WO2018220996A1 - 電波測定システム、および無線送電装置 - Google Patents
電波測定システム、および無線送電装置 Download PDFInfo
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- WO2018220996A1 WO2018220996A1 PCT/JP2018/014265 JP2018014265W WO2018220996A1 WO 2018220996 A1 WO2018220996 A1 WO 2018220996A1 JP 2018014265 W JP2018014265 W JP 2018014265W WO 2018220996 A1 WO2018220996 A1 WO 2018220996A1
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- radio wave
- power transmission
- measurement
- antenna
- data
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/0864—Measuring electromagnetic field characteristics characterised by constructional or functional features
- G01R29/0871—Complete apparatus or systems; circuits, e.g. receivers or amplifiers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
- G01R29/10—Radiation diagrams of antennas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q23/00—Antennas with active circuits or circuit elements integrated within them or attached to them
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/267—Phased-array testing or checking devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
- H02J50/23—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of transmitting antennas, e.g. directional array antennas or Yagi antennas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
- H02J50/402—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/50—On board measures aiming to increase energy efficiency
Definitions
- the present invention relates to a radio wave measurement system that measures radio waves radiated from an antenna, or a radio power transmission apparatus that transmits power wirelessly using radio waves.
- Non-Patent Document 1 A system for controlling the direction of the power transmission microwave beam by controlling microwaves radiated from a plurality of element antennas has been developed (see Non-Patent Document 1).
- This system has been developed for the purpose of transmitting power far away using radio waves in a frequency band such as microwaves.
- an amplitude monopulse method and an element electric field vector rotation method Rotating Element Electric Field Vector (REV) Method, REV method
- REV Heating Element Electric Field Vector
- a pilot signal for guiding the transmission direction of the transmission microwave is transmitted from the power receiving side, the arrival direction of the pilot signal is detected by each power transmission panel by the amplitude monopulse method, and the microwave is radiated in that direction.
- the optical path length corresponding to the step between each power transmission panel is detected and corrected.
- the beam direction and radiation pattern of microwaves to be transmitted are measured by attaching the monitor antenna to an XY scanner that can move two-dimensionally and scanning an area where radio waves are radiated.
- Patent Document 1 As a power feeding system that feeds power to a moving body in an underwater environment, a technique has been proposed in which a power feeding moving body is guided in a direction in which electromagnetic field energy is increased and guided to a power feeding position that receives wireless power feeding (see Patent Document 1). .
- patent document 1 it is proposed to use the antenna for power transmission also for communication.
- the communication function 150 is written in the transmission antenna 11-1
- the communication function 250 is written in the reception antenna 21-1.
- Patent Document 1 a specific configuration in which an antenna for power transmission is also used for communication is not described in Patent Document 1.
- the present invention uses a mobile device such as a drone to measure a radio wave radiated from an antenna with high accuracy, and radiates from an antenna that transmits power to the mobile device.
- An object of the present invention is to obtain a wireless power transmission apparatus that controls radio waves to be transmitted with higher accuracy than before.
- the radio wave measurement system includes an air moving body that moves or stops above the antenna to be measured that radiates radio waves in the upward direction, and a position measurement unit that measures the position of the air moving body.
- the aerial mobile unit is equipped with a measurement antenna that receives radio waves and a radio wave measurement unit that measures received radio wave data including at least one of the amplitude and phase of the radio waves received by the measurement antenna.
- radiated radio wave data including received radio wave data and radio wave source relative position data representing the measurement point data, which is the position of the aerial moving body at the time of measuring the received radio wave data, as a relative position with respect to the antenna to be measured.
- a radiated radio wave data generation unit to be generated.
- a wireless power transmission device includes a power transmission antenna that can change a directivity direction in which power is transmitted with a radiated radio wave, a radiation direction determination unit that determines a radiation direction in which an aerial mobile object to be transmitted exists, A directivity direction changing unit that directs the directivity direction of the power transmission antenna in a direction, and a transmission signal generation unit that generates a transmission signal transmitted as a radio wave from the power transmission antenna.
- the radio wave radiated from the antenna to be measured can be measured with high accuracy.
- radio waves can be radiated in the direction in which the aerial moving body exists with higher accuracy than before, and the efficiency of wireless power transmission can be improved as compared with the prior art.
- FIG. 1 is a conceptual diagram of a radio wave measurement system using an aerial moving body according to Embodiment 1 of the present invention.
- 1 is a configuration diagram of a radio wave measurement system using an aerial moving body according to Embodiment 1.
- FIG. It is a block diagram explaining the structure of the power supply system of the air mobile body which comprises the electromagnetic wave measurement system which concerns on Embodiment 1.
- FIG. 5 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in the radio wave measurement system using the airborne object according to the first embodiment.
- 6 is a flowchart for explaining another procedure for measuring a radio wave radiation pattern in the radio wave measurement system using the airborne moving body according to the first embodiment.
- FIG. 6 is a block diagram illustrating a configuration of a power supply system of an aerial moving body that receives power transmitted by a wireless power transmission device according to a second embodiment.
- FIG. 6 is a flowchart for explaining a power transmission procedure in a power transmission system to an airborne mobile body by a wireless power transmission device according to a second embodiment.
- It is a block diagram of the power transmission system to the air mobile body by the wireless power transmission apparatus which concerns on Embodiment 3 of this invention.
- FIG. 10 is a flowchart illustrating a power transmission procedure in a power transmission system to an airborne mobile body by a wireless power transmission device according to a third embodiment. It is a block diagram of the electric power measurement system using the air mobile body which concerns on Embodiment 4 of this invention, and the power transmission system to the air mobile body by a wireless power transmission apparatus.
- a procedure for measuring a radiation pattern of a radio wave in a power transmission system to an airborne mobile body by a wireless power transmission device in a radio wave measurement system using the airborne mobile body and a power transmission system to the airborne mobile body by a wireless power transmission device according to Embodiment 4 It is a flowchart to explain.
- FIG. 11 is a block diagram illustrating a configuration of a power supply system of an aerial moving body that receives power transmitted by a radio wave measurement system and a wireless power transmission device using the aerial moving body according to a sixth embodiment.
- FIG. 10 is a configuration diagram of a radio wave measurement system using an airborne moving body according to an eighth embodiment.
- 20 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in a radio wave measurement system using an airborne moving body according to an eighth embodiment.
- FIG. 1 is a conceptual diagram of a radio wave measurement system using an aerial moving body according to Embodiment 1 of the present invention.
- FIG. 2 is a configuration diagram of a radio wave measurement system using the aerial moving body according to the first embodiment. Measurement of radio waves radiated by a wireless power transmission device using a radio wave measurement system using an airborne mobile body is performed in a place with a good radio wave environment such as outdoors.
- a plurality (four in the example of FIG. 1) of power transmission devices 1 radiate transmission radio waves 2 in the sky direction outdoors.
- the power transmission device 1 is a wireless power transmission device having a power transmission antenna that transmits power using radiated radio waves.
- Two-dimensional and three-dimensional intensity distributions (referred to as radiation patterns, radio wave shapes, or beam shapes) of electric and magnetic fields generated by power transmission radio waves 2 formed in the space above power transmission device 1 are measured using drone 3. .
- a drone is a general term for unmanned aerial vehicles that can fly (move in the air) by remote control or automatic control.
- the drone 3 is controlled by a person or a computer via the moving body command device 4.
- the drone 3 includes a flight control device 5, an on-board communication antenna 6, a wireless modem 7, and a drone power supply system 8.
- the flight control device 5 controls a mechanism that the drone 3 has in order to move or stop in the air.
- the on-board communication antenna 6 transmits and receives radio waves for communication.
- the wireless modem 7 communicates using the on-board communication antenna 6.
- the drone power supply system 8 manages the power used when the drone 3 measures the flight, communication, and radio wave beam shape.
- a drive motor 9 serving as a power source is displayed in the figure.
- the mobile command device 4 includes a wireless modem 10 and a communication antenna 11 so that communication with the drone 3 is possible.
- the wireless modem 10 and the communication antenna 11 included in the mobile command apparatus 4 and the on-board communication antenna 6 and the wireless modem 7 included in the drone 3 constitute a mobile communication system 12.
- the drone 3 is controlled by the mobile communication system 12.
- the drone 3 is equipped with a mounting device 13 for measuring beam shape data 71 representing the beam shape formed by the transmission radio wave 2.
