WO2023248504A1 - Power transmission device, wireless power transmission system, and control method - Google Patents

Power transmission device, wireless power transmission system, and control method Download PDF

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Publication number
WO2023248504A1
WO2023248504A1 PCT/JP2022/048643 JP2022048643W WO2023248504A1 WO 2023248504 A1 WO2023248504 A1 WO 2023248504A1 JP 2022048643 W JP2022048643 W JP 2022048643W WO 2023248504 A1 WO2023248504 A1 WO 2023248504A1
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WIPO (PCT)
Prior art keywords
power
power transmission
signal
antenna
vector
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PCT/JP2022/048643
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French (fr)
Japanese (ja)
Inventor
克敏 河合
裕也 田中
敦也 横井
朋之 中舎
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京セラ株式会社
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Publication of WO2023248504A1 publication Critical patent/WO2023248504A1/en

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • 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
    • 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
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H02J50/27—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of receiving antennas, e.g. rectennas
    • 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
    • H02J50/60—Circuit arrangements or systems for wireless supply or distribution of electric power responsive to the presence of foreign objects, e.g. detection of living beings
    • 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
    • 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
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H04B5/48—

Definitions

  • the present application relates to a power transmission device, a wireless power transmission system, and a control method.
  • a retrodirective method is sometimes used for wireless power feeding using an array antenna.
  • the retrodirective method transmits a pilot signal from the power receiving device prior to power transmission, estimates the radio wave propagation channel characteristics of the pilot signal on the power transmitting device side, and controls antenna directivity by generating transmission weights based on this.
  • Patent Document 1 discloses a wireless power feeding device that calculates a propagation coefficient between a plurality of antenna elements and an antenna of a power feeding target device, and adjusts the phase and amplitude of a feeding signal for each of the plurality of antenna elements based on the propagation coefficient. Disclosed.
  • the pilot signal transmitted by the power receiving device will be greatly attenuated by the human body, so antenna directivity is controlled based on the radio wave propagation channel characteristics of the pilot signal. This weakens the intensity of the radio waves emitted from the power transmission device toward the human body, making it highly safe for the human body.
  • antenna directivity is controlled based on the radio wave propagation channel characteristics of the pilot signal.
  • a power transmitting device includes a transmitting/receiving unit that transmits a transmitting signal to a power receiving device and receives a receiving signal transmitted from the power receiving device using an antenna, and an object different from the received signal and the power receiving device. and a weight generation unit that controls the directivity of an antenna that transmits the transmission signal based on information regarding the transmission signal so that the intensity of the radio wave that transmits the transmission signal to the object is equal to or less than a predetermined value.
  • a wireless power transmission system includes a power receiving device, a transmitting/receiving unit that receives a received signal transmitted from the power receiving device and transmits a transmitted signal using an antenna, and a communication between the received signal and the power receiving device.
  • a power transmission device including a weight generation unit that controls the directivity of an antenna that transmits the transmission signal, based on information regarding different objects, so that the intensity of radio waves that transmit the transmission signal to the object is equal to or less than a predetermined level; and.
  • a control method includes a transmission/reception step of transmitting a transmission signal to a power reception device and receiving a reception signal transmitted from the power reception device using an antenna, and information regarding the reception signal and an object different from the power reception device. and a weight generation step of controlling the directivity of the antenna that transmits the transmission signal, based on the above, so that the intensity of the radio wave that transmits the transmission signal to the object is equal to or less than a predetermined value.
  • FIG. 1 is a diagram for explaining an overview of a wireless power transmission system according to an embodiment.
  • FIG. 2 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by a reference power transmission device using a conventional retrodirective method using a computer simulation.
  • FIG. 3 is a diagram illustrating an example of the configuration of the power transmission device according to the first embodiment.
  • FIG. 4 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 5 is a diagram showing an example of an adaptive array antenna and directivity.
  • FIG. 6 is a diagram illustrating an example of the configuration of the power receiving device according to the first embodiment.
  • FIG. 7 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG.
  • FIG. 8 is a diagram for explaining the data flow of the power transmission device shown in FIG. 7.
  • FIG. 9 is a diagram for explaining an example of the operation of the power transmission device according to the first embodiment.
  • FIG. 10 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device shown in FIG. 9 by computer simulation.
  • FIG. 11 is a diagram illustrating an example of a directivity pattern of radio waves of the power transmission device according to the first embodiment.
  • FIG. 12 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the first embodiment.
  • FIG. 13 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the first embodiment.
  • FIG. 14 is a diagram illustrating an example of the configuration of a power transmission device according to the second embodiment.
  • FIG. 15 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 16 is a diagram showing an example of an adaptive array antenna and directivity.
  • FIG. 17 is a diagram illustrating an example of vectorization during differential coefficient constraint.
  • FIG. 18 is a diagram illustrating an example of the configuration of a power receiving device according to the second embodiment.
  • FIG. 19 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG.
  • FIG. 20 is a diagram for explaining the data flow of the power transmission device shown in FIG. 19.
  • FIG. 21 is a diagram for explaining an example of the operation of the power transmission device according to the second embodiment.
  • FIG. 15 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 16 is a diagram showing an example of an adaptive array antenna and directivity.
  • FIG. 22 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device shown in FIG. 21 by computer simulation.
  • FIG. 23 is a diagram illustrating an example of a directivity pattern of radio waves of a power transmission device.
  • FIG. 24 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the second embodiment.
  • FIG. 25 is a diagram illustrating an example of another configuration of a power transmission device according to a modification of the second embodiment.
  • FIG. 26 is a diagram for explaining a data flow of a power transmission device according to a modification of the second embodiment.
  • FIG. 27 is a diagram illustrating an example of the configuration of a power transmission device according to Embodiment 3.
  • FIG. 23 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device shown in FIG. 21 by computer simulation.
  • FIG. 23 is a diagram illustrating an example of a directivity pattern of radio
  • FIG. 28 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 29 is a diagram showing an example of an adaptive array antenna and directivity.
  • FIG. 30 is a diagram illustrating an example of vectorization using the multi-point null constraint method.
  • FIG. 31 is a diagram illustrating an example of vectorization using the differential coefficient constraint method.
  • FIG. 32 is a diagram illustrating an example of null depth processing by the preprocessing unit.
  • FIG. 33 is a diagram illustrating another example of processing of the null depth by the preprocessing section.
  • FIG. 34 is a diagram illustrating an example of the configuration of a power receiving device according to Embodiment 3.
  • FIG. 35 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG.
  • FIG. 36 is a diagram for explaining an example of the data flow of the power transmission device shown in FIG. 35.
  • FIG. 37 is a diagram for explaining another example of the data flow of the power transmission device shown in FIG. 35.
  • FIG. 38 is a diagram for explaining an example of the operation of the power transmission device according to the third embodiment.
  • FIG. 39 is a diagram illustrating an example of a directivity pattern of radio waves of the power transmission device according to the third embodiment.
  • FIG. 40 is a diagram illustrating another example of the radio wave directivity pattern of the power transmission device according to the third embodiment.
  • FIG. 41 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3.
  • FIG. 42 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3.
  • FIG. 43 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3.
  • FIG. 44 is a top view showing the simulation arrangement according to the first embodiment.
  • FIG. 45 is a side view showing the simulation arrangement according to the first embodiment.
  • FIG. 46 is a diagram showing main specifications of simulation according to the first embodiment.
  • FIG. 47 is a diagram showing power distributions according to different methods according to the first embodiment.
  • FIG. 48 is a diagram showing the power distribution according to the MR method of the pseudo human body on two surfaces near the power transmission device.
  • FIG. 49 is a diagram showing the power distribution of the pseudo human body on two surfaces near the power transmission device using the LCR method.
  • FIG. 50 is a graph of the cumulative relative power of the pseudo human body shown in FIGS. 48 and 49.
  • FIG. FIG. 51 is a diagram illustrating an example of movement of an object in the simulation according to the first embodiment.
  • FIG. 54 is a table showing the relationship between the y-coordinate and the number of elementary waves reflected by the pseudo-human body.
  • FIG. 1 is a diagram for explaining an overview of a wireless power transmission system according to an embodiment.
  • a system 1 shown in FIG. 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 allows power to be transmitted 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) for energy transmission.
  • a plurality of frequency bands are available for the frequency of radio waves used in the microwave transmission system 1, and for example, in Japan, they include a 920 MHz band, a 2.4 GHz band, a 5.7 GHz band, and the like.
  • the system 1 makes it possible to improve power supply efficiency suitable for the situation and ensure safety at the same time.
  • the system 1 can also be applied to, for example, space solar power generation.
  • System 1 uses a multipath retrodirective method.
  • System 1 includes a power transmitting device 10 and a power receiving device 20.
  • System 1 transmits power from power transmitting device 10 to power receiving device 20 using multiple paths (propagation channels).
  • the power transmission device 10 is a transmission device that transmits power wirelessly in the system 1, and is a device that can transmit radio waves for power feeding.
  • the power transmission device 10 includes a sensor unit 15 that can detect an object 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 "own device".
  • the power receiving device 20 is a power-supplied device in the system 1 that receives electric waves for power supply and obtains power.
  • the power receiving device 20 includes, for example, a smartphone, a tablet terminal, an IoT (Internet of Things) sensor, a notebook personal computer, a drone, an electric vehicle, an electric bicycle, a game console, and the like. In this way, the power receiving device of the present disclosure may be a movable device.
  • the power receiving device 20 can transmit the specified signal 1000 determined with the power transmitting device 10.
  • the regulation signal 1000 includes, for example, a beacon, a pilot signal, and the like.
  • the power receiving device 20 can transmit the prescribed signal 1000 at a transmission cycle, for example.
  • the power receiving device 20 can transmit the prescribed signal 1000 by emitting radio waves containing the prescribed signal 1000.
  • the power transmitting device 10 estimates characteristic values (array response vectors) of multiple paths from the power receiving device 20 to the power transmitting device 10 based on the specified signal 1000.
  • the power transmitting device 10 calculates a weighting coefficient for transmission using the estimated array response vector for the power receiving device 20.
  • the power transmission device 10 performs directivity control by multiplying each antenna by a weighting coefficient, and radiates radio waves including the transmission signal 2000 for power feeding.
