the relative position between the object 5000 and the array antenna 11. The system 1 performs wireless power supply to the power receiving device 20 by radiating the radio wave 2000W including the transmission signal 2000 from the power transmission device 10 toward the power receiving device 20 in a retro-directive manner. 【0056】 In this embodiment, the power transmission device 10 pre-stores environmental information in the storage unit 17D that can identify the relative position and direction between the opening 4200 of the structure 4100 and the array antenna 11. The environmental information includes, for example, information regarding the position and direction of the opening 4200 from the device itself. The power transmission device 10 determines the presence or absence of the opening 4200 by referring to the environmental information, but may also determine the presence or absence of the opening 4200 based on the detection result of the sensor unit 15. In this disclosure, the structure 4100 may be a stationary structure such as a room or factory and a part thereof, or a movable structure such as an automobile, bus, or airplane and a part thereof. In this disclosure, the structure 4100 may be a structure or part thereof such as an office, living room, factory, building, hospital, school, automobile, bus, or airplane. In this disclosure, the opening 4200 may be a part in which the material forming the structure 4100 is not formed or is formed of a material different from the material in which the structure 4100 is formed. For example, the opening 4200 may be a part of a vacuum or where air is present, or a part formed of a material such as a curtain, plastic, door, glass, window, ventilation fan, shutter, blind, screen, plant, or vinyl. In addition, the disclosure may include a part of the opening 4200 that is in contact with a part of the structure 4100 that is not formed of the material that forms the structure 4100, or is formed of a material different from the material on which the structure 4100 is formed. In the disclosure, one or more openings 4200 may be formed in the structure 4100. 【0057】 Figure 9 is a flowchart showing an example of a processing procedure performed by the power transmission device 10. The processing procedure shown in Figure 9 is realized by the control unit 17 executing the control program 171 stored in the storage unit 17D. 【0058】 In scenario C1 of Figure 8, System 1 receives a specified signal 1000 from the power receiving device 20. In this case, as shown in Figure 9, when the power transmitting device 10 receives radio waves containing the specified signal 1000 with the array antenna 11, it generates an array response vector V corresponding to the power receiving device 20. dThe power transmission device 10 estimates the array response vector V in the estimation unit 14. d The power transmission device 10 proceeds to step S102 once the processing in step S101 is completed. 【0059】 The power transmission device 10 recognizes the state of the opening 4200 of the structure 4100 (step S102). For example, the power transmission device 10 uses a detection unit 16 to recognize the relative position and direction between the opening 4200 of the structure 4100 and the array antenna 11 based on environmental information from the storage unit 17D. Then, the power transmission device 10 uses machine learning to recognize the state of the opening 4200 from the sensor information image. For example, if the detection unit 16 of the power transmission device 10 detects M openings 4200, the directions θ1, θ2, ..., θ of the multiple openings 4200 are recognized. M The power transmission device 10 detects the direction of the detected opening 4200 θ1, θ2, ..., θ M The information is stored in the storage unit 17D. Once the power transmission device 10 stores the information indicating the recognition result in the storage unit 17D, it proceeds to step S103. In this disclosure, the structure 4100 may be defined as having walls formed in the direction perpendicular to the plane of the paper. The structure 4100 may be defined as a room structure enclosed by walls in the vertical, horizontal, and height directions, with an opening only at the opening 4200. The structure 4100 may be defined as a structure enclosed by walls in the vertical, horizontal, and height directions, with one or more openings other than the opening 4200. The shape of the structure 4100 may be defined as a cross-sectional portion cut from a predetermined direction, which is formed by a quadrilateral or other arbitrary polygon, ellipse, circle, and arbitrary straight or curved line. The structure 4100 may be defined as part of an object such as an office, living room, factory, building, hospital, school, automobile, bus, or airplane. 【0060】 The power transmission device 10 determines whether the aperture 4200 is in a first state (step S103). For example, if the recognition result in step S102 indicates an open state, the power transmission device 10 determines that the aperture 4200 is in a first state. If the power transmission device 10 determines that the aperture 4200 is in a first state (Yes in step S103), it proceeds to step S104. The power transmission device 10 determines the radio wave intensity of the aperture 4200 as a first intensity (step S104). In this embodiment, the power transmission device 10 determines the first intensity such that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. When the processing in step S104 is completed, the power transmission device 10 proceeds to step S105. 【0061】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. In this embodiment, the power transmission device 10 determines the second intensity so that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M The data is stored in the memory unit 17D. When the processing in step S105 is completed, the power transmission device 10 proceeds to step S106. In this disclosure, in addition to the direction in which the gain becomes zero, the null of the radio waves formed by the power transmission device 10 may also be defined as the portion of the radio waves that is lower compared to the gain in other directions. 【0062】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). For example, the power transmission device 10 performs array response vectorization and matrix operations corresponding to nulls in the control unit 17. For example, if the detection unit 16 of the power transmission device 10 has M objects 5000 as null targets with a second intensity and the aperture 4200 as null targets with a first intensity, the directions θ1, θ2, ..., θ of the multiple objects 5000 and the aperture 4200 are... M The power transmission device 10 detects the object 5000 and the direction θ1, θ2, ..., θ of the opening 4200. M Based on the above-mentioned (Equations 21) and (Equations 22), the array response vectorization corresponding to null (V1, V2, ..., V M The power transmission device 10 performs the following: The array response vector V corresponding to the null i =V1,V2,···,V M Using (I-AA + A matrix operation is performed on the matrix A = [V1V2··· V], and the result is stored in the memory unit 17D. M The power transmission device 10 uses the array response vector V d and the matrix of memory unit 17D (I-AA + ) calculate the product and the array response vector V d The power transmission device 10 calculates the array response vector V. d ' is normalized using the above-mentioned (Equation 17) to obtain the optimal weight vector W opt This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0063】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W optBased on the weight information indicated, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C1 of Figure 8, the power transmission device 10 directs the null in the direction D1 of the object 5000 and the direction D2 of the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000 and the aperture 4200. Returning to Figure 9, when the processing of step S107 is completed, the power transmission device 10 terminates the processing procedure shown in Figure 9. 【0064】 Furthermore, if the power transmission device 10 determines that the opening 4200 is not in the first state (No in step S103), it determines that the opening 4200 is in the second state (closed state) and proceeds to step S108. The power transmission device 10 decides not to set the radio wave intensity of the opening 4200 to the first intensity (step S108). Once the processing in step S108 is complete, the power transmission device 10 proceeds to step S105. 【0065】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M The data is stored in the memory unit 17D. When the power transmission device 10 completes the processing in step S105, it proceeds to step S106. 【0066】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). For example, the power transmission device 10 performs array response vectorization and matrix operations corresponding to nulls in the control unit 17. For example, if the detection unit 16 of the power transmission device 10 has M objects 5000 as targets for nulls of the second intensity, the directions θ1, θ2, ..., θ of the multiple objects 5000 are... M The power transmission device 10 detects the direction θ1, θ2, ..., θ M Based on the above-mentioned (Equations 21) and (Equations 22), the array response vectorization corresponding to null (V1, V2, ..., V M The power transmission device 10 performs the following: The array response vector V corresponding to the null i =V1,V2,···,V M Using (I-AA + A matrix operation is performed on the matrix A = [V1V2··· V], and the result is stored in the memory unit 17D. M The power transmission device 10 uses the array response vector V d and the matrix of memory unit 17D (I-AA + ) calculate the product and the array response vector V d The power transmission device 10 calculates the array response vector V. d ' is normalized using the above-mentioned (Equation 17) to obtain the optimal weight vector W opt This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0067】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W optBased on the weight information, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C2 of Figure 8, the power transmission device 10 directs the null only in the direction D1 of the object 5000 and not the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000. In this case, some of the radio waves 2100W due to the side ropes of the radio waves 2000W are directed towards the aperture 4200, but do not penetrate to the outside of the room 4000. Furthermore, when the 2100W radio wave is reflected at aperture 4200 and directed towards the power receiving device 20, the amount of 2000W radio wave received by the power receiving device 20 can be increased. Returning to Figure 9, once the processing in step S107 is completed, the power transmitting device 10 terminates the processing procedure shown in Figure 9. 