- the mounting device 13 includes a monitor antenna 14, a detector 15, an on-board control device 16, and a data storage device 17.
- the monitor antenna 14 receives the power transmission radio wave 2.
- the monitor antenna 14 is a measurement antenna that receives radio waves radiated from the power transmission device 1.
- the detector 15 detects the radio wave received by the monitor antenna 14 and measures the phase and amplitude of the radio wave.
- the on-board controller 16 manages the detection data 73 measured by controlling the detector 15.
- the data storage device 17 is a storage device that stores the detection data 73 and the like.
- a device or device included in the mounted device and a functional unit representing processing executed by the on-board control device are mounted on the drone.
- a measurement command 72 for measuring the detection data 73 by the detector 15 is transmitted from the mobile command device 4 to the onboard control device 16 via the mobile communication system 12 and the flight control device 5.
- the on-board controller 16 controls the detector 15 in accordance with an instruction from the measurement command 72.
- the detection data 73 includes at least one or both of the amplitude and phase of the transmission radio wave 2.
- the detection data 73 is received radio wave data including the amplitude and phase of the power transmission radio wave 2 received by the monitor antenna 14.
- the detector 15 is a radio wave measuring unit that measures received radio wave data.
- the on-board control device 16 and the flight control device 5 are connected by wire or short-range wireless, and can send and receive data and commands in both directions.
- the drone 3 is provided with a positioning sensor 18 such as a GPS (Global Positioning System) receiver that measures the position of the drone 3.
- the position data 74 measured by the positioning sensor 18 is sent to the onboard control device 16 via the flight control device 5.
- measurement data 77 including position detection data 70 paired with position data 74 representing the position of the drone 3 at the time when the detection data 73 is measured, that is, when the radio wave is received is stored in the data storage device 17. Is done.
- the position data 74 is measurement point data that is the position of the drone 3 when the detection data 73 is measured.
- the position detection data 70 is also referred to as radio wave measurement data.
- the measurement data 77 stored in the data storage device 17 is input to the measurement system control device 21 after the drone 3 has landed.
- the measurement data 77 may be transmitted to the measurement system control device 21 via the mobile communication system 12.
- FIG. 2 also shows the flow of data such as measurement data 77 transmitted to the measurement system control device 21 via the mobile communication system 12.
- the mobile body command device 4 transmits the measurement command 72 and the flight command 75 to the drone 3 by the mobile body communication system 12.
- the measurement command 72 is a command for controlling the mounting apparatus 13.
- the flight command 75 is a command for controlling the flight of the drone 3.
- a command is a command for instructing how the device operates.
- the device that has received the command or its control device generates a control signal from the command and controls the device by the control signal.
- FIG. 3 is a block diagram illustrating the configuration of the power supply system of the aerial moving body that constitutes the radio wave measurement system according to the first embodiment.
- the drone power supply system 8 includes a power storage unit 19 and load-side converters 20a, 20b, and 20c.
- the power storage unit 19 stores DC power supplied from the outside.
- the load-side converters 20a, 20b, and 20c are DC-DC converters that convert DC power stored in the power storage unit 19 into a voltage required by the load facility and supply the load facility.
- the load equipment includes the mounting device 13, the flight control device 5, the wireless modem 7, the drive motor 9, and the like.
- the load-side converter 20a supplies the converted DC power to the mounting device 13.
- the load-side converter 20b supplies the converted DC power to the flight control device 5 and the wireless modem 7.
- the load side converter 20 c supplies power to the drive motor 9.
- the several load side converter is provided for every voltage.
- power is supplied from different load-side converters.
- the on-board device 13 and the wireless modem 7 are used with the same power supply voltage, power may be supplied from the same load side converter.
- a plurality of drive motors 9 and a plurality of load side converters 20c may be provided.
- a radio wave measurement system that measures a transmission radio wave 2 radiated from the power transmission device 1 includes a drone 3 equipped with a mounting device 13, a mobile body command device 4 that controls the drone 3, and a radio wave measurement device included in the mounting device 13. And a measurement system control device 21 that controls the system.
- the power transmission device 1 includes a transmission signal generation unit 23, one first-stage module 24, a distribution circuit 25, a plurality of two-stage modules 26, and an element antenna 27 provided for each of the two-stage modules 26.
- the power transmission control device 22 sends a power transmission control signal 76 to the power transmission device 1.
- the power transmission control signal 76 controls whether the power transmission device 1 transmits power, what beam shape and direction the power is transmitted, and the like.
- the transmission signal generation unit 23 generates a transmission signal having a determined frequency that each element antenna 27 radiates as a radio wave.
- the transmission signal output from the transmission signal generator 23 is input to the first stage module 24.
- the transmission signal whose amplification and phase are adjusted by the first stage module 24 is distributed by the distribution circuit 25 and input to the second stage module 26.
- the transmission signal that has been amplified and phase-adjusted by the two-stage module 26 is radiated from the element antenna 27 to the space as the transmitted radio wave 2.
- the transmission signal generator 23, the first stage module 24 and the second stage module 26 are controlled by a power transmission control signal 76.
- the first stage module 24 or the second stage module 26 is referred to as an element module.
- the first stage module 24 and the second stage module 26 have the same configuration.
- Each of the first stage module 24 and the second stage module 26 has a phase shifter 28 and an amplifier 29.
- the phase shifter 28 changes the phase of the transmission signal by the indicated value.
- the phase shifter 28 may continuously change the phase.
- the phase shifter 28 of the first stage module 24 can uniformly change the phases of the plurality of element antennas 27 belonging to the power transmission device 1.
- the amplifier 29 amplifies the transmission signal.
- each power transmission device 1 the element antennas 27 are arranged in a matrix. Further, the four power transmission devices 1 are arranged in a matrix so as to be adjacent to each other. Therefore, all the element antennas 27 are arranged in a matrix.
- One power transmission device 1 is a phased array antenna having a plurality of element antennas 27 that can control the phase of a radiated radio wave.
- a set of four power transmission devices 1 can also be considered as one phased array antenna 30.
- the beam shape of the radio wave radiated from the phased array antenna 30 is measured. That is, the phased array antenna 30 is an antenna to be measured which is an antenna that is a target for measuring the beam shape.
- One power transmission device 1 can be considered as a power transmission unit, and an aggregate of a plurality of power transmission devices 1 can be considered as a power transmission device.
- the power transmission device 1 corresponds to one group when the plurality of element antennas 27 are divided into a plurality of groups.
- FIG. 4 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in the radio wave measurement system using the aerial moving body according to the first embodiment.
- the movement pattern of the drone 3 is determined.
- the movement pattern is a pattern that is two-dimensionally scanned on a cut surface that is perpendicular to the direction in which the power transmission radio wave 2 is emitted.
- the cut surface is set at a plurality of positions at different distances from the power transmission device 1, and radio waves are measured three-dimensionally.
- step S02 the flight command 75 is sent to the drone 3 by the mobile communication system 12, and the drone 3 is moved to the initial position in the movement pattern and stopped.
- step S03 the power transmission device 1 starts power transmission. S02 and S03 may be interchanged.
- step S04 the detection data 73 including the amplitude and phase of the transmitted radio wave 2 received by the monitor antenna 14 is measured in accordance with the measurement command 72 transmitted by the mobile communication system 12.
- the positioning sensor 18 measures the position of the drone 3.
- step S 05 the detected detection data 70 that is a set of the detected detection data 73 and the position data 74 is stored in the data storage device 17.
- step S06 it is checked whether there is a measurement position where the detection data 73 has not been measured yet. If there is a measurement position where the detection data 73 is not measured (YES in S06), the flight command 75 is sent to the drone 3 by the mobile communication system 12 in step S07, and the drone 3 is moved to the next measurement position and stopped. Let Then, the process returns to step S04.
- step S08 the flight command 75 is sent to the drone 3 by the mobile communication system 12, the drone 3 is stopped on the ground, and the drive motor 9 is stopped.
- step S 09 the position detection data 70 is acquired from the data storage device 17 and input to the measurement system control device 21.
- the position data 74 is converted into the relative position data 78 based on the power transmission device 1 in step S10.
- step S11 beam shape data 71 in which the detection data 73 is associated with the relative position data 78 is generated.
- the operation of the drone 3 in the flowchart shown in FIG. 4 is performed by using the electric power stored in the power storage unit 19.