  • Directivity control means, for example, controlling the relationship between the radiation direction and radiation intensity of radio waves. If the frequencies of the specified signal 1000 and the transmitted signal 2000 are the same and time fluctuations in the propagation path are ignored, the characteristics of the multiple paths from the power transmitting device 10 to the power receiving device 20 match the characteristics from the power receiving device 20 to the power transmitting device 10. . Thereby, the radio waves 2000 W radiated from the power transmitting device 10 have a radiation pattern that takes advantage of not only the path toward the power receiving device 20 but also the path toward the direction different from the power receiving device 20.
  • FIG. 2 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the reference power transmission device 100A using the conventional retrodirective method using a computer simulation.
  • the intensity distribution 3000 shown in FIG. 2 is transmitted from the reference power transmitting device 100A using a retrodirective method by placing the reference power transmitting device 100A and the power receiving device 20 in a room 4000, and placing an object 5000 with physical properties similar to the human body. It shows the intensity distribution when a radio wave of 2000 W including a signal of 2000 W is radiated.
  • the reference power transmitting device 100A estimates characteristic values of multiple paths from the power receiving device 20 to the power transmitting device 10 based on the specified signal 1000, and uses the characteristic values to adjust the antenna. It has a configuration that can control the directivity and transmit 2000 W of radio waves including a transmission signal 2000 for power feeding.
  • Room 4000 is a 3m x 3m x 3m room with walls made of concrete.
  • the object 5000 is placed between the reference power transmitting device 100A and the power receiving device 20 at a position shifted to the left from the straight line connecting the reference power transmitting device 100A and the power receiving device 20.
  • the object 5000 has physical properties such as a dielectric constant of 35.4 and a conductivity of 5.17, for example.
  • the intensity distribution 3000 shows that the intensity of the radio wave 2000W-1 going directly from the reference power transmitting device 100A to the power receiving device 20 and the radio wave 2000W-2 going directly from the reference power transmitting device 100A to the object 5000 are stronger. There is. That is, the intensity distribution 3000 is considered to indicate that the reference power transmitting device 100A receives the specified signal 1000 directly from the power receiving device 20 and also receives the specified signal 1000 reflected by the object 5000.
  • system 1 provides a technology that reduces the impact on the human body when a prescribed signal 1000 from power receiving device 20 is reflected by the human body and reaches power transmitting device 10 compared to the conventional multipath retrodirective method. do.
  • FIG. 3 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the first embodiment.
  • FIG. 4 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 5 is a diagram showing an example of an adaptive array antenna and directivity.
  • the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, A multiplication unit 18 is provided.
  • the array antenna 11 has a configuration that allows directivity control (beamforming).
  • the array antenna 11 includes a plurality of antenna elements 11A.
  • each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction.
  • the configuration is such that this is possible.
  • Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 .
  • Array antenna 11 supplies the received signal to transmitter/receiver 13 .
  • the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this.
  • the transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20.
  • the transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply power.
  • 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period.
  • the transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000.
  • the transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
  • the transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11.
  • the transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like.
  • the transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14.
  • the transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18.
  • the transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable.
  • the transmitting/receiving unit 13 simultaneously radiates 2000 W of radio waves including the transmission signal 2000 multiplied by the transmission weight (complex amplitude) from the plurality of antenna elements 11A, so that the power transmission device 10 radiates 2000 W of radio waves with controlled directivity. .
  • the estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A.
  • the propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics.
  • the array response vector indicates, for example, channel characteristics for the number of antennas.
  • the array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged.
  • the array response vector in reception processing is also referred to as a reception response vector.
  • the estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995.
  • the estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
  • the sensor unit 15 can acquire information that can detect the presence or absence, direction, etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10.
  • the radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20.
  • the sensor unit 15 exists in a 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, human sensor, etc. Information regarding object 5000 is acquired.
  • the sensor unit 15 may be provided outside the power transmission device 10.
  • the sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect the direction of the object 5000 in the radio wave propagation environment to the detection section 16.
  • the sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image.
  • the detection unit 16 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding the position of an object 5000 that is different from the power receiving device 20 in the radio wave propagation environment.
  • the objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like.
  • the detection unit 16 detects the direction of the object 5000 from the array antenna 11. For example, the detection unit 16 detects the direction of the object 5000 from the array antenna 11 based on the direction, position, etc. of the object 5000 indicated by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. If a plurality of objects 5000 exist, the detection unit 16 detects the positions of the plurality of objects 5000.
  • the detection unit 16 is electrically connected to the weight generation unit 17 and supplies direction information indicating the direction of the object 5000 from the array antenna 11 to the weight generation unit 17.
  • the direction information includes, for example, information indicating the direction of the object 5000 from the array antenna 11.
  • the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
  • the weight generation unit 17 generates power transmission weights based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the object 5000 from the detection unit 16.
  • a weight generation method for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used.
  • the weight generation section 17 is electrically connected to the multiplication section 18 and supplies weight information indicating power transmission weights to the multiplication section 18.
  • a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
  • the analytical array antenna characteristics are referred to as array response values AR.
  • the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (
  • 2 1) so that the total transmission power is constant. .
  • the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d can be regarded as the array response vector from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal shall have the same frequency as the radio waves used during power transmission.
  • the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and does not require information such as the direction of the reception point 200P.
  • Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero.
  • of the array response vector V d is maximized.
  • K is the number of antenna elements 11A.
  • M is the number of nulls. Since the degree of freedom is K-1, M ⁇ K.
  • argmax (argument of the maximum) means a set of values that achieves the maximum value.
  • Formula 15) is a formula for determining the optimal weight vector W opt where
  • A is a matrix shown in Equation 18 in which array response vectors V 1 , V 2 , . . . , VM, which are M complex column vectors, are arranged.
  • a + is the Moore-Penrose general inverse of A.
  • a + (A H A) ⁇ 1 A H.
  • V' d (I-AA + )V d as in (Equation 16)
  • 2
  • 2 1 is satisfied.
  • ⁇ 1/
  • the array response vector between the power transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000.
  • the array response vector can be estimated using another method. need to be calculated.
  • an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of avoiding radio waves that go directly from the power transmission device 10 toward the target to which the null is directed.
  • a far field is radiated in a direction rotated clockwise by ⁇ (- ⁇ /2 ⁇ /2) from the broadside.
  • the array response vector at is given as shown below (Equation 19).
  • the broadside is perpendicular to the direction in which the antenna elements 11A are arranged, and is upward in FIG.
  • the inter-element distance from the #0 antenna element 11A to the #k antenna element 11A at the reference point 200B is kd.
  • the inter-element distance from the antenna element 11A of the reference point 200B #0 to the antenna element 11A of #K-1 is (K-1)d.
  • the impulse response Z is expressed as (Equation 20).
  • the array response vector V i can be calculated as shown in (Equation 21).
  • the impulse response Z i can be obtained by (Equation 22).
  • the weight generation unit 17 derives the array response vector V i corresponding to the null from the direction ⁇ i of the null object using (Equation 21) and (Equation 22), and then derives the matrix (I ⁇ AA + ).
  • the weight generation unit 17 generates an optimal weight that maximizes the magnitude of the array response value
  • the vector W opt is determined, but generally the timings at which the matrix (I-AA + ) and the array response vector V d are calculated are different. Therefore, the weight generation section 17 can store the matrix (I-AA + ) in the storage section 17D.
  • the storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device.
  • the storage unit 17D may include a storage device such as a RAM used as a temporary storage area.
  • the storage unit 17D may be provided outside the weight generation unit 17.
  • the multiplication unit 18 multiplies the transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation unit 17.
  • the multiplication unit 18 includes, for example, a multiplier.
  • the multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
  • the functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 3 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example.
  • the functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
  • FIG. 6 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the first embodiment.
  • the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24.
  • the power receiving device 20 of the present disclosure may be a movable device.
  • such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position.
  • the power receiving device 20 may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc.
  • the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
  • the antenna 21 is electrically connected to the transmitting/receiving section 22.
  • the antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10.
  • the antenna 21 for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used.
  • the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10.
  • the antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
  • the transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24.
  • the transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 .
  • the transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
  • the signal generating section 23 generates a regulation signal 1000.
  • the signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 .
  • the signal generator 23 can generate the regulation signal 1000 based on the transmission cycle.
  • the signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
  • the power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current.
  • the power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit.
  • the power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply).
  • the loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
  • 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. 6 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example.
  • the functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
  • FIG. 7 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG.
  • FIG. 8 is a diagram for explaining the data flow of the power transmission device 10 shown in FIG. 7.
  • the power receiving device 20 sends out a regulation signal 1000.
  • the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111).
  • the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do.
  • the power transmitting device 10 advances the process to step S131.
  • the power transmitting device 10 uses the detection unit 16 to detect the direction of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 8, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions ⁇ 1 , ⁇ 2 , ..., ⁇ of the plurality of objects 5000. M is detected and supplied to the weight generation section 17.
  • the power transmitting device 10 advances the process to step S122.
  • the weight generation unit 17 performs array response vectorization and matrix calculation corresponding to nulls (step S122). For example, as shown in FIG. 8, in the power transmission device 10, the weight generation unit 17 calculates the directions ⁇ 1 , ⁇ 2 , ..., ⁇ M of the object 5000 based on (Equation 21) and (Equation 22) described above. , array response vectorization (V 1 , V 2 , . . . , V M ) corresponding to the null is performed (step S171). In the power transmission device 10, the weight generation unit 17 subsequently performs matrix calculation (step S172).
  • the power transmitting device 10 advances the process to step S131.
  • the power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 8, the power transmission device 10 performs matrix and vector multiplication (step S173). Specifically, in the power transmission device 10, the weight generation unit 17 calculates the product of the array response vector V d estimated by the estimation unit 14 and (I-AA + ) of the matrix in the storage unit 17D, and calculates the array response vector V Calculate d '. The power transmission device 10 normalizes the array response vector V d ′ calculated by the weight generation unit 17 using (Equation 17), and generates an optimal weight vector W opt (Step S174). Returning to FIG. 7, when the process of step S131 is completed, the power transmitting device 10 advances the process to step S132.