【0068】 As a result, the power transmission device 10 can set the radio wave intensity of 2000W at the opening 4200 to a first intensity lower than the radio wave intensity of 2000W at other parts of the structure 4100, based on at least one of the first position and direction of the opening 4200 through which the radio wave 2000W (transmitted wave) penetrates or passes to the outside of the structure 4100. This allows the power transmission device 10 to suppress leakage of 2000W radio waves from the opening 4200 to the outside of the structure 4100, even if the opening 4200 exists in the structure 4100 in the radio wave propagation environment. As a result, the power transmission device 10 does not need to operate with reduced transmission output, and can provide power suitable for the installed environment. Since the power transmission device 10 can suppress the transmission of 2000W radio waves that penetrate to the outside of the structure 4100, it can be shared with other systems, and the limitations on the environments in which it can be installed can be reduced. 【0069】 Based on the received signal from the power receiving device 20 and information about an object 5000 different from the power receiving device 20, the power transmitting device 10 can set the intensity of the 2000W radio waves directed towards object 5000 to a second intensity below a predetermined level. As a result, the power transmitting device 10 can suppress the intensity of the 2000W radio waves directed towards object 5000, thereby improving safety in the radio wave propagation environment. 【0070】 [Modified example of the power transmission device according to Embodiment 1] Figures 10 and 11 show an example of the configuration of a power transmission device 10 according to a modification of Embodiment 1. As shown in Figure 10, the power transmission device 10 may have a sensor unit 15 and a detection unit 16 provided on an external electronic device 30. In this case, the power transmission device 10 may be configured to receive data from the electronic device 30 and obtain the detection result of object 5000 from the electronic device 30. As shown in Figure 11, the power transmission device 10 may have only the sensor unit 15 provided outside the device. In this case, the power transmission device 10 may be configured to obtain sensor information, etc., from the external sensor unit 15 and the detection unit 16 may detect object 5000 based on the sensor information, etc., from the sensor unit 15. 【0071】 (Embodiment 2) [Configuration of the power transmission device according to Embodiment 2] In Embodiment 2, similar to Embodiment 1, System 1 comprises a power transmission device 10 and a power receiving device 20. The power receiving device 20 has the same configuration as the power receiving device 20 in Embodiment 1. 【0072】 Figure 12 shows an example of the configuration of the power transmission device 10 according to Embodiment 2. Figure 13 shows an example of vectorization when differential coefficient constraint is applied. 【0073】 As shown in Figure 12, the power transmission device 10 includes an array antenna 11, a transmission signal generation unit 12, a transmitting / receiving unit 13, an estimation unit 14, a sensor unit 15, a detection unit 16, a control unit 17, and a multiplication unit 18. 【0074】 The sensor unit 15 can acquire information that allows detection of the presence, direction, and area of ​​an opening 4200 in an object 5000 and a structure 4100 that is different from the receiving device 20 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, the space in which radio waves 2000W propagate between the power transmission device 10 and the power receiving device 20. The area of ​​the object 5000 and the opening 4200 includes, for example, the area of ​​the object 5000 and the opening 4200 in the radio wave propagation environment, and information regarding the angular spread of the object 5000 and the opening 4200 from the device itself. The sensor unit 15 acquires information about the object 5000 and the opening 4200 present in the radio wave propagation environment using, for example, a camera, a radar such as a millimeter-wave radar, a LiDAR, a ToF sensor, an infrared sensor, a human presence sensor, a depth sensor, etc. The sensor unit 15 may be provided outside the power transmission device 10. The sensor unit 15 is electrically connected to the detection unit 16 and supplies the detection unit 16 with sensor information capable of detecting the direction and area of ​​the object 5000 and the aperture 4200 in the radio wave propagation environment. The sensor information includes, for example, information such as the presence or absence of the object 5000 and the aperture 4200, distance, position, and image. 【0075】 The detection unit 16 detects information regarding the positions and areas of an object 5000 and an opening 4200 of a structure 4100 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15. The detection unit 16 executes an object recognition process known for the image indicated by the sensor information, and detects the areas and shapes of the object 5000 and the opening 4200, the area in the radio wave propagation environment, the directions and areas of the object 5000 and the opening 4200 from the own device, and the like. For example, the detection unit 16 detects the directions, areas, etc. of the object 5000 and the opening 4200 from the array antenna 11 based on the directions, positions, areas, etc. of the object 5000 and the opening 4200 indicated by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. When there are a plurality of objects 5000 and openings 4200, the detection unit 16 detects the positions and areas of the plurality of objects 5000 and openings 4200. The detection unit 16 is electrically connected to the control unit 17, and supplies the control unit 17 with direction information such as the directions and areas of the object 5000 and the opening 4200 from the array antenna 11, which can be identified. As described above, the detection unit 16 of the present disclosure detects information regarding the positions and areas of the object 5000 and the opening 4200 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information including the position information such as the GPS information of the object 5000 and the opening 4200, the direction information, etc. from the sensor unit 15. 【0076】 Directional information includes, for example, information indicating the direction, area, etc., of the object 5000 and aperture 4200 from the array antenna 11. Directional information includes, for example, identifiable information such as the area and size of the object 5000 and aperture 4200. The directional information can be identifiable information that specifies the size of the object 5000 and aperture 4200, which is set according to the arrangement of the multiple antenna elements 11A. For example, if the multiple antenna elements 11A are arranged in a matrix, the area 151 of the object 5000 can be set to its length and width, position, shape, etc. For example, if the multiple antenna elements 11A are arranged in a line in one direction, the size 152 of the object 5000 can be set to its width, height, length and distance in one direction, angle range from the aircraft, etc. The area 151 of the object 5000 may also be a spatial area corresponding to the outer shape of the object 5000. The area and size of the aperture 42 in the structure 4100 can be set in the same way as the object 5000. 【0077】 The control unit 17 has the function of generating power transmission weights based on the array response vector to the power receiving device 20, which is the estimation result of the estimation unit 14, and the direction information of the object 5000 and the aperture 4200 from the detection unit 16. For example, the ZF (Zero-Forcing) algorithm and the MMSE (Minimum Mean Square Error) algorithm used in MIMO can be used as methods for generating the weights. The control unit 17 is electrically connected to the multiplication unit 18 and supplies weight information indicating the power transmission weights to the multiplication unit 18. In the following description, for the sake of simplicity, we will describe the case in which the multiple antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction. 【0078】 The control unit 17 widens the null. The object 5000 and the aperture 4200 that are subject to the null have an extent, and it is desirable to widen the null according to the region of the object 5000 and the aperture 4200. Multiple methods can be used to widen the null. For example, the multiple null constraint method, the derivative constraint method, the regularized multiple null constraint method, etc., can be used to widen the null. These null widening methods may also be combined with retrodirectives. 【0079】 The multi-point null constraint method is a method that widens the null angle by forming nulls in multiple directions in the vicinity of the null object, rather than in one direction, according to the size of the null object. For example, the array response vector V in (Equation 15) mentioned above. i θ is the direction of null object i The calculation is performed using (Equation 21) and (Equation 22), but wide-angle processing is achieved by providing multiple directions near the null object as directions for the null object, in accordance with the size of the null object. 【0080】 The differential constraint method is a method that uses the continuity of the array response values ​​in the θ direction to flatten the response using a differential. The details of the differential constraint method are explained below. Substituting (Equation 19) and (Equation 20) into (Equation 11) and (Equation 12) mentioned above, the array response values ​​of the K-element linear array with equal spacing in the θ direction are obtained by (Equation 223). 【number】 【0081】 W H Let V = D(θ). D(θ) is called the array response function or array factor. D(θ) is a continuous function of θ and is differentiable with respect to θ. Furthermore, the absolute value of |D(θ)| plotted on paper represents the directional pattern of the array antenna. 【0082】 (Equation 223) θ = θ i Substituting (i=1,···,M) into D(θ) i ) is θi This is the array response value in the direction. Also, since (Equation 223) is differentiable, θ = θ i The neighborhood of θ = θ i +Δθ array response value D(θ i +Δθ) is L i Using the following approximation formula, it can be expressed as shown in (Equation 224) below. 【number】 【0083】 In (Equation 224), the derivative D (l) (θ i )(l=1,···,L i If ) is zero, then D(θ i +Δθ)≒D(θ i ) becomes θ i neighborhood θ i The array response value can be made to be similar with +Δθ. This can be null (D(θ) i Applying this to )=0) is the null widening by differential constraint, and the degree L of the approximation formula i The degree of widening can be controlled by this. In this disclosure, the (l) superscript to the right of a character indicates the order of differentiation. 【0084】 Derivative constraint condition D (l) (θ i )=0(l=1,···,L i ) is equivalent to the following (Equation 225). 【number】 【0085】 Therefore, the diagonal matrix Q l If we denote this as (Equation 226) below, then (Equation 225) can be expressed as (Equation 227) below. Note that (Equations 226) and (Equations 227) are given by l=1,···,L i That is the case. Q l =diag[0 l 1 l ... (K-1) l ]...