- the term “ground” includes not only the surface of the ground, but also the top of structures such as buildings and towers.
- the drone 3 scans the cut surface two-dimensionally, the two-dimensional radiation pattern (beam shape) of the transmission radio wave 2 can be measured with high accuracy. Furthermore, when the drone 3 changes the vertical altitude and measures the transmitted radio wave 2, the radiation pattern of the three-dimensional transmitted radio wave 2 can be measured.
- the position data 74 converted into a relative position with the power transmission device 1 as a reference is referred to as relative position data 78.
- the relative position data 78 is radio wave source relative position data representing the position data 74 as a relative position with respect to the power transmission device 1.
- the beam shape data 71 is radiated radio wave data including detection data 73 and radio wave source relative position data.
- the measurement system control device 21 is a radiated radio wave data generation unit that generates radiated radio wave data. It may be considered that the measurement system control device 21 has a radiated radio wave data generation unit. Even when the other device is the radiated radio wave data generation unit, it may be considered that the other device has the radiated radio wave data generation unit.
- the position of the power transmission device 1 in a coordinate system such as latitude, longitude, and altitude measured by the positioning sensor 18 is measured and stored in advance.
- the relative position data 78 is generated by subtracting the stored position of the power transmission device 1 from the position data 74 of the drone 3.
- the power transmission apparatus 1 may be provided with a positioning sensor, and the relative position may be calculated by subtracting the measurement value of the positioning sensor.
- the position of the power transmission device may be stored in the on-board control device, data storage device, or other processing device, and the position data may be converted into relative position data by the on-board control device or other processing device. Then, the radio wave data including the detection data and the relative position data may be created by the onboard control device or another processing device. In that case, the on-board control device or another processing device becomes the radiated radio wave data generation unit.
- radiated radio wave data is created by the onboard control device, it is as follows.
- the position of the power transmission device 1 measured in advance is stored in the storage device of the drone 3.
- the on-board controller converts the position data 74 into the relative position data 78 and generates the beam shape data 71 ⁇ / b> A in which the detection data 73 is associated with the relative position data 78.
- the beam shape data 71A is also position detection data 70A obtained by combining the detection data 73 and the relative position data 78 at the same time.
- the position detection data 70A is also referred to as radio wave measurement data.
- the radio wave 2 is radiated from the power transmission device 1 toward the sky.
- the radio wave measurement system measures the beam shape data 71 of the power transmission radio wave 2 over the power transmission device 1 using the drone 3 that is an aerial moving body. By doing so, it is possible to accurately measure the beam shape data 71 of the power transmission radio wave 2 of the power transmission device 1 with less influence of reflection.
- the detection data 73 is measured while the drone 3 is stationary, but the detection data 73 may be measured while being moved.
- the flight command 75 is transmitted from the mobile body commanding device 4 to control how the drone 3 flies or stops, the drone 3 flies autonomously by operating according to the program stored in the drone 3. You may make it stand still.
- the program stored in the drone 3 is a program that allows the drone 3 to fly and stop on the determined flight route.
- the measurement data 77 including the detection data with position 70 may be transmitted to the measurement system control device 21 by communication while the drone 3 is flying.
- a flowchart for explaining the procedure in this case is shown in FIG.
- step S05A the measurement data 77 including the measured position detection data 70 is sent from the onboard control device 16 to the flight control device 5. Further, the measurement data 77 is sent to the measurement system control device 21 via the mobile communication system 12 and the mobile command device 4.
- step S12 the measurement system controller 21 stores the detected detection data 70 included in the measurement data 77 in a nonvolatile storage device included therein. Since there are Step S05A and Step S12, Step S09 for acquiring the position detection data 70 from the data storage device 17 of the drone 3 is deleted from the flowchart. Therefore, after step S08 is executed, the process proceeds to step S10. Also by the procedure shown in FIG. 5, the beam shape data 71 of the power transmission device 1 can be accurately measured.
- the position detection data 70 is generated by combining the position data 74 and the detection data 73 of the drone 3 measured from the ground with the measurement system controller 21. Good.
- the drone 3 only needs to transmit at least the detection data 73 to the measurement system control device 21.
- the radio wave measurement system can also measure the beam shape of radio waves radiated from antennas for other purposes instead of wireless power transmission devices.
- the wireless power transmission device may be different from that shown in this specification.
- the radio wave is radiated in the sky direction from the antenna to be measured which is an antenna whose beam shape is to be measured.
- Airborne objects such as drones are stationary and moved over the antenna to be measured that emits radio waves.
- the position of the aerial moving body is measured by a position measuring unit that is a positioning sensor such as a GPS.
- the aerial moving body is equipped with a measurement antenna that receives radio waves and a detector that measures received radio wave data including the amplitude and phase of the radio waves received by the measurement antenna.
- Beam shape data is generated from the received radio wave data and the measurement point data that is the position of the aerial moving body at the time of measuring the received radio wave data.
- the measurement point data is expressed as a relative position with respect to the antenna to be measured.
- the monitor antenna may be fixed at a predetermined position above the power transmission device 1.
- the radio wave is reflected or shielded by the structural member for fixing the monitor antenna, the phase and amplitude of the radio wave to be measured may be inaccurate.
- the beam shape of the antenna to be measured can be measured without being affected by multipath such as ground reflection.
- “not affected” means that the effect is sufficiently small.
- a mobile communication system prepared for controlling the drone is used to transmit various data and commands. Therefore, it is not necessary to add new hardware to the drone for the communication necessary for measuring the beam shape and performing wireless power transmission. For this reason, it is possible to reduce the weight of the mounted device and to measure radio waves with low power consumption.
- the measurement system control device 21, the power transmission control device 22, the onboard control device 16, and the flight control device 5 are realized by causing a general purpose computer or a dedicated computer to execute a dedicated program.
- a general-purpose computer or a dedicated computer has an arithmetic processing unit such as a CPU (Central Processing Unit) that executes a program and a memory unit.
- the memory unit is a volatile or nonvolatile memory and / or a hard disk.
- the memory unit stores a program for operating in any of the measurement system control device 21, the power transmission control device 22, the onboard control device 16, and the flight control device 5.
- the memory unit stores data of a process and / or a processing result.
- the memory unit of the onboard control device 16 may also be used as the data storage device 17.
- the measurement system control device 21 and the power transmission control device 22 may be realized by a single computer. Further, the on-board control device 16 and the flight control device 5 may be realized by a single computer. The above also applies to other embodiments.
- FIG. 6 is a conceptual diagram of a power transmission system to an airborne mobile body by a wireless power transmission apparatus according to Embodiment 2 of the present invention.
- FIG. 7 is a configuration diagram of a power transmission system to an airborne mobile body using the wireless power transmission device according to the second embodiment.
- the drone 3A includes a pilot transmitter 32, a pilot transmission antenna 33, one or a plurality of power reception antennas 34 that receive the transmitted radio wave 2, and a drone power supply system 8A.
- the pilot transmitter 32 generates a pilot signal 31 for instructing the power transmission device 1A in the power transmission direction.
- the pilot transmission antenna 33 radiates the pilot signal 31 toward the power transmission device 1A.
- the drone power supply system 8A stores and uses power obtained from the radio wave received by the power receiving antenna 34.
- the drone 3A that is, the flight control device 5A and the moving body command device 4A do not transmit the measurement data 77 to the measurement system control device 21A.
- the drone 3 ⁇ / b> A is illustrated as having the monitor antenna 14 and the detector 15, but the monitor antenna 14 and the detector 15 may not be provided.
- the data storage device 17A stores data related to the pilot transmitter, and does not store data necessary for the radio wave measurement system.
- the monitor antenna 14 may receive the transmitted radio wave 2 and the detector 15 may measure the phase and amplitude of the radio wave.
- the second embodiment is a power transmission system and radio wave measurement system for an aerial moving body.
- the data storage device and the onboard control device of the drone have the same configuration as that of the first embodiment when configuring the radio wave measurement system.
- the pilot transmitter 32 is controlled by the measurement system control device 21A according to the pilot transmitter control command 79.
- the pilot transmitter control command 79 is transmitted from the measurement system control device 21A to the onboard control device 16A via the mobile body command device 4 and the mobile body communication system 12.