  • the power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, since the power transmitting device 10 directs the null toward the object 5000, the radio waves 2000 W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000.
  • the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
  • the power transmitting device 10 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
  • the processing procedure of the power transmission device 10 shown in FIG. 7 includes estimation of the array response vector V d according to the specified signal 1000 (step S111), calculation of the array response vector V i according to the direction of the object 5000, and matrix calculation (step S122). ) does not need to be synchronized. For example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction of the object 5000, the power transmission device 10 may use the past array response vector V i .
  • FIG. 9 is a diagram for explaining an example of the operation of the power transmission device 10 according to the first embodiment.
  • FIG. 10 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device 10 shown in FIG. 9 by computer simulation.
  • FIG. 11 is a diagram illustrating an example of a directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the first embodiment.
  • a power transmitting device 10 and a power receiving device 20 are arranged in a room 4000, and an object 5000 having the same physical properties as a human body is present.
  • Room 4000 is a 3m x 3m x 3m room with walls made of concrete.
  • the object 5000 is placed between the power transmitting device 10 and the power receiving device 20 at a position offset from the straight line connecting the power transmitting device 10 and the power receiving device 20. That is, the measurement environment shown in FIG. 10 is the same as the environment shown in FIG. 2.
  • the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can.
  • the power receiving device 20 emits a radio wave including the prescribed signal 1000
  • the main paths are a path directly toward the power transmitting device 10 and a path reflected by an object 5000 and directed toward the power transmitting device 10.
  • the power transmission device 10 estimates the propagation channel characteristics of the radio wave including the prescribed signal 1000 received by the array antenna 11, and estimates the array response vector V d .
  • the reference power transmitting device 100A in FIG. The directions ⁇ 1 , ⁇ 2 , . . . , ⁇ M are detected.
  • the power transmission device 10 calculates the array response vector V i corresponding to the null from the direction of the object 5000, and generates the optimal weight vector W opt using the array response vector V i and the array response vector V d .
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the power transmitting device 10 can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20.
  • radiation of radio waves of 2000 W toward the object 5000 can be suppressed.
  • the power transmitting device 10 can suppress the 2000 W of radio waves directed toward the human body even in an environment where radio waves including the specified signal 1000 from the power receiving device 20 reach the human body after being reflected, thereby realizing safe wireless power transmission. be able to.
  • the power transmission device 10 can detect the directions of the plurality of objects 5000 and generate the weight vector W opt so as to direct a null to each of the plurality of objects 5000.
  • the weight generation unit 17 may generate transmission weights such that the gain in the object direction is within a predetermined gain range from null. For example, if the weight generation unit 17 generates transmission weights such that the gain in the direction of the object is within the gain range from the null A [dB] to B [dB], when the null is A [dB]. good.
  • the value of B may be a predetermined multiple of A, such as 0.9A, 0.8A, 0.7A, 0.98A, 0.99A, 1.1A, and 1.01A.
  • the graph shown in FIG. 11 shows, for example, a directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 according to the first embodiment when two objects 5000 are present.
  • the vertical axis shows the power (square of the absolute value) [dB] of the array response value
  • the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W.
  • the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is ⁇ /2, and the antenna arrangement is a uniformly spaced linear array. ⁇ represents wavelength.
  • the power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects ⁇ 10° and ⁇ 45° in the radiation direction as the directions of the two objects 5000.
  • the power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the ⁇ 10° direction, and an array response vector V 1 corresponding to the null in the ⁇ 45° direction.
  • a weight vector W opt is generated based on the array response vector V 2 .
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the power of the array response value becomes large near the direction where the radiation direction is 30°, and the power of the array response value becomes large near the direction D1 of -10° and the direction D2 of -45°. is getting smaller.
  • the power transmitting device 10 detects a plurality of objects 5000, it is possible to direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and suppress the emission of the radio waves of 2000 W directed toward the plurality of objects 5000.
  • the array response vector V d for the power receiving device 20 in a multipath environment generally does not follow a specific direction in the directivity pattern, but in the example of FIG. 11, the array response vector is set in a 30° direction for ease of understanding. .
  • the power transmission device 10 is described as a case where the plurality of antenna elements 11A of the array antenna 11 are a linear array with equal intervals, but the present invention is not limited to this. As long as the power transmission device 10 can calculate the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
  • the power transmission device 10 may include the sensor section 15 and the detection section 16 in an electronic device 30 outside the power transmission device 10.
  • the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30.
  • the power transmission device 10 may include only the sensor section 15 outside the device. In this case, the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
  • FIG. 14 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the second embodiment.
  • FIG. 15 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 16 is a diagram showing an example of an adaptive array antenna and directivity.
  • FIG. 17 is a diagram illustrating an example of vectorization during differential coefficient constraint.
  • the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, A multiplication unit 18 is provided.
  • the array antenna 11 has a configuration that allows directivity control (beamforming).
  • the array antenna 11 includes a plurality of antenna elements 11A.
  • each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction.
  • the configuration is such that this is possible.
  • Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 .
  • Array antenna 11 supplies the received signal to transmitter/receiver 13 .
  • the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this.
  • the transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20.
  • the transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply power.
  • 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period.
  • the transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000.
  • the transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
  • the transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11.
  • the transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like.
  • the transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14.
  • the transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18.
  • the transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable.
  • the transmitting/receiving unit 13 simultaneously radiates 2000 W of radio waves including the transmission signal 2000 multiplied by the transmission weight (complex amplitude) from the plurality of antenna elements 11A, so that the power transmission device 10 radiates 2000 W of radio waves with controlled directivity. .
  • the estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A.
  • the propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics.
  • the array response vector indicates, for example, channel characteristics for the number of antennas.
  • the array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged.
  • the array response vector in reception processing is also referred to as a reception response vector.
  • the estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995.
  • the estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
  • the sensor unit 15 can acquire information that can detect the presence, direction, area, etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10.
  • the radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20.
  • the area of the object 5000 includes, for example, information regarding the area of the object 5000 in the radio wave propagation environment and the angular spread of the object 5000 from the own aircraft.
  • the sensor unit 15 uses, for example, a camera, a radar such as a millimeter wave radar, a LIDAR (Laser Imaging Detection and Ranging), a ToF (Time of Flight) sensor, an infrared sensor, a human sensor, a depth sensor, etc. to detect the radio wave propagation environment. Obtain information regarding object 5000 present in .
  • the sensor unit 15 may be provided outside the power transmission device 10.
  • the sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect the direction and area of the object 5000 in the radio wave propagation environment to the detection section 16.
  • the sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image.
  • the detection unit 16 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding the position and area of an object 5000 that is different from the power receiving device 20 in the radio wave propagation environment.
  • the objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like.
  • the detection unit 16 executes a known object recognition process on the image indicated by the sensor information, and detects the area and shape of the object 5000, the area where the object exists in the radio wave propagation environment, and the direction and area of the object 5000 from the own device. Detect etc. For example, the detection unit 16 detects the direction, position, area, etc. of the object 5000 from the array antenna 11 based on the direction, position, area, etc.
  • the detection unit 16 detects the positions and regions of the plurality of objects 5000.
  • the detection unit 16 is electrically connected to the weight generation unit 17, and supplies the direction, area, etc. of the object 5000 from the array antenna 11 to the weight generation unit 17 as identifiable direction information.
  • the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
  • the direction information includes, for example, information indicating the direction, area, etc. of the object 5000 from the array antenna 11.
  • the direction information includes identifiable information such as a region 151 including the object 5000 and a size 152.
  • the direction information can be information that allows identification of the size of the object 5000 set according to the arrangement of the plurality of antenna elements 11A. For example, when the plurality of antenna elements 11A are arranged in a matrix, the vertical and horizontal lengths, position, shape of the object 5000, etc. can be set for the region 151 of the object 5000.
  • the size 152 of the object 5000 includes the length and distance in one direction such as width and height, the angular range from the own aircraft, etc. Can be set.
  • the region 151 of the object 5000 may be a spatial region according to the outer shape of the object 5000, etc.
  • the weight generation unit 17 generates power transmission weights based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the object 5000 from the detection unit 16.
  • a weight generation method for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used.
  • the weight generation section 17 is electrically connected to the multiplication section 18 and supplies the multiplication section 18 with weight information indicating power transmission weights.
  • a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
  • the analytical array antenna characteristics are referred to as array response values AR.
  • the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (
  • 2 1) so that the total transmission power is constant. .
  • the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d can be regarded as the array response vector from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal shall have the same frequency as the radio waves used during power transmission.
  • the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and does not require information such as the direction of the reception point 200P.
  • Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero.
  • of the array response vector V d is maximized.
  • K is the number of antenna elements 11A.
  • M is the number of nulls. Since the degree of freedom is K-1, M ⁇ K.
  • argmax (argument of the maximum) means a set of values that achieves the maximum value.
  • Formula 215) is a conditional expression for determining the optimal weight vector W opt where
  • A is a matrix shown in (Equation 218) in which array response vectors V 1 , V 2 , . . . , VM , which are M complex column vectors, are arranged.
  • a + is the Moore-Penrose general inverse of A.
  • a + (A H A) ⁇ 1 A H.
  • V' d (I-AA + )V d as in (Equation 216)
  • 2
  • 2 1 is satisfied.
  • ⁇ 1/
  • the array response vector between the power transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000.
  • the array response vector can be estimated using another method. need to be calculated.
  • an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of avoiding radio waves that go directly from the power transmission device 10 toward the target to which the null is directed.
  • a far field is radiated in a direction rotated clockwise by ⁇ (- ⁇ /2 ⁇ /2) from the broadside.
  • the array response vector at is given as (Equation 219) below.
  • the broadside is perpendicular to the direction in which the antenna elements 11A are arranged, and is upward in FIG. 16.
  • the inter-element distance from the #0 antenna element 11A to the #K antenna element 11A at the reference point 200B is kd.
  • the inter-element distance from the #0 antenna element 11A to the #K-1 antenna element 11A at the reference point 200B is (K-1)d.