(Formula 226) W H (Ql V i )=0...(Formula 227) 【0086】 Combining these as (Equations 228) and (Equation 229) below, the constraint condition for the l-th derivative is given by (Equation 230) below. Note that (Equation 229) is for l=1,...,L i Therefore, in (Equation 230), l=0,···,L i V i (l) Although it differs from the array response vector, it can be treated in the same way as the constraint condition in (Equation 15) from (Equation 230). Therefore, in this disclosure, V in (Equation 230) i (l) This is called a constraint vector. V i (0) =V i ...(Formula 228) V i (l) =Q l V i ...(Formula 229) W H V i (l) =0...(Formula 230) 【0087】 Under the constraint condition (Equation 230), the array response vector V d The magnitude of the array response value |W H V d The optimization problem of maximizing | can be formulated as shown in (Equation 231) below. 【number】 【0088】 Here, K is the number of antenna elements 11A, and M is the number of nulls. The number of nulls is the number of objects 5000 and apertures 4200 detected by the detection unit 16. L1, L2, ..., L Mis a number that determines the degree of broadening of each null, and in the present disclosure, this is referred to as the wide angle. The wide angle is determined according to the regions of the object 5000 and the opening 4200 detected by the detection unit 16, and a constraint vector is added for the wide angle. Since the degree of freedom is K - 1, M + L1 + L2 + ··· + L M is taken as K. Also, the array response vector V i (l) (l = 0, ···, K - 1) is linearly independent. 【0089】 As can be seen from the comparison between the above (Equation 15) and (Equation 231), it is possible to broaden the null while following the algorithm of the linearly constrained retro - directive method. In the present disclosure, this is referred to as the micro - coefficient - constrained retro - directive method. 【0090】 The control unit 17 generates a transmission weight so that a null is directed towards the directions and regions of the object 5000 and the opening 4200 based on the propagation channel characteristics of the prescribed signal 1000 and the detection results of the directions and regions of the object 5000 and the opening 4200 detected by the detection unit 16. To generate the transmission weight, for example, the control unit 17 determines the above - mentioned wide angle L i . The control unit 17 controls the directivity of the antenna that transmits the transmission wave so that the radio wave intensity of the transmission wave at the opening 4200 becomes the first intensity and the intensity of the transmission wave to the object becomes a second intensity that is below a predetermined value based on the received signal from the power receiving device 20 and the size of the region where the opening 4200 exists. 【0091】 For example, the control unit 17 calculates the array response vector V i from the above - mentioned (Equation 21) and (Equation 22) using the direction θ i . For example, as shown in FIG. 13, the control unit 17 applies the information indicating the direction θ i of the null target and the region δ i to the table 170 to obtain the wide angle L i . The region δ i includes information regarding the regions, sizes, etc. of the object 5000 and the opening 4200. The wide angle L iThis is the widening parameter, and the region δ of object 5000 and aperture 4200. i not only direction θ i Since it also depends on the direction θ, it may be determined using Table 170 or by using machine learning or the like. In this embodiment, Table 170 is stored in the storage unit 17D, and the direction θ i and region δ i From wide angle L i This is a lookup table that derives the result. 【0092】 The control unit 17 determines the wide angle L i and array response vector V i Therefore, by vectorizing using the above (Equations 226), (228), and (229), we obtain the constraint vector V i (l) (l=0,···,L i The control unit 17 determines the constraint vector V. i (l) Using this, the magnitude of the array response value |W H V d The optimal weight vector W that maximizes | opt This is determined by the above-mentioned (Equation 231). Note that the power transmission device 10 has a wide angle L i This can be set for each null target. The power transmission device 10 can independently calculate the matrix calculated from the direction and region to which the null is directed and the propagation channel characteristics of the specified signal 1000. 【0093】 The above describes an example of the functional configuration of the power transmission device 10 according to Embodiment 2. Note that the above configuration described using Figure 12 is merely an example, and the functional configuration of the power transmission device 10 according to this embodiment is not limited to this example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation. 【0094】 [Example of power transmission device control according to Embodiment 2] Using Figures 8 and 9 described above, an example of control of the power transmission device according to Embodiment 2 will be explained. As shown in Figure 8, System 1 has a power transmission device 10 and a power receiving device 20 arranged facing each other in a room 4000. The room 4000 has a structure 4100 and an opening 4200 provided in a part of the structure 4100. In the example shown in Figure 8, the opening 4200 is an openable and closable door 4210. Alternatively, the opening 4200 may be a window with a curtain, blinds, etc. The opening 4200 has a first state in which radio waves 2000W (transmitted waves) can reach the outside of the structure 4100, as shown in Scene C1. The opening 4200 has a second state in which radio waves 2000W cannot reach the outside of the structure 4100, as shown in Scene C2. The power transmission device 10 detects the position, direction, and area of ​​object 5000 using the sensor unit 15, and then determines the relative position between object 5000 and array antenna 11. System 1 wirelessly supplies power to the power receiving device 20 by radiating 2000W of radio waves, including the transmission signal 2000, from the power transmission device 10 to the power receiving device 20 using a retrodirective method. 【0095】 In this embodiment, the power transmission device 10 pre-stores environmental information in the storage unit 17D that can identify the relative position and direction between the opening 4200 of the structure 4100 and the array antenna 11. The environmental information includes, for example, information regarding the position and direction of the opening 4200 from the device itself. The power transmission device 10 determines the presence or absence of the opening 4200 by referring to the environmental information, but may also determine the presence or absence of the opening 4200 based on the detection result of the sensor unit 15. When the power transmission device 10 detects the size of the opening 4200 using the sensor unit 15, it may determine the range over which to reduce the intensity of the transmitted radio waves based on the size of the opening 4200. 【0096】 Figure 9 is a flowchart showing an example of a processing procedure performed by the power transmission device 10. The processing procedure shown in Figure 9 is realized by the control unit 17 executing the control program 171 stored in the storage unit 17D. 【0097】 In scenario C1 of Figure 8, System 1 receives a specified signal 1000 from the power receiving device 20. In this case, as shown in Figure 9, when the power transmitting device 10 receives radio waves containing the specified signal 1000 with the array antenna 11, it generates an array response vector V corresponding to the power receiving device 20. d The power transmission device 10 estimates the array response vector V in the estimation unit 14. d The power transmission device 10 proceeds to step S102 once the processing in step S101 is completed. 【0098】 The power transmission device 10 recognizes the state of the opening 4200 of the structure 4100 (step S102). For example, the power transmission device 10 uses a detection unit 16 to recognize the relative position and direction of the area of ​​the opening 4200 of the structure 4100 and the array antenna 11 based on environmental information from the storage unit 17D. Then, the power transmission device 10 uses machine learning to recognize the state of the opening 4200 from the image of the sensor information. For example, if the detection unit 16 of the power transmission device 10 detects M openings 4200, the directions of the multiple openings 4200 are θ1, θ2, ..., θ M The power transmission device 10 then detects the regions δ1, δ2, ..., δ of the multiple openings 4200. M The power transmission device 10 detects the direction of the detected opening 4200 θ1, θ2, ..., θ M and areas δ1,δ2,...,δ M The information is stored in the memory unit 17D. Once the power transmission device 10 has stored the information indicating the recognition result in the memory unit 17D, it proceeds to step S103. 【0099】 The power transmission device 10 determines whether the aperture 4200 is in a first state (step S103). For example, if the recognition result in step S102 indicates an open state, the power transmission device 10 determines that the aperture 4200 is in a first state. If the power transmission device 10 determines that the aperture 4200 is in a first state (Yes in step S103), it proceeds to step S104. The power transmission device 10 determines the radio wave intensity of the aperture 4200 as a first intensity (step S104). In this embodiment, the power transmission device 10 determines the first intensity such that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. When the processing in step S104 is completed, the power transmission device 10 proceeds to step S105. 【0100】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of a region 151 of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. In this embodiment, the power transmission device 10 determines the second intensity so that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 then detects the regions δ1, δ2, ..., δ of multiple objects 5000. M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M and areas δ1,δ2,...,δ M The data is stored in the memory unit 17D. When the power transmission device 10 completes the processing in step S105, it proceeds to step S106. In step S105, for example, the power transmission device 10 may use the detection unit 16 to recognize the size, relative position, direction, etc., of an area of ​​the aperture 4200 that is different from the power receiving device 20 in the radio wave propagation environment, based on sensor information from the sensor unit 15, and determine the radio wave intensity. 