- the measurement system control device 21A and the power transmission control device 22A are configured to execute the element electric field vector rotation method (Rotating Element Electric Field (REV) Method, REV method) before starting the power transmission. Communication and data transmission / reception are possible.
- a command for executing the REV method is transmitted from the power transmission control device 22A to the onboard control device 16A via the measurement system control device 21A.
- the measured reception power data is transmitted from the onboard control device 16A to the power transmission control device 22A.
- the power transmission control device 22A and the on-board control device 16A may communicate without passing through the measurement system control device 21A.
- FIG. 8 is a block diagram illustrating a configuration of a power supply system of an aerial moving body that receives power transmitted by the wireless power transmitting device according to the second embodiment.
- the drone power supply system 8 ⁇ / b> A shown in FIG. 8 has a rectifier 35 and a rectifier side converter 36 added.
- the rectifier 35 rectifies the received signal generated from the radio wave received by the power receiving antenna 34 to make a direct current.
- the rectifier side converter 36 changes the voltage of the DC power rectified by the rectifier 35.
- the power storage unit 19 stores the DC power output from the rectifying side converter 36.
- the drone power receiving antenna 34 In the drone power supply system 8A of the second embodiment, a power receiving antenna 34, a rectifier 35, and a rectifier side converter 36 are added. By doing so, in addition to the power stored in the power storage unit 19 before the start of flight, the power received by the power receiving antenna 34 during the flight can be used. Therefore, the drone 3 ⁇ / b> A can have a longer time for moving or standing still in the air than the drone 3. For example, when the drone 3A is used for radio wave measurement, the time during which the radio wave can be measured can be made longer. By increasing the time, for example, the spatial density of measurement points in the beam shape data 71 of the power transmission radio wave 2 can be improved.
- the drone may include a plurality of power storage units, and the power received by the power receiving antenna 34 during flight may be stored in some power storage units. At least one of the drone and the detector may use the power of the power storage unit in which the power received during the flight is stored.
- the power transmission device 1 ⁇ / b> A includes a pilot receiving antenna 37 that receives the pilot signal 31.
- the pilot reception antenna 37 is arranged at the center of the element antenna 27 arranged in a matrix in the power transmission device 1 ⁇ / b> A.
- an arrival direction detection device 38 is added.
- the arrival direction detection device 38 receives the pilot signal 31 received by the pilot reception antenna 37 included in each of the plurality of power transmission devices 1A, and determines the arrival direction of the pilot signal 31 by, for example, the monovalous method.
- the arrival direction is the direction in which the pilot signal 31 arrives when viewed from the power transmission device 1A.
- the arrival direction data 80 detected by the arrival direction detection device 38 is input to the power transmission control device 22A.
- the power transmission control device 22A controls the power transmission device 1A to radiate the power transmission radio wave 2 in the direction toward the arrival direction indicated by the arrival direction data 80. That is, the radiation direction, which is the direction in which the power transmission radio wave 2 is radiated, is a direction obtained by inverting the arrival direction by 180 degrees.
- the pilot signal 31 is a direction signal emitted by the drone 3A in order to notify the arrival direction or the direction of existence.
- the existence direction is a direction in which the drone 3A is seen from the power transmission device 1A.
- the existence direction and the arrival direction are directions opposite to each other.
- the pilot transmitter 32 and the pilot transmission antenna 33 mounted on the drone 3A are direction signal transmission units that transmit direction signals.
- the pilot reception antenna 37 included in the power transmission device 1A installed on the ground is a direction signal receiving unit that receives a direction signal.
- the pilot transmitter 32, the pilot transmission antenna 33, and the pilot reception antenna 37 are direction signal transmission / reception units that transmit and receive direction signals.
- the phased array antenna 30 functions as a power transmission antenna that can change the directivity direction in which power is transmitted by radiated radio waves.
- the drone 3A is an air moving object to be transmitted.
- the arrival direction detection device 38 is a radiation direction determination unit that determines a radiation direction in which the drone 3A is present when viewed from the power transmission device 1A.
- the power transmission control device 22A is a directivity direction changing unit that directs the directivity direction of the phased array antenna 30 in the radiation direction.
- FIG. 9 is a flowchart for explaining a power transmission procedure in the power transmission system to the aerial mobile body by the wireless power transmission device according to the second embodiment.
- step S21 the drone 3A is stopped at a predetermined position above the power transmission device 1A.
- step S22 the element antenna 27 corresponding to each of the plurality of two-stage modules 26 radiates radio waves for each power transmission device 1A.
- the radio wave radiated from the element antenna 27 is received by the monitor antenna 14 included in the drone 3A.
- the phase difference between the element electric field vectors generated at the position of the monitor antenna 14 by the radio wave radiated from each element antenna 27 is measured by the REV method.
- the REV method the phase of the radio wave radiated by any one of the two-stage modules 26 is changed, and the change in the amplitude (electric field strength) of the electric field vector of the radio wave received by the monitor antenna 14 is measured.
- Detection data 73 which is the measured electric field strength is sent to the power transmission control device 22 via the mobile communication system 12 and the measurement system control device 21.
- the power transmission control device 22 determines that the element electric field vector of the radio wave radiated from the element antenna 27 corresponding to each two-stage module 26 and all the element antennas 27 from the change in the amplitude of the electric field vector transmitted by the received detection data 73.
- the phase difference from the electric field vector of the radio wave synthesized from the radiated radio wave is calculated.
- the phase difference between the element electric field vectors generated by each element antenna 27 is generated due to a difference in path length inside the power transmission device 1A, a difference in distance between each element antenna 27 and the monitor antenna 14, or the like.
- a phase offset value is set in the phase shifter 28 included in each two-stage module 26 in consideration of the measured phase difference between the plurality of two-stage modules 26 included in each power transmission device 1A.
- the phase offset value is a value to be subtracted from a phase command value given from outside.
- the phase shifter 28 changes the phase by an amount obtained by subtracting the phase offset value from the phase command value. Therefore, the amount of phase change in the transmission signal actually output by the phase shifter 28 is a value obtained by subtracting the phase offset value from the phase command value.
- step S24 the phase difference between the electric field vectors radiated from each of the plurality of power transmission devices 1A and received by the monitor antenna 14 is changed, and the phase of the first-stage module 24 included in each power transmission device 1A is changed to REV. Measure by the method.
- REV method the phase difference between the electric field vectors generated by each power transmission device 1A due to the difference in the path length to the first module 24 in each power transmission device 1A and the difference in the distance from each power transmission device 1A to the monitor antenna 14. Is measured.
- step S25 the phase offset value of the phase shifter 28 included in the first stage module 24 of each power transmission device 1A is set in consideration of the measured phase difference between the radio waves radiated from each power transmission device 1A.
- the phase offset value for each of the first-stage module 24 or the second-stage module 26 due to the difference in the path length inside each power transmission device 1A is measured in advance, and each phase shifter 28 is taken into consideration. Determine the phase command value. Therefore, the radio wave radiated from each element antenna 27 can be set to a value with a uniform phase reference.
- S21 to S25 are performed before the power transmission device 1A is used for the first time. Even when the element module which is the first stage module 24 or the second stage module 26 is replaced, the phase offset value of the replaced element module is obtained.
- step S26 the pilot transmission antenna 33 of the drone 3A transmits the pilot signal 31.
- step S ⁇ b> 27 the pilot reception antenna 37 included in the power transmission device 1 ⁇ / b> A receives the pilot signal 31.
- step S28 the arrival direction detector 38 determines the arrival direction data 80 of the pilot signal 31.
- step S29 the power transmission control device 22A sets the phase and amplitude command values for the element modules of each power transmission device 1A so that the power transmission radio wave 2 can be transmitted with the direction toward the arrival direction indicated by the arrival direction data 80 as the radiation direction. calculate.
- the power transmission control signal 76 is a command value of phase and amplitude for each element module.
- the power transmission device 1A can transmit power in the radial direction with high efficiency.
- step S30 the first-stage module 24 and each two-stage module 26 of each power transmission device 1A generate a transmission signal whose phase and amplitude are adjusted according to the power transmission control signal 76, and radiate it as the transmitted radio wave 2 from the corresponding element antenna 27, respectively.
- the power transmission radio wave 2 is received by the power receiving antenna 34 of the drone 3A, and the DC power rectified and converted by the rectifier 35 and the rectifier side converter 36 is stored in the power storage unit 19 in step S31.