  • the impulse response Z is expressed as (Equation 220).
  • the impulse response Z i can be obtained by (Equation 222).
  • the weight generation unit 17 derives the array response vector V i corresponding to the null from the direction ⁇ i of the null object using (Equation 221) and (Equation 222), and then derives the matrix (I ⁇ AA + ).
  • the weight generation unit 17 generates an optimal weight vector that maximizes the magnitude of the array response value
  • W opt is determined, but generally the timing at which the matrix (I-AA + ) and the array response vector V d are calculated is different. Therefore, the weight generation section 17 can store the matrix (I-AA + ) in the storage section 17D.
  • the storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device.
  • the storage unit 17D may include a storage device such as a RAM used as a temporary storage area.
  • the storage unit 17D may be provided outside the weight generation unit 17.
  • the object 5000 to be nulled has an expanse, and it is desirable to widen the angle of the null according to the area of the object 5000. Multiple methods can be used to widen the null. In this disclosure, a case will be described in which derivative constraints are used.
  • the array response value of the K element equally spaced linear array in the ⁇ direction is obtained by (Formula 223).
  • D( ⁇ ) is called an array response function or array factor.
  • D( ⁇ ) is a continuous function of ⁇ and is differentiable with respect to ⁇ .
  • is the directivity pattern of the array antenna.
  • K is the number of antenna elements 11A
  • M is the number of nulls.
  • the number of nulls is the number of objects 5000 detected by the detection unit 16.
  • the weight generation unit 17 generates transmission weights such that the null points toward the direction and area of the object 5000 based on the propagation channel characteristics of the prescribed signal 1000 and the detection result of the direction and area of the object 5000 detected by the detection unit 16. .
  • the weight generation unit 17 determines the wide angle L i .
  • the weight generation unit 17 calculates the array response vector V i from the direction ⁇ i using (Equation 221) and (Equation 222). For example, as shown in FIG. 17, the weight generation unit 17 applies information indicating the direction ⁇ i and the region ⁇ i of the null target to the table 170 to obtain the wide angle L i .
  • the area ⁇ i includes information regarding the area, size, etc. of the object 5000.
  • the widening angle L i is a widening parameter and depends not only on the area ⁇ i of the object 5000 but also on the direction ⁇ i , so it may be determined using the table 170 or using machine learning or the like. good.
  • the table 170 is stored in the storage unit 17D and is a lookup table that derives the wide angle L i from the direction ⁇ i and the area ⁇ i .
  • the weight generation unit 17 uses the constraint vector V i (l) to determine the optimal weight vector W opt that maximizes the magnitude
  • the power transmission device 10 can set the wide angle L i for each null target.
  • the power transmission device 10 can independently calculate a matrix calculated from the direction and region in which the null is directed and the propagation channel characteristics of the prescribed signal 1000.
  • the multiplication section 18 multiplies the transmission signal 2000 from the transmission signal generation section 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation section 17.
  • the multiplication unit 18 includes, for example, a multiplier.
  • the multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
  • the functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 14 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example.
  • the functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
  • FIG. 18 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the second embodiment.
  • the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24.
  • the power receiving device 20 of the present disclosure may be a movable device.
  • such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position.
  • the power receiving device 20 may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc.
  • the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
  • the antenna 21 is electrically connected to the transmitting/receiving section 22.
  • the antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10.
  • the antenna 21 for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used.
  • the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10.
  • the antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
  • the transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24.
  • the transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 .
  • the transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
  • the signal generating section 23 generates a regulation signal 1000.
  • the signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 .
  • the signal generator 23 can generate the regulation signal 1000 based on the transmission cycle.
  • the signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
  • the power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current.
  • the power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit.
  • the power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply).
  • the loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
  • 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. 18 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example.
  • the functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
  • FIG. 19 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG.
  • FIG. 20 is a diagram for explaining the data flow of power transmission device 10 shown in FIG. 19.
  • the power receiving device 20 sends out a regulation signal 1000.
  • the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111).
  • the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do.
  • the power transmission device 10 advances the process to step S131.
  • the detection unit 16 detects the direction and area of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 20, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions ⁇ 1 , ⁇ 2 , ..., ⁇ of the plurality of objects 5000. Detect M. Then, the power transmission device 10 detects regions ⁇ 1 , ⁇ 2 , . . . , ⁇ M of the plurality of objects 5000.
  • the power transmission device 10 supplies the directions ⁇ 1 , ⁇ 2 , ..., ⁇ M and the regions ⁇ 1 , ⁇ 2 , ..., ⁇ M of the detected object 5000 to the weight generation unit 17 .
  • the power transmission device 10 advances the process to step S122.
  • the power transmission device 10 performs a matrix calculation of (I-AA + ) using the constraint vector V i (l) corresponding to the null, and stores the calculation result in the storage unit 17D.
  • A [V 1 (0) ,..., V 1 (L1) , V 2 (0) ,..., V 2 (L2) ,..., V M (0) ,... , V M (LM) ].
  • the power transmitting device 10 advances the process to step S131.
  • the power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 20, the power transmission device 10 performs matrix and vector multiplication (step S173). Specifically, in the power transmission device 10, the weight generation unit 17 calculates the product of the array response vector V d estimated by the estimation unit 14 and (I ⁇ AA + ) in the storage unit 17D, and generates the array response vector V d ′. Calculate. Then, the power transmission device 10 performs normalization (step S174). Specifically, the power transmission device 10 normalizes the array response vector V d ' calculated by the weight generation unit 17 using (Equation 217), and generates the optimal weight vector W opt .
  • the power transmitting device 10 advances the process to step S132.
  • the power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, since the power transmitting device 10 directs the null toward the region of the object 5000, the radio waves 2000 W are combined in a constructive manner in the power receiving device 20, but are combined in a destructive manner in the object 5000.
  • the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
  • the power transmitting device 10 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
  • the processing procedure of the power transmission device 10 shown in FIG. 19 includes estimating the array response vector V d according to the specified signal 1000 (step S111), calculating the constraint vector V i (l) according to the direction and area of the object 5000, and The matrix calculation (step S122) does not need to be synchronized. Therefore, for example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction and area of the object 5000, the power transmission device 10 may use the past constraint vector V i (l) .
  • FIG. 21 is a diagram for explaining an example of the operation of the power transmission device 10 according to the second embodiment.
  • FIG. 22 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device 10 shown in FIG. 21 by computer simulation.
  • FIG. 23 is a diagram illustrating an example of a directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the second embodiment.
  • the system 1 has a power transmitting device 10 and a power receiving device 20 arranged in a room 4000, and an object 5000 having the same physical properties as a human body is present.
  • Room 4000 is a 3m x 3m x 3m room with walls made of concrete.
  • the object 5000 is placed between the power transmitting device 10 and the power receiving device 20 at a position offset from the straight line connecting the power transmitting device 10 and the power receiving device 20. That is, the measurement environment shown in FIG. 22 is the same as the environment shown in FIG. 2.
  • the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can.
  • the power receiving device 20 emits a radio wave including the prescribed signal 1000
  • the main paths are a path directly toward the power transmitting device 10 and a path reflected by an object 5000 and directed toward the power transmitting device 10.
  • the power transmission device 10 estimates the propagation channel characteristics of the radio wave including the prescribed signal 1000 received by the array antenna 11, and estimates the array response vector V d .
  • the power transmission device 10 calculates an array response vector V i corresponding to the direction of the object 5000, that is, a null, and also calculates a constraint vector V i (l) based on the area of the object 5000, and uses it as a constraint vector.
  • An optimal weight vector W opt is generated using the constraint vector V i (l) and the array response vector V d .
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the power transmitting device 10 can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20. Furthermore, by forming a wide-angle null in the area of the object 5000, radiation of the radio wave 2000W toward the object 5000 can be suppressed. As a result, even in an environment where the prescribed signal 1000 from the power receiving device 20 reaches the human body after being reflected, the power transmitting device 10 can suppress the 2000 W of radio waves directed toward the human body, making it possible to realize safe wireless power transmission. .
  • the power transmission device 10 detects the directions and regions of the plurality of objects 5000 and generates a weight vector W opt so as to direct a null to each of the plurality of objects 5000. be able to.
  • the graph shown in FIG. 23 shows an example of the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 according to the second embodiment when two objects 5000 are present, for example.
  • the vertical axis shows the power (square of the absolute value) [dB] of the array response value
  • the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W.
  • the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is ⁇ /2, and the antenna arrangement is a uniformly spaced linear array. ⁇ represents wavelength.
  • the power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects ⁇ 10° and ⁇ 45° in the radiation direction as the directions of the two objects 5000.
  • the power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the ⁇ 10° direction, and an array response vector V 1 corresponding to the null in the ⁇ 45° direction.
  • Generate a weight vector W opt based on the array response vector V 2 and the wide angle of each null.
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the power of the array response value becomes large near the direction where the radiation direction is 30°, and the power of the array response value becomes large near the direction D1 of -10° and the direction D2 of -45°. is getting smaller.
  • the power transmitting device 10 detects a plurality of objects 5000, it is possible to direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and suppress the emission of the radio waves of 2000 W directed toward the plurality of objects 5000.
  • the array response vector V d for the power receiving device 20 in a multipath environment generally does not have a specific direction in the directivity pattern, in the example of FIG. 23, the array response vector is set in a 30° direction for ease of understanding.
  • the power transmission device 10 has been described as a case where the plurality of antenna elements 11A of the array antenna 11 are a linear array with equal intervals, but the present invention is not limited to this. As long as the power transmission device 10 can calculate the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
  • FIG. 24 is a diagram illustrating an example of the configuration of a power transmission device 10 according to a modification of the second embodiment.
  • FIG. 25 is a diagram illustrating an example of another configuration of the power transmission device 10 according to a modification of the second embodiment.
  • the power transmission device 10 may include the sensor section 15 and the detection section 16 in an electronic device 30 outside the power transmission device 10.
  • the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30.
  • the power transmission device 10 may include only the sensor section 15 outside the device.
  • the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
  • V d is in the same direction as the optimal weight in the retrodirective method
  • the matrix (I-AA + ) is a projection matrix of the subspace spanned by the column vectors of matrix A onto the orthogonal subspace. be.