【0101】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). For example, the power transmission device 10 performs array response vectorization and matrix operations corresponding to nulls in the control unit 17. For example, if the detection unit 16 of the power transmission device 10 detects M objects 5000 and apertures 4200 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 and apertures 4200 are... M It detects the following. More specifically, the power transmission device 10 detects the direction θ i and region δ i Applying the information shown to Table 170, wide angle L i Find the wide angle L i and array response vector V i Therefore, by vectorizing using the above (Equations 226), (228), and (229), we obtain the constraint vector V corresponding to null. i (l) (l=0,···,L i ) is determined. Then, the power transmission device 10 determines the constraint vector V corresponding to null. i (l) Using (I-AA + A=[V1 (0) ,···,V1 (L1) ,V2 (0) ,···,V2 (L2) ,···,V M (0) ,···,V M (LM) ]. The power transmission device 10 then has the control unit 17 receive the array response vector V estimated by the estimation unit 14. d and memory unit 17D (I-AA + ) calculate the product and the array response vector V d The power transmission device 10 then calculates the array response vector V. d ' is normalized using (Equation 17) to obtain the optimal weight vector W opt This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0102】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W opt Based on the weight information indicated, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C1 of Figure 8, the power transmission device 10 directs the null in the direction D1 of the object 5000 and the direction D2 of the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000 and the aperture 4200. Returning to Figure 9, when the processing of step S107 is completed, the power transmission device 10 terminates the processing procedure shown in Figure 9. 【0103】 Furthermore, if the power transmission device 10 determines that the opening 4200 is not in the first state (No in step S103), it determines that the opening 4200 is in the second state (closed state) and proceeds to step S108. The power transmission device 10 decides not to set the radio wave intensity of the opening 4200 to the first intensity (step S108). Once the processing in step S108 is complete, the power transmission device 10 proceeds to step S105. 【0104】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. In this embodiment, the power transmission device 10 determines the second intensity so that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 then detects the regions δ1, δ2, ..., δ of multiple objects 5000. MThe power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M and areas δ1,δ2,...,δ M The data is stored in the memory unit 17D. When the power transmission device 10 completes the processing in step S105, it proceeds to step S106. 【0105】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). For example, the power transmission device 10 performs array response vectorization and matrix operations corresponding to nulls in the control unit 17. For example, if the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 M It detects the following. More specifically, the power transmission device 10 detects the direction θ i and region δ i Applying the information shown to Table 170, wide angle L i Find the wide angle L i and array response vector V i Therefore, by vectorizing using the above (Equations 226), (228), and (229), we obtain the constraint vector V corresponding to null. i (l) (l=0,···,L i ) is determined. Then, the power transmission device 10 determines the constraint vector V corresponding to null. i (l) Using (I-AA + A=[V1 (0) ,···,V1 (L1) ,V2 (0) ,···,V2 (L2) ,···,V M (0) ,···,V M (LM) ]. The power transmission device 10 then has the control unit 17 receive the array response vector V estimated by the estimation unit 14. d and memory unit 17D (I-AA + ) calculate the product and the array response vector V d The power transmission device 10 then calculates the array response vector V.d ' is normalized using (Equation 217) to obtain the optimal weight vector W opt This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0106】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W opt Based on the weight information, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C2 of Figure 8, the power transmission device 10 directs the null only in the direction D1 of object 5000 and not towards the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but destructively at object 5000. In this case, some of the side ropes of the radio waves 2000W, amounting to 2100W, are directed towards the area of ​​the aperture 4200, but do not penetrate to the outside of room 4000. Furthermore, when the reflected waves of the 2100W radio waves, which are reflected in the region of aperture 4200, are directed towards the power receiving device 20, the amount of 2000W radio waves received by the power receiving device 20 can be increased. Returning to Figure 9, when the processing in step S107 is completed, the power transmitting device 10 terminates the processing procedure shown in Figure 9. 【0107】 As a result, the power transmission device 10 can set the radio wave intensity of 2000W at the opening 4200 to a first intensity lower than the radio wave intensity of 2000W at other parts of the structure 4100, based on at least one of the first position and direction of the opening 4200 through which the radio wave 2000W (transmitted wave) penetrates or passes to the outside of the structure 4100. This allows the power transmission device 10 to suppress leakage of 2000W radio waves from the opening 4200 to the outside of the structure 4100, even if the opening 4200 exists in the structure 4100 in the radio wave propagation environment. As a result, the power transmission device 10 does not need to operate with reduced transmission output, and can provide power suitable for the installed environment. Since the power transmission device 10 can suppress the transmission of 2000W radio waves that penetrate to the outside of the structure 4100, it can be shared with other systems, and the limitations on the environments in which it can be installed can be reduced. 【0108】 Based on the received signal from the power receiving device 20 and information about an object 5000 different from the power receiving device 20, the power transmitting device 10 can set the intensity of the 2000W radio waves directed towards object 5000 to a second intensity below a predetermined level. As a result, the power transmitting device 10 can suppress the intensity of the 2000W radio waves directed towards object 5000, thereby improving safety in the radio wave propagation environment. 【0109】 (Embodiment 3) [Configuration of the power transmission device according to Embodiment 3] In Embodiment 3, similar to Embodiment 1, System 1 comprises a power transmission device 10 and a power receiving device 20. The power receiving device 20 has the same configuration as the power receiving device 20 in Embodiment 1. 【0110】 Figure 14 shows an example of the configuration of a power transmission device 10 according to Embodiment 3. As shown in Figure 14, the power transmission device 10 includes an array antenna 11, a transmission signal generation unit 12, a transmission / reception unit 13, an estimation unit 14, a sensor unit 15, a detection unit 16, a control unit 17, a multiplication unit 18, and a preprocessing unit 19. 【0111】 The sensor unit 15 can acquire information that allows detection of the presence, location, area, distance (depth), etc., of an opening 4200 of an object 5000 and a structure 4100 that is different from the receiving device 20 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, the space in which radio waves 2000W propagate between the power transmission device 10 and the power receiving device 20. The area of ​​the object 5000 and the opening 4200 includes, for example, information on the area of ​​the object 5000 and the opening 4200 in the radio wave propagation environment, the angle of the object 5000 and the opening 4200 from the device, the angular spread, and the distance. The sensor unit 15 acquires information on the object 5000 and the opening 4200 present in the radio wave propagation environment using, for example, a camera, LIDAR, radar such as millimeter-wave radar, a ToF sensor, an infrared sensor, a human presence sensor, a depth sensor, etc. The sensor unit 15 may be provided outside the power transmission device 10. The sensor unit 15 is electrically connected to the detection unit 16 and supplies the detection unit 16 with sensor information capable of detecting at least the direction and distance of the object 5000 and the aperture 4200 in the radio wave propagation environment. The sensor information includes, for example, information such as the presence or absence, area, distance, position, and image of the object 5000 and the aperture 4200. 【0112】 The detection unit 16 detects information, such as the position, area, and distance, of objects 5000 and apertures 4200 that are different from the power receiving device 20 in the radio wave propagation environment, based on sensor information from the sensor unit 15. The detection unit 16 performs known object recognition processing on the image shown by the sensor information and detects the presence or absence of objects 5000 and apertures 4200, their shape, the area in which the objects exist in the radio wave propagation environment, the direction, area, and distance of objects 5000 and apertures 4200 from the device, etc. For example, the detection unit 16 detects the direction, area, position, and distance of objects 5000 and apertures 4200 from the array antenna 11 based on the direction, position, area, etc. of objects 5000 and apertures 4200 shown by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. If multiple objects 5000 and apertures 4200 exist, the detection unit 16 detects the position and distance, etc., for each of the multiple objects 5000 and apertures 4200. The detection unit 16 is electrically connected to the pre-processing unit 19 and supplies the direction, area, distance, etc., of the object 5000 and the aperture 4200 from the array antenna 11 to the pre-processing unit 19 as identifiable directional information. In this way, the detection unit 16 of this disclosure detects information regarding the position, area, and distance of the object 5000 and the aperture 4200 that are different from the power receiving device 20 in the radio wave propagation environment, based on sensor information from the sensor unit 15, including position information such as GPS information of the object 5000 and the aperture 4200, directional information, distance information, etc. 