- S26 to S30 and S31 are periodically executed at a predetermined cycle. After execution of S30 and S31, the process returns to before S26 and S31.
- the length of one cycle is determined so that the difference between the arrival direction calculated last time and the current arrival direction is within an allowable range even when the drone 3 moves at the assumed maximum moving speed.
- the power receiving antenna 34 of the drone 3A can receive the transmitted radio wave 2 efficiently.
- the beam shape of the power transmission radio wave 2 radiated in S30 shown in FIG. can be measured using, for example, the radio wave measurement system shown in FIGS.
- the power transmission system to the airborne mobile body by the wireless power transmission apparatus according to the second embodiment is also a radio wave measurement system using the airborne mobile body.
- the monitor antenna may be fixed at a predetermined position above the power transmission device 1A instead of using the drone 3A.
- the radio wave is reflected or shielded by the structural member for fixing the monitor antenna, the phase and amplitude of the radio wave to be measured may be inaccurate.
- power may be transmitted to the aerial moving body using a wireless power transmission device having a power transmission antenna that mechanically changes the directivity direction.
- the direction in which the airborne mobile body is present may be transmitted to the wireless power transmitting apparatus by means other than the pilot signal.
- Any wireless power transmission device that includes a directivity changing unit and a transmission signal generation unit that generates a transmission signal transmitted as a radio wave from a power transmission antenna has an aerial moving body with higher accuracy than before.
- Radio waves can be radiated in the direction of the power transmission, and the efficiency of wireless power transmission can be improved compared to the conventional one.
- the arrival direction detection apparatus 38 which is a radiation direction determination part may be installed in the position away from 1 A of power transmission apparatuses, it is included in a wireless power transmission apparatus.
- the REV method can be executed in a situation where power is actually transmitted to the air mobile object. Therefore, the REV method can be executed with high accuracy, and radio waves can be radiated with high accuracy in the direction in which the airborne mobile object is present during power transmission to the airborne mobile object. In other words, radio waves can be radiated in the direction in which the aerial mobile body exists with higher accuracy than before, and the efficiency of wireless power transmission can be improved as compared with the conventional technology.
- the measurement system control device 21A When not used as a radio wave measurement system, the measurement system control device 21A is not necessary. When the measurement system control device 21A is not present, the command for executing the REV method and the measured received power data are transmitted and received by the power transmission control device 22A via the mobile command device 4A and the mobile communication system 12. Note that FIG. 7 does not show a flow of data for a command for executing the REV method and measured received power.
- an antenna fixed on the ground may be used instead of the measurement antenna mounted on the drone.
- the drone does not have a function for executing the REV method.
- the drone may not include the measurement antenna, and the detector may be connected to the power receiving antenna, and the detector may measure the electric field strength of the radio wave received by the power receiving antenna. That is, the power receiving antenna may be used as a measurement antenna.
- Embodiment 3 is a case where the second embodiment is changed so that the power transmission apparatus transmits power toward the aerial mobile body by transmitting the position data of the aerial mobile body to the power transmission apparatus instead of the pilot signal.
- a configuration of a power transmission system to an airborne mobile body by a wireless power transmission apparatus according to Embodiment 3 of the present invention will be described with reference to FIG.
- FIG. 10 is a configuration diagram of a power transmission system to an airborne mobile body by a wireless power transmission device according to Embodiment 3 of the present invention.
- the power transmission device 1 is the same as that in the first embodiment.
- the power transmission device 1 does not have the pilot reception antenna 37.
- the drone 3B does not have the pilot transmitter 31 and the pilot transmission antenna 33.
- the drone 3B has a positioning sensor 18.
- the position data 74 measured by the positioning sensor 18 is transmitted to the measurement system control device 21B via the onboard control device 16B, the flight control device 5B, the mobile communication system 12 and the mobile command device 44.
- the position data 74 is also stored in the data storage device 17B.
- the positioning sensor 18 may be connected to the flight control device 5B. In this case, the position data 74 is transmitted to the power transmission control device 22B via the flight control device 5B, the mobile communication system 12, the mobile command device 4B, and the measurement system control device 21B.
- the positioning sensor 18 is a position measuring unit that measures the position of the moving body that is the position of the drone 3B.
- the power transmission control device 22B is a radiation direction determination unit that determines a direction from the position data 74 toward the position of the drone 3B with respect to the power transmission device 1 as a radiation direction. The determined radiation direction is stored as radiation direction data 81.
- the power transmission control device 22B determines a command value (power transmission control signal 76) of the phase and amplitude for each of the first-stage module 24 and the second-stage module 26 so that power can be transmitted in the radiation direction represented by the radiation direction data 81.
- the power transmission control device 22 ⁇ / b> B controls the power transmission device 1 with a power transmission control signal 76. Note that a combination of at least a part of the power transmission control device and the power transmission device may be considered as a wireless power transmission device.
- FIG. 11 is a flowchart for explaining a power transmission procedure in the power transmission system to the aerial mobile body by the wireless power transmission device according to the third embodiment.
- FIG. 11 will be described with respect to differences from FIG. 9 in the second embodiment.
- Steps S26 to S28 are changed to steps S32 to S35.
- the positioning sensor 18 measures the three-dimensional position where the drone 3B exists.
- the measured position data 74 is transmitted by the mobile communication system 12 to the mobile command apparatus 4B.
- the power transmission control device 22B acquires the position data 74 from the moving body command device 4B via the measurement system control device 21B.
- step S35 the power transmission control device 22B converts the position data 74 into a relative position with respect to the power transmission device 1, and obtains a radiation direction.
- step S29A the power transmission control device 22B calculates a power transmission control signal 76 for instructing the phase and amplitude for each of the first-stage module 24 and the second-stage module 26 of each power transmission device 1A.
- the power transmission control signal 76 is calculated so that the power transmission device 1 can transmit the power transmission radio wave 2 in the radiation direction determined from the relative position of the drone 3B to the power transmission device 1.
- the position data 74 of the drone 3B is transmitted from the drone 3B, and the power transmission radio wave 2 is radiated in the direction in which the drone 3B obtained from the position data 74 exists. Therefore, the power receiving antenna 34 of the drone 3B can receive the power transmission radio wave 2 efficiently.
- the power transmission control signal 76 may be generated so that the beam width of the transmission radio wave 2 becomes small at the position where the drone 3B exists. . The above also applies to other embodiments.
- FIG. Embodiment 4 is a case where a drone that is an aerial moving body measures the beam shape data of a transmitted radio wave radiated from a wireless power transmitting apparatus while receiving power supply from the wireless power transmitting apparatus. Since the drone receives power supply from the wireless power transmission apparatus, the radio wave measurement system using the airborne mobile body according to Embodiment 4 is also a power transmission system to the airborne mobile body using the wireless power transmission apparatus.
- a configuration of a radio wave measurement system using an aerial moving body according to Embodiment 4 of the present invention and a power transmission system to the aerial moving body using a wireless power transmission apparatus will be described with reference to FIG.
- FIG. 12 is a configuration diagram of a radio wave measurement system using an aerial moving body according to Embodiment 4 of the present invention and a power transmission system to the aerial moving body using a wireless power transmission device.
- FIG. 12 will be described with respect to differences from FIG. 2 in the first embodiment.
- the drone 3C changes the drone 3 of the first embodiment so that it has the same power receiving antenna 34 and drone power supply system 8A as those of the second embodiment.
- the power transmission device 1 is the same as that in the first embodiment.
- FIG. 13 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in the radio wave measurement system using the aerial moving body and the power transmission system to the aerial moving body by the wireless power transmission device according to the fourth embodiment. 13 will be described with respect to differences from FIG. 4 in the first embodiment.
- the power transmission antenna 2 receives the power transmission radio wave 2, and the power stored in the power storage unit 19 is rectified by the rectifier 35.
- S13 operates in parallel with S04 and S05.
- S14 operates in parallel with S07.
- the power transmission control device 22A does not change the beam direction according to the position where the drone 3C is present.
- the drone 3C moves or stops in the sky above the power transmission device 1 while being supplied with power by the transmission radio wave 2. Therefore, even when it takes a longer time to measure the beam shape 71 than in the case of the first embodiment, the beam shape data 71 of the transmitted radio wave 2 can be measured using the drone 3C.
- the first embodiment in addition to the mobile communication system, the first embodiment has a communication system for communicating a measurement command related to radio wave measurement and detection data between the onboard control device and the measurement system control device. Is changed.