  • the elements of the subspace spanned by the column vectors of matrix A are given by Ax.
  • FIG. 26 is a diagram for explaining a data flow of a power transmission device according to a modification of the second embodiment. Note that a certain condition includes a plurality of conditions that are generalized based on the direction and area of the object 5000.
  • ) (step S176). However, A [V 1 (0) ,..., V 1 (L1) , V 2 (0) ,..., V 2 (L2) ,..., V M (0) ,... , V M (LM) ]. The power transmission device 10 multiplies the transmission weight in step S132 described above.
  • the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A.
  • the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A.
  • the power transmitting device 10 since the power transmitting device 10 directs the null toward the region of the object 5000, the radio waves of 2000 W are directed toward the power receiving device 20, but the radiation directed toward the object 5000 can be reduced. In this way, the power transmission device 10 can obtain the above-mentioned effects even if the configuration is changed.
  • the weight generation unit 17 determines the minimum value ⁇ min i and the maximum value ⁇ max i in the direction from the direction ⁇ i and the area ⁇ i of the object 5000 to be nulled.
  • the weight generation unit 17 determines directions ⁇ i (0) , ⁇ i (1) , . . . , ⁇ i (Li) that cover from ⁇ min to ⁇ max in predetermined steps.
  • the step width may be constant regardless of the direction ⁇ i of the object 5000, or may be changed for each direction ⁇ i of the object 5000.
  • a method of setting nulls across the region of the object 5000 is referred to as a retrodirective method with multi-point null constraints. Both the retrodirective method with multi-point null constraint and the retrodirective method with differential coefficient constraint use (Equation 231). Therefore, in null widening, the retrodirective method with multi-point null constraint that sets a plurality of nulls and the retrodirective method with differential coefficient constraint that sets a plurality of constraint vectors according to the wide angle may be combined.
  • the direction and area of object 5000 may be limited by specific conditions.
  • the detection unit 16 may limit the direction and area to the human head by performing a known object recognition process on the image indicated by the sensor information.
  • the direction and area of the object 5000 may be limited to the direction and area in which the specified signal 1000 arrives by performing a known arrival direction estimation process on the specified signal 1000 received by the power transmission device 10.
  • the area of the object 5000 may be divided, and the null target area may be limited to the divided area. At this time, the divided regions may be switched over in time.
  • (Formula 2D6) includes the Vandermonde determinant, and since the Vandermonde determinant is the following (Formula 2D61), the following (Formula 2D62) is obtained.
  • Q l ' can be expressed by the following (Formula 2E4).
  • c l,1 , . . . , c l,l are constants.
  • FIG. 27 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the third embodiment.
  • FIG. 28 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna.
  • FIG. 29 is a diagram showing an example of an adaptive array antenna and directivity.
  • the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, It includes a multiplication section 18 and a preprocessing section 19.
  • the array antenna 11 has a configuration that allows directivity control (beamforming).
  • the array antenna 11 includes a plurality of antenna elements 11A.
  • each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction.
  • the configuration is such that this is possible.
  • Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 .
  • Array antenna 11 supplies the received signal to transmitter/receiver 13 .
  • the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this.
  • Array antenna 11 is an example of an antenna.
  • the transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20.
  • the transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply power.
  • 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period.
  • the transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000.
  • the transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
  • the transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11.
  • the transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like.
  • the transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14.
  • the transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18.
  • the transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable.
  • the transmitting/receiving unit 13 causes the plurality of antenna elements 11A to simultaneously radiate radio waves including a transmission signal 2000 multiplied by a transmission weight (complex amplitude), so that the power transmission device 10 emits radio waves 2000 W with controlled directivity. Note that the power transmitting device 10 may not include the multiplier 18 when the transmission signal is a non-modulated wave.
  • the estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A.
  • the propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics.
  • the array response vector indicates, for example, channel characteristics for the number of antennas.
  • the array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged.
  • the array response vector in reception processing is also referred to as a reception response vector.
  • the estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995.
  • the estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
  • the sensor unit 15 can acquire detectable information such as the presence or absence, position, area, distance (depth), etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10.
  • the radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20.
  • the area of the object 5000 includes, for example, information regarding the area of the object 5000 in the radio wave propagation environment, the angle of the object 5000 from the own aircraft, and the angular spread.
  • the sensor unit 15 uses, for example, a camera, LIDAR (Laser Imaging Detection and Ranging), radar such as a millimeter wave radar, ToF (Time of Flight) sensor, infrared sensor, human sensor, depth sensor, etc. to monitor the radio wave propagation environment. Obtain information regarding object 5000 present in .
  • the sensor unit 15 may be provided outside the power transmission device 10.
  • the sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect at least the direction and distance of the object 5000 in the radio wave propagation environment to the detection section 16.
  • the sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image.
  • the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
  • the detection unit 16 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding, for example, the position, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment.
  • the objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like.
  • the detection unit 16 executes a known object recognition process on the image indicated by the sensor information, and determines the presence or absence of the object 5000, its shape, the area where the object exists in the radio wave propagation environment, and the direction and distance of the object 5000 from the own device. Detect etc. For example, the detection unit 16 detects the direction, position, area, etc.
  • the detection unit 16 detects the position, distance, etc. of each of the plurality of objects 5000.
  • the detection unit 16 is electrically connected to the preprocessing unit 19, and supplies the direction, area, distance, etc. of the object 5000 from the array antenna 11 to the preprocessing unit 19 as identifiable direction information.
  • the direction information includes, for example, information indicating the direction, area, distance, etc. of the object 5000 from the array antenna 11.
  • the direction information includes identifiable information such as a region 151 including the object 5000, a size 152, and a distance 153.
  • the direction information can be information that allows identification of the size of the object 5000 set according to the arrangement of the plurality of antenna elements 11A. For example, when the plurality of antenna elements 11A are arranged in a matrix, the vertical and horizontal lengths, position, shape of the object 5000, etc. can be set for the region 151 of the object 5000.
  • the size 152 of the object 5000 includes the length and distance in one direction such as width and height, the angular range from the own aircraft, etc. Can be set.
  • the distance 153 of the object 5000 the shortest, longest, average distance, depth, etc. from the sensor unit 15 to the object 5000 can be set.
  • the region 151 of the object 5000 may be a spatial region according to the outer shape of the object 5000, etc.
  • the preprocessing unit 19 Based on the direction information from the detection unit 16, the preprocessing unit 19 performs processing to generate vectorization and the size of the null depth as identifiable information. When widening the null to match the size of the object 5000, the preprocessing unit 19 can perform vectorization using at least one of a multipoint null constraint method and a differential coefficient constraint method, for example. The processing of the preprocessing section 19 will be described later.
  • the preprocessing unit 19 performs preprocessing related to weight generation, and supplies the processing results to the weight generation unit 17.
  • the weight generation unit 17 generates power transmission weights from the results of the calculation performed by the preprocessing unit 19 based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the detection unit 16.
  • a weight generation method for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used.
  • the weight generation section 17 is electrically connected to the multiplication section 18 and supplies the multiplication section 18 with weight information indicating power transmission weights.
  • a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
  • the analytical array antenna characteristics are referred to as array response values AR.
  • the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (
  • 2 1) so that the total transmission power is constant. .
  • the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d at the time of reception can be regarded as the array response vector at the time of transmission from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal during reception shall have the same frequency as the radio waves during power transmission.
  • the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and information such as the direction of the receiving point 200P is not required.
  • Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero.
  • of the array response vector V d is maximized.
  • K is the number of antenna elements 11A.
  • M is the number of nulls. Since the degree of freedom is K-1, M ⁇ K.
  • argmax (argument of the maximum) means a set of values that achieves the maximum value.
  • Formula 315) is a formula for determining the optimal weight vector W opt where
  • A is a matrix shown in (Equation 318) in which array response vectors V 1 , V 2 , . . . , VM , which are M complex column vectors, are arranged.
  • a + is the Moore-Penrose general inverse of A.
  • a + (A H A) ⁇ 1 A H.
  • V' d (I-AA + )V d as in (Equation 316)
  • 2
  • 2 1 is satisfied.
  • ⁇ 1/
  • the array response vector between the power transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000.
  • the array response vector can be estimated using another method. need to be calculated.
  • an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of setting the path directly from the power transmission device 10 to the target to which the null is directed. .
  • the impulse response Z is given by the following (Equation 320).
  • the impulse response Z i can be obtained by the following (Equation 322).
  • the weight generation unit 17 derives the array response vector V i corresponding to the null from the direction ⁇ i of the null object using (Equation 321) and (Equation 322), and then derives the matrix (I ⁇ AA + ).
  • the weight generation unit 17 generates an optimal weight that maximizes the magnitude of the array response value
  • the storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device.
  • the storage unit 17D may include a storage device such as a RAM used as a temporary storage area.
  • the storage unit 17D may be provided outside the weight generation unit 17.
  • the object 5000 to be nulled has an expanse, and it is desirable to widen the angle of the null according to the area of the object 5000.
  • Multiple methods can be used to widen the null.
  • a multiple null constraint method, a derivative constraint method, or the like can be used.
  • the multi-point null constraint method is a method of widening the angle of the null by forming the null not in one direction but in multiple directions in the vicinity according to the size of the null target.
  • the array response vector V i in (Equation 315) above is calculated from ⁇ i , which is the direction of the null object, using (Equation 321) and (Equation 322).
  • a wide angle is achieved by giving multiple nearby directions as null target directions.
  • the differential coefficient constraint method is a method that uses the continuity of array response values in the ⁇ direction to achieve flattening based on the differential coefficient. The details of the differential coefficient constraint method will be explained below.
  • the array response value for the array response vector V( ⁇ ) in the ⁇ direction of a linear array in which K antenna elements 11A are equally spaced is a function of ⁇ , and this is defined as D( ⁇ ).
  • D( ⁇ ) is given by the following (Formula 323).
  • D( ⁇ ) is called an array response function or array factor.
  • D( ⁇ ) is a continuous function of ⁇ and is differentiable with respect to ⁇ . Note that this absolute value
  • V i (l) Q l V i as the array response vector V i in (Equation 315) described above, widening of the null angle due to the differential coefficient constraint can be realized.