【0113】 Directional information includes, for example, information indicating the direction, area, distance, etc., of the object 5000 and the aperture 4200 from the array antenna 11. Directional information includes, for example, identifiable information such as the area 151, size 152, distance 153, etc., including the object 5000, and the area, size, distance, etc., including the aperture 4200 in the structure 4100. The directional information can be identifiable information that specifies the size of the object 5000 and the aperture 4200, which is set according to the arrangement of the multiple antenna elements 11A. For example, if the multiple antenna elements 11A are arranged in a matrix, the area 151 of the object 5000 can be set to include the length, width, position, shape of the object 5000, etc. For example, if the multiple antenna elements 11A are arranged in a line in one direction, the size 152 of the object 5000 can be set to include the length and distance in one direction, such as width and height, and the angular range from the aircraft, etc. The distance 153 of object 5000 can be set to the shortest, longest, average, or other distances, depths, etc., from the sensor unit 15 to object 5000. The region 151 of object 5000 may be a spatial region corresponding to the external shape of object 5000. The region and size of the opening 4200 can be set in the same way as object 5000. 【0114】 The preprocessing unit 19 performs a process to generate vectorization and null depth magnitude as identifiable information based on the direction information from the detection unit 16. When widening the null to match the size of the object 5000 and the aperture 4200, the preprocessing unit 19 can perform vectorization using, for example, at least one of a multi-point null constraint method and a differential coefficient constraint method. The processing of the preprocessing unit 19 will be described later. The preprocessing unit 19 performs preprocessing related to weight generation and supplies the processing results to the control unit 17. 【0115】 The control unit 17 generates power transmission weights from the results calculated in the preprocessing unit 19 based on the array response vector for the power receiving device 20, which is the estimation result from the estimation unit 14, and the direction information of the object 5000 and the aperture 4200 from the detection unit 16. For example, the ZF (Zero-Forcing) algorithm and the MMSE (Minimum Mean Square Error) algorithm used in MIMO can be used as methods for generating the weights. The control unit 17 is electrically connected to the multiplication unit 18 and supplies weight information indicating the power transmission weights to the multiplication unit 18. In the following description, for the sake of simplicity, we will describe the case in which multiple antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction. 【0116】 The control unit 17 widens the null. The object 5000 and the aperture 4200 that are subject to the null have an extent, and it is desirable to widen the null according to the region of the object 5000 and the aperture 4200. Multiple methods can be used to widen the null. For example, the Multiple Null Constraints method and the Derivative Constraints method can be used to widen the null. 【0117】 The multi-point null constraint method is a method that widens the null angle by forming nulls in multiple directions in the vicinity of the null object, rather than in one direction, according to the size of the null object. For example, the array response vector V in (Equation 15) mentioned above. i θ is the direction of null object i The calculation is performed using (Equation 21) and (Equation 22), but wide-angle processing is achieved by providing multiple directions near the null object as directions for the null object, in accordance with the size of the null object. 【0118】 The differential constraint method is a method that uses the continuity of array response values ​​in the θ direction to flatten the response using differentials. The details of the differential constraint method are explained below. 【0119】 The array response value of K antenna elements 11A with respect to the array response vector V(θ) in the θ direction of an equally spaced linear array is a function of θ, and this is denoted as D(θ). Substituting (Equation 19) and (Equation 20) into (Equation 11) and (Equation 12) above, D(θ) is given by the following (Equation 323). 【number】 【0120】 D(θ) is called the array response function or array factor. D(θ) is a continuous function of θ and is differentiable with respect to θ. The absolute value of |D(θ)| plotted on the diagram represents the directional pattern of the array antenna. 【0121】 (Equation 323) θ = θ i Substituting (i=1,···,M) into D(θ) i ) is θ i This is the array response value in the direction. Also, since (Equation 323) is differentiable, θ = θ i The neighborhood of θ = θ i +Δθ array response value D(θ i +Δθ) is L i Using the following approximation formula, it can be expressed as (Equation 324) below. 【number】 【0122】 In (Equation 324), the derivative D (l) (θ i )(l=1,···,L i If ) is zero, then D(θ i +Δθ)≒D(θ i ) becomes θ i neighborhood θ i The array response value can be made to be similar with +Δθ. This can be null (D(θ) i Applying this to )=0) is the null widening by differential constraint, and the degree L of the approximation formula i The degree of widening can be controlled by this. In this disclosure, L i This is referred to as the wide angle. In this disclosure, the derivative D(l) (θ i The (l) in the superscript indicates the order of differentiation. 【0123】 The direction of null is θ i (i=1,···,M), the degree of the approximation formula is L i Therefore, the constraint condition for the derivative is given by (Equation 325) below. However, (Equation 325) is given by l=1,···,L i That is. Furthermore, V i (l) The (l) in the upper right corner is not the order of differentiation, but merely an index. D (l) (θ i )=W H V (l) (θ i )=0...(Formula 325) 【0124】 Equation 325 is equivalent to Equation 326 below, where l=1,···,L i Here is Q l This is a diagonal matrix, given by (Equation 327) below. The transformation of the derivative constraint conditions will be discussed later. W H (Q l V i )=W H (Q l V(θ i ))=0 ···(Formula 326) Q l =diag[0 l 1 l ... (K-1) l ]...(Formula 327) 【0125】 Therefore, the array response vector V in (Equation 15) described above i V i (l) =Q l V i By adding this, we can achieve widening of the null angle using differential constraints. Here, l=1,···,L i V i (l) This is not actually an array response vector, but rather V in this case (Equation 15).i It is inappropriate to call this an array response vector. Therefore, as the vector that gives the constraint condition, hereafter we will refer to V in (Equation 15). i This is sometimes referred to as a constraint vector. 【0126】 As mentioned above, to widen the null angle, the number of constraint vectors must be increased. This tightens the constraints on the weight vector W, and the array response value |W| of the power receiving device 20. H V d The null value may become smaller. On the other hand, if the distance between the power transmission device 10 and the object 5000 is large, it is not necessary to form a deep null, and it is expected that the power supply to the power receiving device 20 will be improved by controlling the null depth. An example of a method for controlling the null depth is described below. 【0127】 The optimization problem obtained by changing some of the constraints in (Equation 15) above can be formulated as shown in the following conditional equation (Equation 328). In detail, (Equation 328) is the same as W in (Equation 15). H V i =0, |W H V i | 2 =|ε i | 2 It has been changed to this. 【number】 【0128】 Here, K is the number of antenna elements 11A, and M is the number of nulls. The number of nulls M includes a number corresponding to the area of ​​object 5000 detected by the detection unit 16. 【0129】 (Equation 328) Optimal weight vector W opt This is given by (Equation 329) below, using (Equation 16) as described above. 【number】 【0130】 Here, V' d =(I-AA+ )V d , V ε =( A + ) H ε. A is a constraint vector of M complex sequences V1, V2, ..., V M It is a matrix formed by arranging A + is the generalized Moore-Penrose inverse of A. Also, ε = [ε1ε2··· ε M ] T and ε i The absolute value of |ε| i | is given by (Equation 328). In this disclosure, (·) T When a letter has a "T" superscript to its right, as in ε, it indicates transposition. i The argument of is the vector (A + V d By setting each element of the array to the same value, the array response value |W H V d | can be maximized. Note that α in (Equation 329) is given by (Equation 330) below. 【number】 【0131】 (Equations 329 and 330) determine the weight vector W and the constraint vector V i The magnitude of the dot product |W H V i | to | ε i | can be done, but compared to (Equation 16) and (Equation 17) above, V ε The calculation becomes more complex because it requires the operation of α. 【0132】 The above-mentioned equation (328) can be simplified by using an approximate solution. An example of how to find an approximate solution is described below. 【0133】 The square of the norm of the weight vector W is 1 (||W||=1), and ||V d Since || is known, |W H V d Maximizing | means |W H V d | / (||W||·||Vd This is equivalent to bringing ||) closer to 1. Therefore, W / ||W|| ≈ V d / ||V d It can be considered as ||. That is, W ≈ γV d This is the result. γ is the proportionality constant. Also, |W H V i | 2 =|ε i | 2 to W H V i Change it to ≈0. This allows the optimization problem in (Equation 328) to be considered approximately as given by the following conditional equation (Equation 331). In (Equation 331), ≈ means making the value on the left side as close as possible to the value on the right side. 【number】 【0134】 (Equation 331) Optimal weight vector W opt This is given by (Equation 333) below, given by (Equation 332) below. Null depth control using approximate solutions will be discussed later. 【number】 【number】 【0135】 Here, A' is a set of M complex column vectors α1V1, α2V2, ..., α M V M The matrix A' formed by arranging the elements is [α1V1α2V2··· α M V M ] is α i (i=1,···,M) is V i This is the weighting coefficient for |ε|. The absolute value is |ε| as described above. i α instead of | iBy using this method, the null depth can be controlled. Thus, the algorithm for controlling the null depth may be derived from the exact solution or from an approximate solution. Furthermore, whether the algorithm for controlling the null depth is derived from the exact solution or from an approximate solution, it can handle null widening. 【0136】 The control unit 17 generates a transmission weight so that the null points towards the region of object 5000, based on the propagation channel characteristics of the specified signal 1000 and the direction, region, and distance of the object 5000 and the opening 4200 detected by the detection unit 16, calculated in the preprocessing unit 19 based on identifiable direction information. When the null points towards the region, the constraint vector V i is V i (l) (l=0,···,L i ) 【0137】 Figure 15 shows an example of vectorization using a multi-point null constraint method. When using a multi-point null constraint method, the preprocessor 19 controls the direction θ of the object 5000 to be nulled, as shown in Figure 15. i and region δ i Using (Equation 21) and (Equation 22), we obtain the array response vector V i (l) (l=0,···,L i ) is determined. In detail, the preprocessing unit 19 determines the direction θ of the object 5000 and the opening 4200. i and region δ i From the minimum value θ in that direction min i and the maximum value θ max i The control unit 17 determines θ in a predetermined step width. min From θ max Direction θ covering (0) i ,···,θ (Li) i The following is determined. The step width is determined by the direction θ of the object 5000 and the opening 4200. i It may be constant regardless, or the direction θ of object 5000 and opening 4200 i It may be changed each time. The preprocessing unit 19 is in direction θ (0) i ,···,θ(Li) i Using (Equation 321) and (Equation 322), the constraint vector V i (l) (l=0,···,L i ) is determined. In this disclosure, the degree L of the approximation formula in the differential constraint method is determined. i The term "wide angle" was used as a measure to indicate the degree of wide-angle conversion, but in the multi-point null constraint method, the aforementioned L i This is sometimes referred to as a wide angle. 