- the configuration of a radio wave measurement system using an airborne moving body according to Embodiment 5 of the present invention will be described with reference to FIG.
- FIG. 14 is a configuration diagram of a radio wave measurement system using an aerial moving body according to Embodiment 5 of the present invention. Note that the radio wave measurement system according to the fourth embodiment or another configuration and the power transmission system to the aerial moving body may be changed.
- a power transmission communication system 39 and a pilot communication system 40 are added to the drone 3D of the fifth embodiment.
- the measurement system control device 21C transmits the measurement command 72 to the mounting device 13D mounted on the drone 3D by the power transmission communication system 39.
- the mounting device 13D transmits the detection data 73 to the measurement system control device 21C through the pilot communication system 40.
- the positioning sensor 18 sends position data 74 to the onboard control device 16D.
- the data storage device 17D stores data indicating whether the power transmission communication system 39 and the pilot communication system 40 are used.
- the power transmission communication system 39 includes a first stage module 24A, a second stage module 26A and an element antenna 27 included in the power transmission device 1B, and a monitor antenna 14 and a detector 15A mounted on the drone 3D.
- a pulse modulation switch 41 is added to the first-stage module 24A and the second-stage module 26A.
- the pulse modulation switch 41 switches whether or not to radiate the transmitted radio wave 2A according to the 0 or 1 signal string representing the measurement command 72. That is, the measurement command 72 is transmitted by pulse-modulating the transmission radio wave 2 ⁇ / b> A with the detection data 73.
- the detector 15A demodulates the measurement command 72 from reception or non-reception of the received power transmission radio wave 2A.
- the measurement command 72 may be modulated and demodulated not by pulse modulation but by amplitude modulation or phase modulation such as BPSK (Binary Phase Shift Shift Keying).
- the communication system changeover switch 42 is added to the measurement system control device 21C.
- the communication system changeover switch 42 switches to which of the moving body command device 4C and the power transmission control device 22C the measurement command 72 is transmitted. That is, the communication system changeover switch 42 switches which of the mobile communication system 12 and the power transmission communication system 39 is used. Note that the transmission destination of the measurement command 72 may be switched by software.
- the pilot communication system 40 includes a pilot transmitter 32, a pilot transmission antenna 33, a pulse modulation switch 43, a pilot reception antenna 37, and a detector 44.
- the pulse modulation switch 43 is provided between the pilot transmitter 32 and the pilot transmission antenna 33.
- the detector 44 detects the pilot signal 31 received by the pilot receiving antenna 37.
- the pilot transmitter 32, the pilot transmission antenna 33, and the pulse modulation switch 43 are mounted on the drone 3D. Pilot receiving antenna 37 and detector 44 are installed on the ground.
- the pulse modulation switch 43 switches whether to emit the pilot signal 31 according to a 0 or 1 signal string representing the detection data 73 supplied from the onboard control device 16D. That is, the detection data 73 is transmitted by pulse-modulating the pilot signal 31 with the detection data 73.
- the pilot signal 31 received by the pilot receiving antenna 37 is divided into two and input to the arrival direction detection device 38 and the detector 44.
- the detector 44 demodulates the detection data 73 from reception or non-reception of the pilot signal 31.
- the detected data 73 may be modulated and demodulated not by pulse modulation but by amplitude modulation or phase modulation such as BPSK.
- the onboard control device 16D switches whether to transmit the detection data 73 to the flight control device 5 or to control the pulse modulation switch 43 with the detection data 73 by software. By doing so, the detection data 73 is switched between the pilot communication system 40 and the mobile communication system 12.
- FIG. 15 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in the radio wave measurement system using the airborne object according to the fifth embodiment. 15 will be described with respect to differences from FIG. 5 of the first embodiment.
- the communication system that communicates the measurement command 72 is referred to as a command communication system.
- a communication system that communicates the measurement data 77 is called a data communication system.
- Step S15 is added between S03 and S04A.
- the command communication system is determined as either the mobile communication system 12 or the power transmission communication system 39.
- the detection data 73 including the amplitude and phase of the transmitted radio wave 2 received by the monitor antenna 14 is measured according to the measurement command 72 communicated by the command communication system determined in S15.
- Step S16 is added between S04A and S05B.
- the data communication system is determined as either the mobile communication system 12 or the pilot communication system 40.
- the detected position detection data 70 is sent from the onboard controller 16D to the measurement system controller 21C via the data communication system determined in S16.
- the command communication system may be determined every several times instead of every time when the measurement command 72 is communicated.
- the flight command 75 may be communicated by the power transmission communication system 39.
- the data communication system may be determined every several times instead of every time when the measurement data 77 is communicated. If communication with the mobile communication system 12 is attempted and communication cannot be performed with the mobile communication system 12, the power transmission communication system 39 may be determined as the command communication system, or the pilot communication system 40 may be determined as the data communication system. .
- the power transmission communication system 39 and the pilot communication system 40 By providing the power transmission communication system 39 and the pilot communication system 40, necessary data can be communicated at a necessary speed even when the communication load of the mobile communication system 12 is large and communication is slow.
- the power transmission communication system 39 and the pilot communication system 40 can be used. Therefore, the power transmission communication system 39 and the pilot communication system 40 greatly contribute to stable operation of the radio wave measurement system. Further, it is possible to communicate with the power transmission radio wave 2 and the pilot signal 31 by modulating them with a simple device such as pulse modulation (transmission ON / OFF control), amplitude modulation, phase modulation and the like. Therefore, transmission radio wave control and data transfer can be realized without adding large hardware and without increasing the load and power consumption of the mobile communication system 12.
- Embodiment 6 is modified from the second embodiment in the case where it is also a radio wave measurement system so as to have a measurement communication system for communicating measurement commands and detection data between the onboard control device and the measurement system control device. Is the case. In the sixth embodiment, the mobile communication system is not used to communicate measurement commands and detection data between the on-board control device and the measurement system control device.
- Embodiment 6 is an embodiment of a radio wave measurement system using an airborne mobile body and a power transmission system to an airborne mobile body using a wireless power transmission device. A configuration of a radio wave measurement system using an aerial moving body according to Embodiment 6 and a power transmission system to the aerial moving body using a wireless power transmission device will be described with reference to FIG.
- FIG. 16 is a configuration diagram of a radio wave measurement system using an aerial moving body according to Embodiment 6 of the present invention and a power transmission system to the aerial moving body using a wireless power transmission device.
- a measurement communication system 45 is added to the configuration of the second embodiment shown in FIG.
- the measurement communication system 45 includes an on-board communication device 46 and an on-board communication antenna 47 mounted on the drone 3E, and a ground communication antenna 48 and a ground communication device 49 installed on the ground.
- the measurement command 72 from the measurement system control device 21D is transmitted to the drone 3E by the measurement communication system 45.
- the measurement data 77 measured by the drone 3E is transmitted to the measurement system control device 21D by the measurement communication system 45.
- the measurement communication system 45 is a communication system different from the mobile communication system 12.
- the data storage device 17E is different from the data storage device 17A in the second embodiment in that data necessary for the radio wave measurement system such as the measurement data 77 is also stored.
- the mounting device 13E is only mounted on the drone 3E, and does not have an interface with the device of the drone 3E.
- the positioning sensor 18 is connected to the on-board controller 16E so that the position data 74 can be used in the power transmission system.
- the mobile unit commanding device 4D controls the flight of the drone 3E by transmitting a flight command 75 through the mobile unit communication system 12.
- FIG. 17 is a block diagram illustrating a configuration of a power supply system of an aerial moving body that receives power transmitted by a radio wave measurement system and a wireless power transmission apparatus using the aerial moving body according to the sixth embodiment.
- the difference between FIG. 17 and FIG. 8 is that a measurement system power supply line 50 is added.
- the measurement system power line 50 is connected to the power storage unit 19 mounted on the drone 3E.
- the rectifier side converter 36, the load side converter 20 b and the load side converter 20 c are connected to the power storage unit 19 via the measurement system power line 50.
- the connection part of the power supply system between the drone 3E and the mounting device 13E can be made only at one place of the measurement system power supply line 50.
- the rectifying side converter may not be provided, and the configuration of the load side converter may be changed.
- the power transmission system to the aerial moving body of the sixth embodiment operates in the same manner as in the second embodiment.