  • l 1, . . . , Li . V i (l) is not correctly an array response vector, and it is inappropriate to call V i in (Equation 315) an array response vector in this case. Therefore, as a vector that provides a constraint condition, V i in (Equation 315) may be hereinafter referred to as a constraint vector.
  • K is the number of antenna elements 11A
  • M is the number of nulls.
  • the number M of nulls corresponds to the area of the object 5000 detected by the detection unit 16.
  • the optimal weight vector W opt in (Formula 328) is given by the following (Formula 329) using the above-mentioned (Formula 316).
  • A is a matrix in which M complex column constraint vectors V 1 , V 2 , . . . , V M are arranged, and A + is a Moore-Penrose general inverse matrix of A.
  • ⁇ [ ⁇ 1 ⁇ 2 ... ⁇ M ] T
  • of ⁇ i is given by (Equation 328).
  • T when "T" is written on the right shoulder of a character, such as (.) T , it means transposition.
  • the optimal weight vector W opt of (Formula 331) is given by the following (Formula 333) when the following (Formula 332) is defined. Note that null depth control using an approximate solution will be described later.
  • A' is a matrix in which M complex column vectors ⁇ 1 V 1 , ⁇ 2 V 2 , ... , ⁇ M V M are arranged. ⁇ M VM ].
  • FIG. 30 is a diagram illustrating an example of vectorization using the multi-point null constraint method.
  • the weight generation unit 17 determines directions ⁇ (0) i , . . .
  • the order L i of the approximate expression in the differential coefficient constraint method is referred to as a wide angle as a measure representing the degree of widening, but the L i in the multi-point null constraint method may also be referred to as a wide angle.
  • FIG. 31 is a diagram illustrating an example of vectorization using the differential coefficient constraint method.
  • the preprocessing unit 19 determines the wide angle L i from the direction ⁇ i and the area ⁇ i of the object 500.
  • the wide angle L i depends not only on the area ⁇ i but also on the direction ⁇ i . Therefore, the preprocessing unit 19 calculates the wide angle L i by using a table, machine learning, etc. that derives the wide angle L i from this information.
  • the preprocessing unit 19 applies information indicating the direction ⁇ i and the area ⁇ i to the table 170 to obtain the wide angle L i .
  • the area ⁇ i includes information regarding the area, distance, etc. of the object 5000, for example.
  • the table 170 is stored in the storage unit 17D and is a lookup table for deriving the wide angle L i from the direction ⁇ i and the area ⁇ i .
  • V i (0) V i .
  • FIG. 32 is a diagram illustrating an example of null depth processing by the preprocessing unit 19.
  • An example shown in FIG. 32 shows a processing example when the preprocessing unit 19 uses the above-mentioned (Formula 328).
  • the preprocessing unit 19 can perform processing regarding the size of the null depth, as shown in FIG. 32.
  • the amount of attenuation of the intensity of the radio wave 2000 W can be estimated from the distance d i to the null target.
  • the preprocessing unit 19 calculates the absolute value
  • may be changed for each direction ⁇ i of the object 5000, for example, taking into account the directivity of the antenna element itself.
  • a process is performed to obtain a vector P1 indicating the magnitude of the null depth with the same value for the same null target.
  • the vector P1 is, for example, [
  • the magnitude of the null depth corresponding to V i (0) be
  • the vector P2 is, for example, [
  • the preprocessing unit 19 uses the obtained constraint vector V i (l) to perform matrix operations such as (I-AA + ), A +, etc.
  • Vectors P1 and P2 indicating the magnitude of the depth are calculated, and the calculation results are stored in the storage section 17D and supplied to the weight generation section 17.
  • FIG. 33 is a diagram showing another example of processing of the null depth by the preprocessing unit 19.
  • An example shown in FIG. 33 shows a processing example when the preprocessing unit 19 uses the above-mentioned (Formula 331).
  • the preprocessing unit 19 can perform processing regarding the size of the null depth, as shown in FIG. 33.
  • the preprocessing unit 19 calculates the weighting coefficient ⁇ i using a table of the distance d i and the weighting coefficient ⁇ i based on the results measured in advance.
  • the weighting coefficient ⁇ i may be changed for each direction ⁇ i of the object 5000, for example, taking into account the directivity of the antenna element itself.
  • a process is executed to obtain a vector P3 indicating the magnitude of the null depth with the same value for the same null target.
  • the vector P3 is, for example, [ ⁇ 1 , ⁇ 1 , ..., ⁇ 1 , ⁇ 2 , ⁇ 2 , ..., ⁇ 2 , ... ⁇ M , ⁇ M , ..., ⁇ M ] T .
  • ⁇ i be the size of the null depth corresponding to V i (0)
  • the vector P4 is, for example, [ ⁇ 1 , ⁇ 0 , ..., ⁇ 0 , ⁇ 2 , ⁇ 0 , ..., ⁇ 0 , .... ⁇ M , ⁇ 0 , ..., ⁇ 0 ] T .
  • the preprocessing unit 19 uses the obtained constraint vector V i (l) and vectors P3 and P4 indicating the magnitude of the null depth to calculate (IA' A matrix calculation of (I+A' H A') -1 A' H ) is performed, and the calculation result is stored in the storage section 17D and supplied to the weight generation section 17.
  • the weight generation unit 17 uses the array response vector V d for the power receiving device 20, which is the estimation result of the estimation unit 14, and the information stored in the storage unit 17D to generate the optimal weight vector W opt as described above (Equation 329 ) or (Equation 333).
  • the weight generation unit 17 can store weight information that allows identification of a weight vector suitable for the generated direction, area, and distance in the storage unit 17D.
  • the power transmission device 10 can set the wide angle L i for each null target.
  • the power transmission device 10 can independently calculate the matrix or vector calculated from the direction, area, and distance in which the null is directed, and the propagation channel characteristics of the specified signal 1000.
  • the multiplication section 18 multiplies the transmission signal 2000 from the transmission signal generation section 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation section 17.
  • the multiplication unit 18 includes, for example, a multiplier.
  • the multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
  • the functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 27 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example.
  • the functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
  • FIG. 34 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the third embodiment.
  • the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24.
  • the power receiving device 20 of the present disclosure may be a movable device.
  • such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position.
  • the power receiving device 20 may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc.
  • the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
  • the antenna 21 is electrically connected to the transmitting/receiving section 22.
  • the antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10.
  • the antenna 21 for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used.
  • the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10.
  • the antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
  • the transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24.
  • the transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 .
  • the transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
  • the signal generating section 23 generates a regulation signal 1000.
  • the signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 .
  • the signal generator 23 can generate the regulation signal 1000 based on the transmission cycle.
  • the signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
  • the power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current.
  • the power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit.
  • the power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply).
  • the loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
  • 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. 34 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example.
  • the functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
  • FIG. 35 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG.
  • FIG. 36 is a diagram for explaining an example of the data flow of the power transmission device 10 shown in FIG. 35.
  • FIG. 36 shows a case where the power transmission device 10 uses the above-mentioned (Formula 328).
  • the power receiving device 20 emits radio waves including a prescribed signal 1000.
  • the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111).
  • the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do.
  • the power transmission device 10 advances the process to step S131.
  • the power transmitting device 10 uses the detection unit 16 to detect the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 36, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions ⁇ 1 , ⁇ 2 , ..., ⁇ of the plurality of objects 5000. Detect M. The power transmission device 10 detects regions ⁇ 1 , ⁇ 2 , . . . , ⁇ M of the plurality of objects 5000. The power transmission device 10 detects distances d 1 , d 2 , . . .
  • the power transmission device 10 detects the detected object 5000 in directions ⁇ 1 , ⁇ 2 , ..., ⁇ M , areas ⁇ 1 , ⁇ 2 , ..., ⁇ M and distances d 1 , d 2 , ..., d M is supplied to the preprocessing section 19.
  • the power transmitting device 10 advances the process to step S122.
  • the power transmission device 10 performs preprocessing (step S122). For example, when using the differential coefficient constraint method, as shown in FIG. 36, the power transmission device 10 performs vectorization in the preprocessing unit 19 (step S191). For example, the power transmission device 10 applies information indicating the direction ⁇ i and the region ⁇ i to the table 170 to obtain the wide angle L i , and vectorizes the wide angle L i and the array response vector V i .
  • the preprocessing unit 19 calculates the size of the null depth (step S193). Specifically, the power transmission device 10 sets the portion corresponding to the differential coefficient constraint to zero based on the distance d i from the detection unit 16 and the wide angle L i determined in step S191, and indicates the size of the null depth. A vector P2 is obtained and stored in the storage section 17D. Returning to FIG. 35, when the process of step S122 is completed, the power transmitting device 10 advances the process to step S131.
  • the power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 36, in the power transmission device 10, the weight generation unit 17 performs matrix and vector integration (step S171). Specifically, in the power transmission device 10, the weight generation unit 17 integrates the calculation result (I-AA + ) and the array response vector V d . For example, the power transmission device 10 calculates the vector V d ′ by integrating the calculation result of (I ⁇ AA + ) in the storage unit 17D and the array response vector V d from the estimation unit 14.
  • the weight generation unit 17 performs matrix and vector multiplication (step S172). Specifically, in the power transmission device 10, the weight generation unit 17 integrates the calculation result (A + ) and the array response vector V d (step S172). For example, the power transmission device 10 calculates a vector (A + V d ) by integrating the calculation result of (A + ) in the storage unit 17D and the array response vector V d from the estimation unit 14. In the power transmission device 10, the weight generation unit 17 generates a vector ⁇ (step S173). For example, the power transmission device 10 generates the vector ⁇ based on the vector P2 indicating the magnitude of the null depth in the storage unit 17D and the vector (A + V d ) in step S172.
  • the weight generation unit 17 generates a vector V ⁇ (step S174). For example, the power transmission device 10 generates the vector V ⁇ based on the calculation result of (A + ) in the storage unit 17D and the vector ⁇ in step S173. In the power transmission device 10, the weight generation unit 17 performs coefficient calculation (step S175). For example, the power transmission device 10 calculates the coefficient ⁇ based on the vector V d ′ in step S171 and the vector V ⁇ in step S174.