【0138】 Figure 16 shows an example of vectorization using the differential constraint method. When using the differential constraint method, the preprocessor 19 is configured in the direction θ as shown in Figure 16. i and region δ i Using (Equation 21) and (Equation 22), etc., the array response vector V i (l) (l=0,···,L i ) is determined. In detail, the preprocessing unit 19 determines the direction θ i and the region δ of object 5000 and opening 4200 i From wide angle L i We will find the wide angle L. i is region δ i Not only direction θ i It also depends on this. For this reason, the preprocessing unit 19 uses this information to determine the wide angle L i By using a table to derive the wide angle L, machine learning, etc., i We seek. 【0139】 In one example shown in Figure 16, the pre-processing unit 19 is located in direction θ i and region δ i Applying the information shown to Table 170, wide angle L i We will find the region δ. i This includes, for example, information regarding the region, distance, etc., of object 5000 and opening 4200. Table 170 is stored in storage unit 17D, and direction θ i and region δ i From wide angle L i This is a lookup table that derives the wide angle L. The preprocessing unit 19 obtains the wide angle L i and array response vector V iTherefore, by vectorizing using the above (Equations 325), (326), and (327), we obtain the constraint vector V i (l) (l=0,···,L i We find V. i (0) =V i Let's assume that. 【0140】 Figure 17 shows an example of null depth processing by the preprocessing unit 19. The example shown in Figure 17 shows a processing example when the preprocessing unit 19 uses the above-described (Equation 328). As shown in Figure 17, the preprocessing unit 19 can process the magnitude of the null depth. In the case of the above-described (Equation 328), the distance d to the null target i The attenuation of the 2000W radio wave intensity can be estimated from this. The preprocessor 19 uses the distance d based on the results measured in advance. i and absolute value |ε| i Using the | table, the absolute value |ε i Find the absolute value of |ε. i For example, the direction θ of object 5000 and aperture 4200 takes into account the directivity of the antenna element itself. i You may change it each time. 【0141】 In the case of the multi-point null constraint method shown in 19A of Figure 17, the preprocessing unit 19 handles distances d1, d2, ..., d M And, wide angles L1, L2, ..., L M Using this, for example, a process is performed to find a vector P1 that represents the magnitude of the null depth, with all identical null targets having the same value. Vector P1 is, for example, [|ε1|,|ε1|,···,|ε1|,|ε2|,|ε2|,···,|ε2|,···.|ε M |,|ε M |,···,|ε M |] T That is the case. 【0142】 In the case of the differential coefficient constraint method shown in 19B of Figure 17, the preprocessing unit 19 handles distances d1, d2, ..., d M And, wide angles L1, L2, ..., L M Using V i(0) The size of the null depth corresponding to |ε i |toshi, V i (l) (l=1,···,L i The size of the null depth corresponding to ) is set to zero, and a process is executed to obtain a vector P2 that represents the size of the null depth. Vector P2 is, for example, [|ε1|,0,···,0,|ε2|,0,···,0,···.|ε M |,0,···,0] T That is the case. 【0143】 When the power transmission device 10 uses the above-mentioned (Equation 328), the preprocessing unit 19 obtains the constraint vector V i (l) Using (I-AA + ), A + Matrix operations are performed to calculate vectors P1 and P2 that indicate the magnitude of the null depth, and the calculation results are stored in the storage unit 17D and supplied to the control unit 17. 【0144】 Figure 18 shows another example of null depth processing by the preprocessing unit 19. One example shown in Figure 18 shows processing when the preprocessing unit 19 uses the above-described (Equation 331). As shown in Figure 18, the preprocessing unit 19 can process the magnitude of the null depth. In the case of the above-described (Equation 331), the preprocessing unit 19 processes the distance d based on the results measured in advance. i and weight coefficient α i Using the table, the weight coefficient α i We will find the weight coefficient α. i For example, considering the directivity of the antenna element itself, the direction θ of object 5000 and aperture 4200 i You may change it each time. 【0145】 In the case of the multi-point null constraint method shown in 19C of Figure 18, the preprocessing unit 19 measures the distances d1, d2, ..., d M And, wide angles L1, L2, ..., L M Using this, a process is performed to find a vector P3 that indicates the magnitude of the null depth with the same value for the same null target. The vector P3 is, for example, [α1,α1,···,α1,α2,α2,···,α2,···.αM ,α M ,···,α M ] T That is the case. 【0146】 In the case of the differential coefficient constraint method shown in 19D of Figure 18, the preprocessing unit 19 handles distances d1, d2, ..., d M And, wide angles L1, L2, ..., L M Using V i (0) The size of the null depth corresponding to α i V i (l) (l=1,···,L i The magnitude of the null depth corresponding to ) is set to a fixed value (α0>>1), and a process is executed to find a vector P4 that represents the magnitude of the null depth. Vector P4 is, for example, [α1,α0,···,α0,α2,α0,···,α0,···.α M ,α0,···,α0] T That is the case. 【0147】 When the power transmission device 10 uses the above-mentioned (Equation 331), the preprocessing unit 19 obtains the constraint vector V i (l) And using vectors P3 and P4 that indicate the magnitude of the null depth, (I-A'(I+A' H A') -1 A' H The matrix operation is performed, the calculation result is stored in the storage unit 17D, and supplied to the control unit 17. 【0148】 The control unit 17 outputs the array response vector V for the power receiving device 20, which is the estimation result of the estimation unit 14. d Then, using the information stored in the memory unit 17D, the optimal weight vector W opt This is obtained by (Equation 329) or (Equation 333) described above. 【0149】 The control unit 17 can store weight information in the storage unit 17D that can identify a weight vector suitable for the generated direction, area, and distance. The power transmission device 10 has a wide angle L iThis can be set for each null target. The power transmission device 10 can independently calculate a matrix or vector calculated from the direction, region, and distance to which the null is directed, and the propagation channel characteristics of the specified signal 1000. The control unit 17 controls the directivity of the array antenna 11 that transmits the radio waves 2000W, based on the received signal from the power receiving device 20 and the distance to the aperture 4200, so that the radio wave intensity of the radio waves 2000W (transmitted wave) at the aperture 4200 becomes a first intensity and the intensity of the radio waves 2000W to object 5000 becomes a second intensity below a predetermined level. 【0150】 The above describes an example of the functional configuration of the power transmission device 10 according to Embodiment 3. Note that the above configuration described using Figure 14 is merely an example, and the functional configuration of the power transmission device 10 according to this embodiment is not limited to this example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation. 【0151】 [Example of power transmission device control according to Embodiment 3] Using Figures 8 and 9 described above, an example of control of the power transmission device according to Embodiment 3 will be explained. As shown in Figure 8, System 1 has a power transmission device 10 and a power receiving device 20 arranged facing each other in a room 4000. The room 4000 has a structure 4100 and an opening 4200 provided in a part of the structure 4100. In the example shown in Figure 8, the opening 4200 is a door that can be opened and closed. Alternatively, the opening 4200 may be a window with a curtain, blinds, etc. The opening 4200 has a first state in which radio waves 2000W (transmitted waves) can reach the outside of the structure 4100, as shown in Scene C1. The opening 4200 has a second state in which radio waves 2000W cannot reach the outside of the structure 4100, as shown in Scene C2. When the power transmission device 10 detects the position, direction, area, etc. of an object 5000 using the sensor unit 15, it grasps the relative position between the object 5000 and the array antenna 11. System 1 wirelessly supplies power to the power receiving device 20 by radiating 2000W of radio waves, including a transmission signal 2000, from the power transmitting device 10 to the power receiving device 20 using a retrodirective method. 【0152】 In this embodiment, the power transmission device 10 pre-stores environmental information in the storage unit 17D that can identify the relative position and direction between the opening 4200 of the structure 4100 and the array antenna 11. The environmental information includes, for example, information regarding the position and direction of the opening 4200 from the device's own perspective. The power transmission device 10 determines the presence or absence of the opening 4200 by referring to the environmental information, but may also determine the presence or absence of the opening 4200 based on the detection result of the sensor unit 15. 【0153】 Figure 9 is a flowchart showing an example of a processing procedure performed by the power transmission device 10. The processing procedure shown in Figure 9 is realized by the control unit 17 executing the control program 171 stored in the storage unit 17D. 【0154】 In scenario C1 of Figure 8, System 1 receives a specified signal 1000 from the power receiving device 20. In this case, as shown in Figure 9, when the power transmitting device 10 receives radio waves containing the specified signal 1000 with the array antenna 11, it generates an array response vector V corresponding to the power receiving device 20. d The power transmission device 10 estimates the array response vector V in the estimation unit 14. d The power transmission device 10 proceeds to step S102 once the processing in step S101 is completed. 