- the difference from the power transmission system of the second embodiment is that the measurement communication system 45 is used instead of the mobile communication system 12 to communicate commands and data for executing the REV method.
- the sixth embodiment as a radio wave measurement system operates in the same manner as the radio wave measurement system according to the first embodiment.
- the sixth embodiment is different from the first embodiment in that the measurement communication system 45 is used.
- a radio wave measurement system can be configured without modifying a commercially available drone. It becomes easy to mount and use the mounting device in another drone. It can be similarly applied to other embodiments that the mobile communication system is not used for communication of radio wave measurement commands and measured data.
- FIG. 7 is a case where the sixth embodiment is changed to add a power transmission communication system and a pilot communication system similar to those in the fifth embodiment.
- a configuration of a radio wave measurement system using an aerial moving body according to Embodiment 7 and a power transmission system to the aerial moving body using a wireless power transmission device will be described with reference to FIG.
- FIG. 18 is a configuration diagram of a radio wave measurement system using an aerial moving body and a power transmission system to the aerial moving body using a wireless power transmission device according to a seventh embodiment of the present invention.
- FIG. 18 has substantially the same configuration as FIG. 14 in the case of the fifth embodiment.
- the configuration shown in FIG. 18 is different from the configuration shown in FIG. 14 in the following.
- the communication system changeover switch 42A provided in the measurement system control device 21E switches which of the ground communication device 49 and the power transmission control device 22D transmits the measurement command 72. That is, the communication system changeover switch 42 ⁇ / b> A switches which of the measurement communication system 45 and the power transmission communication system 39 is used.
- the onboard control device 16F switches whether to transmit the detection data 73 to the onboard communication device 46 or to control the pulse modulation switch 43 with the detection data 73 by software. By doing so, the onboard control device 16F switches whether the detection data 73 is transmitted by the measurement communication system 45 or the pilot communication system 40.
- the power transmission system to the aerial moving body in the seventh embodiment operates in the same manner as in the second embodiment.
- the point that the measurement communication system 45 is used instead of the mobile communication system 12 is different from the case of the second embodiment.
- the seventh embodiment as a radio wave measurement system operates in the same manner as the radio wave measurement system according to the fifth embodiment.
- the seventh embodiment is different from the fifth embodiment in that the measurement communication system 45 is used.
- the power transmission communication system 39 and the pilot communication system 40 can be used when the measurement communication system 45 fails. Therefore, the power transmission communication system 39 and the pilot communication system 40 greatly contribute to the stable operation of the radio wave measurement system and / or the power transmission system.
- the mobile communication system may be used for communication between the on-board control device and the measurement system control device. In that case, since the triple communication system exists between the on-board control device and the measurement system control device, the reliability of the communication system is further improved. The same applies to the sixth embodiment.
- FIG. 8 is a case where the fifth embodiment is changed so that the position of the airborne moving body is measured by a positioning device installed on the ground.
- a configuration of a radio wave measurement system using an aerial moving body according to Embodiment 8 will be described with reference to FIGS. 19 and 20.
- FIG. 19 is a conceptual diagram of a radio wave measurement system using an airborne moving body according to Embodiment 8 of the present invention.
- FIG. 20 is a configuration diagram of a radio wave measurement system using an aerial moving body according to the eighth embodiment.
- Other embodiments can also be modified to measure the position of the airborne vehicle from the ground.
- the drone 3G does not have the positioning sensor 18.
- a laser positioning device 51 that measures the position of the drone 3G is installed in the vicinity of the power transmission device 1B.
- Position data 74 representing the position of the drone 3G measured by the laser positioning device 51 is input to the measurement system control device 21F at a predetermined cycle during radio wave measurement.
- the data storage device 17G does not store the position data 74 but stores data indicating whether the power transmission communication system 39 and the pilot communication system 40 are used.
- the laser positioning device 51 transmits a laser beam 82 in each direction, and receives a reflected laser beam 83 reflected by the drone 3G that is a positioning target.
- the direction in which the drone 3G exists is determined from the direction of the reflected laser beam 83, and the distance from the time when the reflected laser beam 83 is received after the laser beam 82 is emitted is determined.
- the measured direction and distance are converted to determine the three-dimensional position of the drone 3G.
- radio waves may be used instead of laser light.
- FIG. 21 is a flowchart for explaining a procedure for measuring a radio wave radiation pattern in a radio wave measurement system using an aerial moving body according to the eighth embodiment.
- step S04B the drone 3G does not measure the position data 74.
- step S05C the measurement data 77 including the detected detection data 73 is sent from the onboard control device 16G to the flight control device 5, and further via the mobile communication system 12 and the mobile command device 4C, the measurement system control device. Sent to 21F.
- step S ⁇ b> 17 the measurement system control device 21 ⁇ / b> F creates the detected detection data 70 by combining the detection data 73 included in the received measurement data 77 and the latest position data 74.