  • the weight generation unit 17 generates a weight vector W opt (step S176).
  • the power transmitting device 10 advances the process to step S132.
  • the power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, the power transmitting device 10 directs the null toward the area of the object 5000 considering the amount of attenuation of the intensity of the radio wave 2000W from the distance d i to the object 5000 to be nulled. They are combined so that they match each other, but in the case of the object 5000, they are combined so that they weaken each other.
  • the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
  • the power transmitting device 10 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
  • FIG. 37 is a diagram for explaining another example of the data flow of the power transmission device 10 shown in FIG. 35.
  • FIG. 37 shows a case where the power transmission device 10 uses the above-mentioned (Formula 331). Note that the power transmission device 10 executes the same processing procedure as the processing procedure shown in FIG. 35 described above.
  • the power receiving device 20 emits radio waves including a prescribed signal 1000.
  • the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111).
  • the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do.
  • the power transmission device 10 advances the process to step S131.
  • the power transmitting device 10 uses the detection unit 16 to detect the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 37, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions ⁇ 1 , ⁇ 2 , ..., ⁇ of the plurality of objects 5000. Detect M. The power transmission device 10 detects regions ⁇ 1 , ⁇ 2 , . . . , ⁇ M of the plurality of objects 5000. The power transmission device 10 detects distances d 1 , d 2 , . . .
  • the power transmission device 10 detects the detected object 5000 in directions ⁇ 1 , ⁇ 2 , ..., ⁇ M , areas ⁇ 1 , ⁇ 2 , ..., ⁇ M and distances d 1 , d 2 , ..., d M is supplied to the preprocessing section 19.
  • the power transmitting device 10 advances the process to step S122.
  • the power transmission device 10 performs preprocessing (step S122). For example, when using the differential coefficient constraint method, as shown in FIG. 37, the power transmission device 10 performs vectorization in the preprocessing unit 19 (step S194). For example, the power transmission device 10 applies information indicating the direction ⁇ i and the region ⁇ i to the table 170 to obtain the wide angle L i , and vectorizes the wide angle L i and the array response vector V i .
  • the preprocessing unit 19 calculates the size of the null depth (step S195). Specifically, the power transmission device 10 uses a vector P4 that indicates the magnitude of the null depth as a fixed value for the differential coefficient constraint, based on the distance d i from the detection unit 16 and the wide angle L i obtained in step S194. seek.
  • the power transmitting device 10 advances the process to step S131.
  • the power transmission device 10 normalizes the array response vector V d '' calculated by the weight generation unit 17 (step S178). For example, the power transmission device 10 generates the optimal weight vector W opt using (Equation 333).
  • the power transmitting device 10 advances the process to step S132.
  • the power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, the power transmitting device 10 directs the null toward the area of the object 5000 considering the amount of attenuation of the intensity of the radio wave 2000W from the distance d i to the object 5000 to be nulled. They are combined so that they match each other, but in the case of the object 5000, they are combined so that they weaken each other.
  • the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
  • the power transmitting device 10 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
  • the estimation of the array response vector V d according to the specified signal 1000 (step S111) and the preprocessing according to the direction, area, and distance of the object 5000 (step S122) are synchronized. There's no need. Therefore, for example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction, area, and distance of the object 5000, the power transmission device 10 uses the past constraint vector V i (l) , the past restraint vector V i (l) under a similar environment, etc. You can.
  • FIG. 38 is a diagram for explaining an operation example of the power transmission device 10 according to the third embodiment.
  • FIG. 39 is a diagram illustrating an example of the result of calculating the directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the third embodiment by computer simulation.
  • FIG. 40 is a diagram showing another example of the result of calculating the directivity pattern of the radio wave 2000 W of the power transmission device 10 according to the third embodiment by computer simulation.
  • the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can.
  • the radio wave including the prescribed signal 1000 emitted by the power receiving device 20 has a path that goes directly to the power transmitting device 10 and a path that is reflected by an object 5000 and goes to the power transmitting device 10 .
  • the power transmitting device 10 estimates the propagation channel characteristics of the radio wave including the specified signal 1000 received by the array antenna 11 and estimates the array response vector V d . It includes the path and the characteristics of the path toward the object 5000.
  • the power transmitting device 10 detects the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15, and determines the directions ⁇ 1 , ⁇ 2 , ..., ⁇ M , areas ⁇ 1 , ⁇ 2 , ..., ⁇ M and distances d 1 , d 2 , ..., d M are detected.
  • the power transmission device 10 calculates the array response vector V i corresponding to the direction of the object 5000, that is, the null target, and also calculates the constraint vector V i (l) based on the area and distance of the object 5000, and calculates the constraint vector V i (l) based on the area and distance of the object 5000.
  • An optimal weight vector W opt that reduces the radio field intensity in the direction of the object 5000 is generated using i (l) and the array response vector V d . From the power transmission device 10, a radio wave of 2000 W of the transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the power transmitting device 10 can suppress 2000 W of radio waves directed toward the human body, etc., thereby realizing safe wireless power transmission. Can be done.
  • the power transmission device 10 detects the direction, area, and distance of the plurality of objects 5000, and sets the weight vector W opt so as to direct a null to each of the plurality of objects 5000. can be generated.
  • the graph shown in FIG. 39 shows, for example, the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 when the multi-point null restraint method is used in the power transmission device 10 according to the third embodiment when two objects 5000 are present.
  • An example is shown.
  • the vertical axis shows the power (square of the absolute value) [dB] of the array response value
  • the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W.
  • the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is ⁇ /2, and the antenna arrangement is a uniformly spaced linear array. ⁇ represents wavelength.
  • the power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects ⁇ 10° and ⁇ 45° in the radiation direction as the directions of the two objects 5000.
  • the power transmission device 10 calculates the null depth in the -10° direction as 0.001 and the null depth in the -45° direction as 0.01.
  • the power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the ⁇ 10° direction region, and an array response vector V 1 corresponding to the null in the ⁇ 45° direction region.
  • a weight vector W opt is generated based on the array response vector V 2 corresponding to the null.
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the array response value becomes high near the direction where the radiation direction is 30°, and the array response value becomes low near the direction D1 of -10° and the direction D2 of -45°.
  • the depth of the null is -60 dB in direction D1 and -40 dB in direction D2.
  • the graph shown in FIG. 40 shows, for example, the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 when the differential coefficient constraint method is used in the power transmission device 10 according to the third embodiment when two objects 5000 exist.
  • An example is shown.
  • the vertical axis shows the power (square of the absolute value) [dB] of the array response value
  • the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W.
  • the graph shown in FIG. 40 is the same as the measurement conditions shown in FIG. 39.
  • the power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects ⁇ 10° and ⁇ 45° in the radiation direction as the directions of the two objects 5000.
  • the power transmission device 10 calculates the null depth in the -10° direction as 0.001 and the null depth in the -45° direction as 0.01.
  • the power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the ⁇ 10° direction region, and an array response vector V 1 corresponding to the null in the ⁇ 45° direction region.
  • a weight vector W opt is generated based on the array response vector V 2 corresponding to the null.
  • a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
  • the array response value becomes high near the direction where the radiation direction is 30°, and the array response value becomes low near the direction D1 of -10° and the direction D2 of -45°.
  • the depth of the null is -60 dB in direction D3 and -40 dB in direction D4.
  • the power transmission device 10 can obtain similar effects whether using the multi-point null constraint method or the differential coefficient constraint method. As a result, in the system 1, the power transmitting device 10 can improve safety even if the antenna directivity is controlled based on the identification result of the radio wave propagation channel of the prescribed signal 1000 from the power receiving device 20.
  • the array response vector V d for the power receiving device 20 in a multipath environment does not have a specific direction in the directivity pattern, but in the examples of FIGS. And so.
  • the power transmission device 10 is described as being a linear array in which the plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals, but the power transmission device 10 is not limited to this. If the power transmission device 10 is capable of calculating the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
  • the power transmission device 10 may include the sensor section 15 , the detection section 16 , and the preprocessing section 19 in an electronic device 30 outside the power transmission device 10 .
  • the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30.
  • the power transmission device 10 may have only the sensor section 15 provided outside the device.
  • the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
  • the power transmission device 10 described above may combine a multi-point null constraint method and a differential coefficient constraint method for null widening.
  • the power transmission device 10 described above may be configured to use at least one of a multi-point null constraint method and a differential coefficient constraint method for null widening.
  • the above-described power transmission device 10 may combine a method of setting a plurality of nulls over a region to be nulled and a method using differential coefficient constraint to widen the null angle.
  • W ⁇ V d may be replaced with W ⁇ W 0 . That is, it means that it can also be applied to the transmission weight W 0 derived under certain conditions.
  • the transmission weight W 0 derived under certain conditions includes a plurality of weights that do not form a null.
  • the above-mentioned (Formula 332) may be replaced with the following (Formula 334).
  • the power transmission device 10 can reduce the influence on the human body with a transmission weight W close to 0 .
  • FIG. 43 is a diagram illustrating an example of the configuration of the power transmission device 10 according to a modification of the third embodiment.
  • the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, a sensor section 15, a detection section 16, a weight generation section 17, a multiplication section 18, It includes a preprocessing section 19 and a generation section 10A.
  • the generation unit 10A generates the transmission weight W 0 under certain conditions.
  • the generation unit 10A supplies the generated transmission weight W 0 to the weight generation unit 17.
  • the transmission weight W 0 under certain conditions may be a weight stored in the storage unit 17D.
  • the weight generation unit 17 applies the transmission weight W 0 to (Equation 334) to generate a weight vector W opt .
  • the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A.
  • the radio waves of 2000 W are not directed toward the region of the object 5000, so that the radiation directed toward the object 5000 can be reduced. In this way, the power transmission device 10 can obtain the above-mentioned effects even if the configuration is changed to use the transmission weight W 0 .
  • the above-described power transmission device 10 may be configured to classify the detected object 5000 into categories such as human body, animal, plant, etc., and adjust the null depth for each category.