【0155】 The power transmission device 10 recognizes the state of the opening 4200 in the structure 4100 (step S102). For example, the power transmission device 10 uses a detection unit 16 to recognize the relative position, direction, and distance between the area of ​​the opening 4200 in the structure 4100 and the array antenna 11 based on environmental information from the storage unit 17D. Then, the power transmission device 10 uses machine learning to recognize the state of the opening 4200 from the sensor information image. For example, if the detection unit 16 detects M openings 4200, the power transmission device 10 recognizes the directions θ1, θ2, ..., θ of the multiple openings 4200. M The power transmission device 10 detects the regions δ1, δ2, ..., δ of the multiple openings 4200. MThe power transmission device 10 detects the distances d1, d2, ..., d of multiple objects 5000. M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M , region δ1, δ2, ..., δ M and distances d1, d2, ..., d M The information is stored in the memory unit 17D. Once the power transmission device 10 has stored the information indicating the recognition result in the memory unit 17D, it proceeds to step S103. 【0156】 The power transmission device 10 determines whether the aperture 4200 is in a first state (step S103). For example, if the recognition result in step S102 indicates an open state, the power transmission device 10 determines that the aperture 4200 is in a first state. If the power transmission device 10 determines that the aperture 4200 is in a first state (Yes in step S103), it proceeds to step S104. The power transmission device 10 determines the radio wave intensity of the aperture 4200 as a first intensity (step S104). In this embodiment, the power transmission device 10 determines the first intensity such that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. When the processing in step S104 is completed, the power transmission device 10 proceeds to step S105. 【0157】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of a region 151 of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. In this embodiment, the power transmission device 10 determines the second intensity so that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 detects the regions δ1, δ2, ..., δ of multiple objects 5000. M The power transmission device 10 detects the distances d1, d2, ..., d of multiple objects 5000.M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M , region δ1, δ2, ..., δ M and distances d1, d2, ..., d M The data is stored in the memory unit 17D. When the power transmission device 10 completes the processing in step S105, it proceeds to step S106. 【0158】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). For example, the power transmission device 10, in the preprocessing unit 19, determines the direction θ i and region δ i Applying the information shown to Table 170, wide angle L i Find the wide angle L i and array response vector V i By vectorizing from this, a constraint vector V corresponding to null is obtained. i (l) (l=0,···,L i The power transmission device 10 calculates the constraint vector V corresponding to null in the preprocessing unit 19. i (l) Using (I-AA + ), A + A matrix operation is performed and the result is stored in the storage unit 17D. However, A = [V (0) 1,···,V (L1) 1,V (0) 2,···,V (L2) 2,···,V (0) M ,···,V (LM) M The power transmission device 10, in the pre-processing unit 19, measures the distance d between the object 5000 and the opening 4200 from the detection unit 16. i The wide angle L was determined i Based on this, the part corresponding to the differential constraint is set to zero, and a vector P2 indicating the magnitude of the null depth is obtained and stored in the storage unit 17D. The power transmission device 10's control unit 17 calculates the result (I-AA + ) and array response vector V d The summation is performed. For example, the power transmission device 10 calculates the sum of (I-AA) in the memory unit 17D. +) Calculation result and array response vector V from estimation unit 14 d Summarize them to get vector V d The power transmission device 10 determines the (A) of the memory unit 17D. + ) Calculation result and array response vector V from estimation unit 14 d Summarize to get vector (A + V d ) is calculated, and vector P2 and vector (A) are obtained to show the magnitude of the null depth of memory unit 17D. + V d Based on the above, the power transmission device 10 generates a vector ε. The power transmission device 10 generates a vector ε based on the (A) of the memory unit 17D. + Based on the result of the calculation and vector ε, vector V ε Generate vector V d ' and vector V ε The coefficient α is calculated based on the following. The power transmission device 10 uses vector V d ' and vector V ε Based on the coefficient α, the optimal weight vector W is obtained using (Equation 328). opt =αV d '+V ε This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0159】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W opt Based on the weight information indicated, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C1 of Figure 8, the power transmission device 10 directs the null in the direction D1 of the object 5000 and the direction D2 of the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000 and the aperture 4200. Returning to Figure 9, when the processing of step S107 is completed, the power transmission device 10 terminates the processing procedure shown in Figure 9. 【0160】 Furthermore, if the power transmission device 10 determines that the opening 4200 is not in the first state (No in step S103), it determines that the opening 4200 is in the second state (closed state) and proceeds to step S108. The power transmission device 10 decides not to set the radio wave intensity of the opening 4200 to the first intensity (step S108). Once the processing in step S108 is complete, the power transmission device 10 proceeds to step S105. 【0161】 The power transmission device 10 recognizes the object 5000 to be avoided (step S105). For example, when the power transmission device 10, using the detection unit 16, recognizes the relative position, direction, etc. of a region 151 of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on sensor information from the sensor unit 15, it determines the radio wave intensity of the object 5000 as the second intensity. In this embodiment, the power transmission device 10 determines the second intensity so that the gain of direction, point, etc. in the directivity of the array antenna 11 becomes zero, i.e., it points towards null. For example, when the detection unit 16 of the power transmission device 10 detects M objects 5000 as null targets, the directions θ1, θ2, ..., θ of the multiple objects 5000 are determined as follows: M The power transmission device 10 detects the regions δ1, δ2, ..., δ of multiple objects 5000. M The power transmission device 10 detects the distances d1, d2, ..., d of multiple objects 5000. M The power transmission device 10 detects the direction of the detected object 5000 θ1, θ2, ..., θ M , region δ1, δ2, ..., δ M and distances d1, d2, ..., d M The data is stored in the memory unit 17D. When the power transmission device 10 completes the processing in step S105, it proceeds to step S106. 【0162】 The power transmission device 10 generates transmission weights by performing array response vectorization and matrix operations corresponding to the determined radio wave intensity (step S106). In this case, the power transmission device 10 uses a preprocessing unit 19 to determine the direction θ i and region δ i Applying the information shown to Table 170, wide angle L i Find the wide angle Li and array response vector V i By vectorizing from this, a constraint vector V corresponding to null is obtained. i (l) (l=0,···,L i The power transmission device 10 calculates the constraint vector V corresponding to null in the preprocessing unit 19. i (l) Using (I-AA + ), A + A matrix operation is performed and the result is stored in the storage unit 17D. However, A = [V (0) 1,···,V (L1) 1,V (0) 2,···,V (L2) 2,···,V (0) M ,···,V (LM) M The power transmission device 10, in the pre-processing unit 19, determines the distance d of the object 5000 from the detection unit 16. i The wide angle L was determined i Based on this, the part corresponding to the differential constraint is set to zero, and a vector P2 indicating the magnitude of the null depth is obtained and stored in the storage unit 17D. The power transmission device 10's control unit 17 calculates the result (I-AA + ) and array response vector V d The summation is performed. For example, the power transmission device 10 calculates the sum of (I-AA) in the memory unit 17D. + ) Calculation result and array response vector V from estimation unit 14 d Summarize them to get vector V d The power transmission device 10 determines the (A) of the memory unit 17D. + ) Calculation result and array response vector V from estimation unit 14 d Summarize to get vector (A + V d ) is calculated, and vector P2 and vector (A) are obtained to show the magnitude of the null depth of memory unit 17D. + V d Based on the above, the power transmission device 10 generates a vector ε. The power transmission device 10 generates a vector ε based on the (A) of the memory unit 17D. + Based on the result of the calculation and vector ε, vector V ε Generate vector V d ' and vector V εThe coefficient α is calculated based on the following. The power transmission device 10 uses vector V d ' and vector V ε Based on the coefficient α, the optimal weight vector W is obtained using (Equation 328). opt =αV d '+V ε This generates the following. When the power transmission device 10 has finished processing in step S106, it proceeds to step S107. 【0163】 The power transmission device 10 radiates 2000W of radio waves by multiplying by the transmission weight (step S107). For example, the power transmission device 10 generates the optimal weight vector W opt Based on the weight information, the transmission signal 2000 for power supply from the transmission signal generation unit 12 is multiplied by the weight for each of the multiple antenna elements 11A and supplied to the transmit / receive circuit 13A. As a result, the power transmission device 10 radiates radio waves 2000W, including the transmission signal 2000 for power supply, from the multiple antenna elements 11A. For example, as shown in scene C2 of Figure 8, the power transmission device 10 directs the null only in the direction D1 of object 5000 and not towards the aperture 4200, so that the radio waves 2000W are combined in a constructive manner at the power receiving device 20, but destructively at object 5000. In this case, some of the side ropes of the radio waves 2000W, amounting to 2100W, are directed towards the area of ​​the aperture 4200, but do not penetrate to the outside of room 4000. Furthermore, when the reflected waves of the 2100W radio waves, which are reflected in the region of aperture 4200, are directed towards the power receiving device 20, the amount of 2000W radio waves received by the power receiving device 20 can be increased. Returning to Figure 9, when the processing in step S107 is completed, the power transmitting device 10 terminates the processing procedure shown in Figure 9. 