- the radio wave measurement system radiates the transmission radio wave 2 from the power transmission device 1 toward the sky, and uses the drone 3G that is an aerial moving body to transmit the power transmission radio wave over the power transmission device 1.
- Two beam shape data 71 are measured. By doing so, it is possible to accurately measure the beam shape data 71 of the power transmission radio wave 2 of the power transmission device 1 with less influence of reflection.
- the drone 3G does not have a positioning sensor, the drone 3G does not have to use power to measure its own position. Further, since the position data 74 is not transmitted from the drone 3G, the power required to transmit the position data 74 does not have to be consumed. Therefore, it is possible to fly for a longer time compared to the case of the fifth embodiment.
- the present invention can be freely combined with each other, or can be modified or omitted within the spirit of the invention.
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Abstract
Description
実施の形態1に係る電波測定システムの構成について、図1と図2を用いて説明する。図1は、この発明の実施の形態1に係る空中移動体を用いた電波測定システムの概念図である。図2は、実施の形態1に係る空中移動体を用いた電波測定システムの構成図である。空中移動体を用いた電波測定システムによる無線送電装置が放射する電波の測定は、屋外などの電波環境の良い場所で実施される。
図5に示す手順でも、送電装置1のビーム形状データ71を精度よく計測できる。
以上のことは、他の実施の形態にもあてはまる。
実施の形態2に係る無線送電装置による空中移動体への送電システムの構成について、図6と図7を用いて説明する。図6は、この発明の実施の形態2に係る無線送電装置による空中移動体への送電システムの概念図である。図7は、実施の形態2に係る無線送電装置による空中移動体への送電システムの構成図である。
以上のことは、他の実施の形態にもあてはまる。
実施の形態3は、パイロット信号の替わりに空中移動体の位置データを送電装置に送信することで、送電装置が空中移動体へ向けて送電するように実施の形態2を変更した場合である。この発明の実施の形態3に係る無線送電装置による空中移動体への送電システムの構成について、図10を用いて説明する。図10は、この発明の実施の形態3に係る無線送電装置による空中移動体への送電システムの構成図である。
以上のことは、他の実施の形態にもあてはまる。
実施の形態4は、空中移動体であるドローンが無線送電装置から電力の供給を受けながら、無線送電装置が放射する送電電波のビーム形状データを計測する場合である。ドローンが無線送電装置から電力の供給を受けるので、実施の形態4に係る空中移動体を用いた電波測定システムは、無線送電装置による空中移動体への送電システムでもある。この発明の実施の形態4に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成について、図12を用いて説明する。図12は、この発明の実施の形態4に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成図である。
実施の形態5は、移動体通信系に加えて、機上制御装置と測定系制御装置との間で、電波測定に関する計測コマンドと検波データを通信する通信系を有するように、実施の形態1を変更した場合である。この発明の実施の形態5に係る空中移動体を用いた電波測定システムの構成について、図14を用いて説明する。図14は、この発明の実施の形態5に係る空中移動体を用いた電波測定システムの構成図である。なお、実施の形態4あるいは他の構成の電波測定システムかつ空中移動体への送電システムを変更してもよい。
実施の形態6は、計測コマンドや検波データを機上制御装置と測定系制御装置の間で通信するための計測通信系を備えるように、電波測定システムでもある場合の実施の形態2を変更した場合である。実施の形態6では、計測コマンドや検波データを機上制御装置と測定系制御装置の間で通信するために、移動体通信系を利用しない。実施の形態6は、空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの実施の形態である。実施の形態6に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成について、図16を用いて説明する。図16は、この発明の実施の形態6に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成図である。
実施の形態7は、実施の形態5の場合と同様な送電通信系とパイロット通信系を追加するように、実施の形態6を変更した場合である。実施の形態7に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成について、図18を用いて説明する。図18は、この発明の実施の形態7に係る空中移動体を用いた電波測定システムかつ無線送電装置による空中移動体への送電システムの構成図である。
実施の形態8は、空中移動体の位置を地上に設置した測位装置で測位するように、実施の形態5を変更した場合である。実施の形態8に係る空中移動体を用いた電波測定システムの構成について、図19と図20を用いて説明する。図19は、この発明の実施の形態8に係る空中移動体を用いた電波測定システムの概念図である。図20は、実施の形態8に係る空中移動体を用いた電波測定システムの構成図である。他の実施の形態も、空中移動体の位置を地上から測定するように変更できる。
2 送電電波(電波)、
3、3A、3B、3C、3D、3E、3F、3G ドローン(空中移動体)、
4、4A、4B、4C、4D 移動体指令装置、
5、5A、5B、5C 飛行制御装置、
6 機上通信アンテナ、
7 無線モデム、
8、8A、8B ドローン電源システム
9 駆動モータ、
10 無線モデム、
11 通信アンテナ、
12 移動体通信系、
13、13A、13B、13C、13D、13E、13F、13G 搭載装置、
14 モニタアンテナ(計測用アンテナ)、
15、15A 検波器(電波計測部)、
16、16A、16B、16D、16E、16F、16G 機上制御装置、
17、17A、17B、17D、17E、17G データ記憶装置(記憶装置)、
18 測位センサ(位置測定部)、
19 蓄電ユニット、
20a、20b、20c 負荷側コンバータ
21、21D、21E、21F、21G 測定系制御装置(放射電波データ生成部)
21A、21B 測定系制御装置
22 送電制御装置、
22A、22B、22C、22D 送電制御装置(放射方向決定部、指向方向変更部)、
23 送信信号生成部、
24、24A 初段モジュール(素子モジュール)、
25 分配回路
26、26A 2段モジュール(素子モジュール)、
27 素子アンテナ、
28 移相器、
29 増幅器、
30 フェーズドアレイアンテナ(被計測アンテナ、送電アンテナ)
31 パイロット信号、
32 パイロット送信機(方向信号送信部、方向信号送受信部)、
33 パイロット送信アンテナ(方向信号送信部、方向信号送受信部)、
34 受電アンテナ、
35 整流器、
36 整流側コンバータ、
37 パイロット受信アンテナ(方向信号受信部、方向信号送受信部)、
38 到来方向検出装置(放射方向決定部)、
39 送電通信系、
40 パイロット通信系、
41 パルス変調スイッチ、
42、42A 通信系切替スイッチ、
43 パルス変調スイッチ、
44 検波器、
45 計測通信系、
46 機上通信機、
47 機上通信アンテナ、
48 地上通信アンテナ
49 地上通信機、
50 計測系電源線、
51 レーザ測位装置、
70、70A 位置付検波データ(電波測定データ)
71、71A ビーム形状データ(放射電波データ)、
72 計測コマンド、
73 検波データ(受信電波データ)、
74 位置データ(計測点データ)、
75 飛行コマンド、
76 送電制御信号、
77 測定データ、
78 相対位置データ(電波源相対位置データ)、
79 パイロット送信機制御コマンド
80 到来方向データ、
81 放射方向データ、
82 レーザ光、
83 反射レーザ光。
Claims (20)
- 上空方向に電波を放射している被計測アンテナの上空で移動または静止する空中移動体と、
前記空中移動体の位置を測定する位置測定部と、
前記空中移動体に搭載されて、前記電波を受信する計測用アンテナと、
前記空中移動体に搭載されて、前記計測用アンテナが受信する前記電波の振幅および位相の何れか少なくとも一つを含む受信電波データを計測する電波計測部と、
前記受信電波データと、前記受信電波データを計測した時点での前記空中移動体の位置である計測点データを前記被計測アンテナに対する相対的な位置として表した電波源相対位置データとを含む放射電波データを生成する放射電波データ生成部とを備えた電波測定システム。 - 前記被計測アンテナから見た前記空中移動体の存在する方向である存在方向を知らせるために前記空中移動体が発する方向信号を送信および受信する方向信号送受信部をさらに備えた、請求項1に記載の電波測定システム。
- 地上に設置されて、前記放射電波データ生成部を有する測定系制御装置をさらに備え、
前記方向信号送受信部により前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項2に記載の電波測定システム。 - 前記空中移動体を制御するための移動体通信系または前記方向信号送受信部のどちらかを選択して、前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項3に記載の電波測定システム。
- 前記空中移動体を制御するための移動体通信系とは異なる通信系である計測通信系をさらに備え、
前記方向信号送受信部および前記計測通信系の何れかを選択して、前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項3に記載の電波測定システム。 - 地上に設置されて、前記放射電波データ生成部を有する測定系制御装置と、
前記空中移動体を制御するための移動体通信系とは異なる通信系である計測通信系とをさらに備え、
前記計測通信系により、前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項1または請求項2に記載の電波測定システム。 - 前記空中移動体を制御するための移動体通信系とは異なる通信系である計測通信系をさらに備え、
前記方向信号送受信部、前記移動体通信系および前記計測通信系の何れかを選択して、前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項3に記載の電波測定システム。 - 前記被計測アンテナが放射する前記電波により、前記電波計測部を制御する信号を送信する、請求項1から請求項7までの何れか1項に記載の電波測定システム。
- 地上に設置されて、前記放射電波データ生成部を有する測定系制御装置をさらに備え、
前記空中移動体を制御するための移動体通信系により、前記空中移動体から前記受信電波データを前記測定系制御装置に送信する、請求項1に記載の電波測定システム。 - 前記被計測アンテナが、放射する前記電波で電力を送電する送電アンテナであり、
前記電波を受信する前記空中移動体に搭載された受電アンテナをさらに備え、
前記受電アンテナが受信した前記電波から得られる電力を、前記空中移動体および前記電波計測部の何れか少なくと一つが利用する、請求項1から請求項9までの何れか1項に記載の電波測定システム。 - 前記計測点データまたは前記電波源相対位置データと、前記受信電波データとを対応付けた電波測定データを記憶する、前記空中移動体に搭載された記憶装置をさらに備えた請求項1から請求項10までの何れか1項に記載の電波測定システム。
- 前記位置測定部が前記空中移動体に搭載されている、請求項1から請求項11までの何れか1項に記載の電波測定システム。
- 前記位置測定部が地上に設置されている、請求項1から請求項11までの何れか1項に記載の電波測定システム。
- 放射する電波で電力を送電する指向方向を変更できる送電アンテナと、
送電対象である空中移動体が存在する方向である放射方向を決める放射方向決定部と、
前記放射方向に前記送電アンテナの前記指向方向を向ける指向方向変更部と、
前記送電アンテナから前記電波として送信される送信信号を生成する送信信号生成部とを備えた無線送電装置。 - 前記送電アンテナが複数の素子アンテナを有するフェーズドアレイアンテナであり、
前記指向方向変更部が、前記素子アンテナが放射する前記電波の位相を制御するものである、請求項14に記載の無線送電装置。 - 複数の前記素子アンテナが複数のグループに分けられており、
前記指向方向変更部が、グループごとにグループに属する前記素子アンテナが放射する前記電波の放射方向を一律に変更できる、請求項15に記載の無線送電装置。 - 前記空中移動体が送信するパイロット信号を受信するパイロット受信アンテナをさらに備え、
前記放射方向決定部が、前記パイロット受信アンテナが受信する前記パイロット信号から前記パイロット信号が到来する方向を前記放射方向として決める、請求項14から請求項16の何れか1項に記載の無線送電装置。 - 前記空中移動体の位置である移動体位置を測定する位置測定部をさらに備え、
前記放射方向決定部が、前記移動体位置に向かう方向を前記放射方向として決める、請求項14から請求項16の何れか1項に記載の無線送電装置。 - 前記位置測定部が前記空中移動体に搭載されている、請求項14から請求項18までの何れか1項に記載の無線送電装置。
- 前記位置測定部が地上に設置されている、請求項14から請求項18までの何れか1項に記載の無線送電装置。
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