【0164】 As a result, the power transmission device 10 can set the radio wave intensity of 2000W at the opening 4200 to a first intensity lower than the radio wave intensity of 2000W at other parts of the structure 4100, based on at least one of the first position and direction of the opening 4200 through which the radio wave 2000W (transmitted wave) penetrates or passes to the outside of the structure 4100. This allows the power transmission device 10 to suppress leakage of 2000W radio waves from the opening 4200 to the outside of the structure 4100, even if the opening 4200 exists in the structure 4100 in the radio wave propagation environment. As a result, the power transmission device 10 does not need to operate with reduced transmission output, and can provide power suitable for the installed environment. Since the power transmission device 10 can suppress the transmission of 2000W radio waves that penetrate to the outside of the structure 4100, it can be shared with other systems, and the limitations on the environments in which it can be installed can be reduced. 【0165】 Based on the received signal from the power receiving device 20 and information about an object 5000 different from the power receiving device 20, the power transmitting device 10 can set the intensity of the 2000W radio waves directed towards object 5000 to a second intensity below a predetermined level. As a result, the power transmitting device 10 can suppress the intensity of the 2000W radio waves directed towards object 5000, thereby improving safety in the radio wave propagation environment. 【0166】 [Modified examples of embodiments] The power transmission device 10 described above may be configured such that the control unit 17 sets the radio wave intensity of the 2000W radio wave (transmitted wave) at the opening 4200 to a first intensity lower than the radio wave intensity of the 2000W radio wave at a different structure 4100, based on at least one of the first position and direction of the opening 4200 of the structure 4100 which is stored in advance in the storage unit 17D. If the position of the opening 4200 is fixed, the power transmission device 10 may store the relative position of the opening 4200, its direction from itself, etc., in advance in the storage unit 17D and detect the state of the opening 4200 when controlling it. As a result, the power transmission device 10 can determine whether or not the radio wave 2000W (transmitted wave) will bring the radio wave intensity at the opening 4200 to a first intensity using information on the relative position and direction of the transmitting / receiving unit 13 and the opening 4200, thereby simplifying the identification process of the opening 4200 and the device configuration. 【0167】 Furthermore, the power transmission device 10 described above may store radio wave strength information in the storage unit 17D, which allows the control unit 17 to determine the radio wave strength based on the transmittance of the aperture 4200, when the aperture 4200 transmits 2000W of radio waves. The radio wave strength information includes, for example, information showing the relationship between the transmittance of the aperture 4200 and the radio wave strength. The radio wave strength information includes, for example, information indicating that when the transmittance is 100-90%, a null should be directed towards the aperture 4200. The radio wave strength information also includes, for example, information indicating that the radio wave strength of the aperture 4200 should be gradually increased to 25% when the transmittance is 90-50%, and to 50% when the transmittance is 50-10%, etc. As a result, the power transmission device 10 can adjust the radio wave strength of 2000W of radio waves according to the transmittance of the aperture 4200, and can radiate 2000W of radio waves for power supply at a radio wave strength suitable for the surrounding environment of the device. 【0168】 Characteristic embodiments have been described in order to fully and clearly disclose the technology relating to the attached claims. However, the attached claims should not be limited to the above embodiments, but should be configured to embody all modifications and alternative configurations that a person skilled in the art may create within the scope of the fundamental matters presented herein. The contents of this disclosure can be modified in various ways by a person skilled in the art. Therefore, these modifications and adaptations are within the scope of this disclosure. For example, in each embodiment, each functional part, each means, each step, etc. can be added to or replaced with each functional part, each means, each step, etc. of other embodiments in a logically consistent manner. Also, in each embodiment, multiple functional parts, each means, each step, etc. can be combined into one or divided into two. Furthermore, each embodiment of this disclosure described above is not limited to being implemented strictly according to the respective embodiments described, but can be implemented by combining or omitting features as appropriate. [Explanation of symbols] 【0169】 1 System 10 Power transmission equipment 11 Array Antenna 11A Antenna element 12. Transmission signal generation unit 13 Transmitter / Receiver 14 Estimation part 15 Sensor section 16 Detection unit 17 Control Unit 17D Storage section 18 Multiplication section 19 Pre-processing 20 Power receiving equipment 21 Antennas 22 Transmitter / Receiver 23 Signal generation unit 24 Power receiving section 200B Reference point 200P receiving point 1000 regulated signal 2000 Transmitted signal 2000W radio waves 2100W radio waves 4000 rooms 4100 Structures 4200 opening 5000 objects

Claims

[Claim 1] A transmitting unit that transmits a signal wave to a power receiving device located within the structure, A control unit that, based on the direction indicating the opening of the structure, sets the radio wave intensity of the transmitted wave at the opening to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether there is an opening or not, and that a null is formed in the direction when there is an opening. The system includes a sensor unit capable of detecting at least one of the first position and direction of the opening, The control unit is a power transmission device that, based on at least one of the first position and direction of the opening detected by the sensor unit, sets the radio wave intensity of the transmitted wave at the opening to a first intensity that is lower than the radio wave intensity of the transmitted wave at a structure other than the opening. [Claim 2] The power transmission device according to claim 1, wherein the sensor unit detects the size of the opening. [Claim 3] The power transmission device according to claim 1, wherein the control unit widens the range of the radio waves to be the first intensity based on the size of the opening detected by the sensor unit. [Claim 4] The system includes a detection unit capable of detecting the state of the opening, The control unit, When a first state of the opening that allows the transmitted wave to reach the outside of the structure is detected, the radio wave intensity of the transmitted wave at the first position is set to the first intensity. The power transmission device according to claim 1, wherein if a second state of the opening is detected where the transmitted wave cannot reach the outside of the structure, the radio wave intensity of the transmitted wave at the first position is not set to the first intensity. [Claim 5] A transmitting unit that transmits a transmission wave to a power receiving device located within a structure, The system includes a control unit that, based on the direction indicating the opening of the structure, sets the radio wave intensity of the transmitted wave at the opening to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether or not there is an opening, and that a null is formed in that direction when there is an opening. The control unit sets the radio wave intensity of the transmitted wave at the opening to a first intensity lower than the radio wave intensity of the transmitted wave at a structure other than the opening, based on at least one of the first position and direction of the opening which is stored in the memory unit beforehand. [Claim 6] A transmitting unit that transmits a wave to a power receiving device located within a structure, The system includes a control unit that, based on the direction indicating the opening of the structure, sets the radio wave intensity of the transmitted wave at the opening to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether or not there is an opening, and that a null is formed in that direction when there is an opening. The control unit sets the first intensity of the transmitted wave in the opening based on the transmittance of the opening. [Claim 7] A power transmission device comprising a transmitting / receiving unit that transmits a wave to a power receiving device located within a structure, and a sensor unit capable of detecting at least one of the first position and direction of an opening in the structure, Based on at least one of a first position and direction indicating an opening in the structure, the radio wave intensity of the transmitted wave at the opening is set to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether or not there is an opening, and if there is an opening, a null is formed in that direction. A control method that, based on at least one of the first position and direction of the opening detected by the sensor unit, sets the radio wave intensity of the transmitted wave in the opening to a first intensity that is lower than the radio wave intensity of the transmitted wave in a structure other than the opening. [Claim 8] A power transmission device comprising a transmitting / receiving unit that transmits a wave to a power receiving device located within a structure, and a sensor unit capable of detecting at least one of the first position and direction of an opening in the structure, Based on at least one of a first position and direction indicating an opening in the structure, the radio wave intensity of the transmitted wave at the opening is set to a first intensity lower than the radio wave intensity of the transmitted wave at a location other than the opening, such that the intensity in a certain direction differs depending on whether or not there is an opening, and if there is an opening, a null is formed in that direction. A control program that, based on at least one of the first position and direction of the opening detected by the sensor unit, causes the radio wave intensity of the transmitted wave in the opening to be a first intensity lower than the radio wave intensity of the transmitted wave in a structure other than the opening.

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