  • the power transmission device 10 may be controlled to increase the null depth when the object 5000 is a human body, an animal, etc., and to decrease the null depth when the object 5000 is a plant or the like.
  • V' d (I-AA + )V d
  • V ⁇ (A + ) H ⁇ .
  • A is a matrix in which M complex column constraint vectors V 1 , V 2 , . . . , V M are arranged, and A + is a Moore-Penrose general inverse matrix of A.
  • ⁇ [ ⁇ 1 ⁇ 2 ... ⁇ M ] T
  • the argument angle of ⁇ i has the same value as each element of A + V d .
  • ⁇ satisfies (Equation 330) described above.
  • Form D10 The following (Formula D10) may be selected as ⁇ that satisfies (Formula D91).
  • A' is the following (Formula E3) in which M complex column vectors ⁇ 1 V 1 , ⁇ 2 V 2 , ..., ⁇ M V M are arranged, and the following (Formula E4) is the weight It is a coefficient.
  • FIG. 44 is a top view showing the simulation arrangement according to the first embodiment.
  • FIG. 45 is a side view showing the simulation arrangement according to the first embodiment.
  • FIG. 46 is a diagram showing main specifications of simulation according to the first embodiment.
  • FIG. 47 is a diagram showing power distributions according to different methods according to the first embodiment.
  • the antenna (Tx) of the power transmitting device 10 and the antenna (Rx) of the power receiving device 20 are installed in the center of a concrete room with a width of 3.0 m x depth of 4.0 m x height of 3.0 m. are placed 3.0 m apart.
  • the height of the center of the antenna is 0.8 m from the floor surface for both power transmitting and receiving devices.
  • An object 5000 which is a pseudo human body, is placed in this multipath environment.
  • the position of the object 5000 is expressed by coordinates on the xy plane.
  • the coordinate origin is set at the center of the antenna (Tx) as shown in FIGS. 44 and 45.
  • the object 5000 is a rectangular parallelepiped.
  • the results may change depending on the shape of the object 5000, but studies using other shapes will be left as future work.
  • the main specifications of the simulation are shown in FIG.
  • the relative permittivity and conductivity of the simulated human body shown in (*) in Figure 46 are based on the "Method for measuring specific absorption rate for wireless equipment, etc. used in close proximity to the human body, excluding the temporal region" (Information and Communications Council, Reference is made to Partial Report of Consultation No. 118, ⁇ Measurement method of specific absorption rate for mobile phone terminals, etc.'' (October 2011).
  • the simulation is performed using two methods for comparison: a multipath retrodirective method (MR method) and a retrodirective method with linear constraints (LCR method). The two methods are the same until the pilot signal is sent from the antenna (Rx) and the array response vector V d is extracted on the antenna (Tx) side.
  • MR method multipath retrodirective method
  • LCR method retrodirective method with linear constraints
  • the power is the received power when a 0 dBi omnidirectional antenna is placed at each observation point.
  • FIG. 47 it can be confirmed that in the MR method, radio waves are emitted toward the object 5000, but in the LCR method, the radiation directed toward the object 5000 is suppressed.
  • FIGS. 48 and 49 show power distributions on the A side and B side of the object 5000, which is a pseudo human body, in FIG. 44.
  • FIG. 48 is a diagram showing the power distribution of the two surfaces of the pseudo human body near the power transmission device 10 according to the MR method.
  • FIG. 49 is a diagram showing the power distribution of the two surfaces of the pseudo human body near the power transmission device 10 according to the LCR method. Note that the color bars in FIGS. 48 and 49 are the same as in FIG. 47.
  • the LCR method does not use the human body as a reflector, it is thought that the radiation to the human body is reduced and the received power at the antenna (Rx) is also reduced. Therefore, the ratio of "received power at the antenna (Rx)" to "power at the simulated human body” is used as an evaluation index of the human body radiation avoidance effect.
  • the "power in the pseudo human body” is the median value of the power distributions in FIGS. 48 and 49.
  • FIG. 50 is a graph of the cumulative relative power of the pseudo human body shown in FIGS. 48 and 49.
  • FIG. 50 the power at which the cumulative relative frequency is 50% is defined as "power in the pseudo human body.”
  • “power ratio of LCR method (dB)” - “power ratio of MR method (dB)” is called method gain, and this is finally evaluated.
  • FIG. 51 is a diagram showing an example of movement of the object 5000 in the simulation according to the first embodiment.
  • the y-coordinate of the object 5000 is fixed at 1.5 m, and the x-coordinate is changed from 0.6 m to 1.4 m.
  • the result at this time is shown in FIG.
  • the center of the object 5000 is on the bisector of the antenna (Tx) and the antenna (Rx), and the object 5000 is a reflecting plate in both cases.
  • the method gain when moving in the x direction is 2.2 to 6.2 dB, and radiation to the human body is suppressed accordingly.
  • the x-coordinate of the object 5000 is fixed at 1.0m, and the y-coordinate is changed from 1.1m to 1.9m.
  • the result at this time is shown in FIG.
  • the method gain sometimes reached 2.0 dB, it never became negative.
  • the reason why the method gain decreases when moving in the y direction is considered to be that the object 5000 does not play the role of a reflector when the y coordinate is 1.2 m or less or 1.8 m or more.
  • FIG. 54 is a table showing the relationship between the y-coordinate and the number of elementary waves reflected by the pseudo-human body.
  • the y-coordinate becomes zero when it is 1.2 m or less or 1.8 m or more, and this is because the propagation path of the antenna (Tx) - pseudo human body - antenna (Rx) is due to the geometric positional relationship. means it doesn't exist.
  • the system gain was 4.0, as shown in FIG. This case is considered to be due to the influence of the propagation path from the antenna (Tx) to the pseudo human body, multiple reflections on walls, etc., and reaching the antenna (Rx), and the LCR method suppresses this radiation.
  • each functional unit, each means, each step, etc. may be added to other embodiments so as not to be logically contradictory, or each functional unit, each means, each step, etc.
  • each embodiment it is possible to combine or divide a plurality of functional units, means, steps, etc. into one. Further, each embodiment of the present disclosure described above is not limited to being implemented faithfully to each described embodiment, but may be implemented by combining each feature or omitting a part as appropriate. You can also do that.

Abstract

A power transmission device (10) according to one of embodiments comprises: a transmission/reception unit (13) that uses an antenna to transmit a transmission signal to a power reception device and receive a reception signal transmitted from the power reception device; and a weight generation unit (17) that controls, on the basis of the reception signal and information about an object different from the power reception device, the directionality of an antenna for transmitting the transmission signal so that the intensity of a radio wave toward the object becomes a predetermined intensity or less, said radio wave transmitting the transmission signal.

Description

送電装置、ワイヤレス電力伝送システム及び制御方法Power transmission device, wireless power transmission system and control method
　本出願は、送電装置、ワイヤレス電力伝送システム及び制御方法に関する。 The present application relates to a power transmission device, a wireless power transmission system, and a control method.
　アレーアンテナを用いた無線給電では、レトロディレクティブ方式が用いられることがある。レトロディレクティブ方式は、電力伝送に先立ち受電装置からパイロット信号を送信し、送電装置側でパイロット信号の電波伝搬チャネル特性を推定し、これをもとに送信ウェイトを生成することでアンテナ指向性を制御する。特許文献１には、複数のアンテナ素子と給電対象機器のアンテナとの間の伝搬係数を計算し、伝搬係数に基づいて給電信号の位相及び振幅を複数のアンテナ素子ごとに調整する無線給電装置が開示されている。 A retrodirective method is sometimes used for wireless power feeding using an array antenna. The retrodirective method transmits a pilot signal from the power receiving device prior to power transmission, estimates the radio wave propagation channel characteristics of the pilot signal on the power transmitting device side, and controls antenna directivity by generating transmission weights based on this. do. Patent Document 1 discloses a wireless power feeding device that calculates a propagation coefficient between a plurality of antenna elements and an antenna of a power feeding target device, and adjusts the phase and amplitude of a feeding signal for each of the plurality of antenna elements based on the propagation coefficient. Disclosed.
特開２０２０－１０４８５号公報JP 2020-10485 Publication
　レトロディレクティブ方式において、受電装置と送電装置の間に人間が存在する場合、受電装置が送信するパイロット信号は、人体で大きく減衰するため、パイロット信号の電波伝搬チャネル特性に基づいてアンテナ指向性を制御すると、送電装置から人体に向けて放射される電波の強度は弱くなり、人体に対する安全性が高いとされている。しかし、送電装置からの電波の適切な放射について改善の余地があった。 In the retrodirective method, if a person is present between the power receiving device and the power transmitting device, the pilot signal transmitted by the power receiving device will be greatly attenuated by the human body, so antenna directivity is controlled based on the radio wave propagation channel characteristics of the pilot signal. This weakens the intensity of the radio waves emitted from the power transmission device toward the human body, making it highly safe for the human body. However, there was room for improvement in the appropriate radiation of radio waves from the power transmission equipment.
　態様の１つに係る送電装置は、受電装置への送信信号の送信と前記受電装置から送信される受信信号の受信をアンテナにより行う送受信部と、前記受信信号と、前記受電装置とは異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成部と、を備える。 A power transmitting device according to one aspect includes a transmitting/receiving unit that transmits a transmitting signal to a power receiving device and receives a receiving signal transmitted from the power receiving device using an antenna, and an object different from the received signal and the power receiving device. and a weight generation unit that controls the directivity of an antenna that transmits the transmission signal based on information regarding the transmission signal so that the intensity of the radio wave that transmits the transmission signal to the object is equal to or less than a predetermined value.
　態様の１つに係るワイヤレス電力伝送システムは、受電装置と、前記受電装置から送信される受信信号の受信と送信信号の送信をアンテナにより行う送受信部、及び、前記受信信号と前記受電装置とは異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成部を有する送電装置と、を備える。 A wireless power transmission system according to one aspect includes a power receiving device, a transmitting/receiving unit that receives a received signal transmitted from the power receiving device and transmits a transmitted signal using an antenna, and a communication between the received signal and the power receiving device. a power transmission device including a weight generation unit that controls the directivity of an antenna that transmits the transmission signal, based on information regarding different objects, so that the intensity of radio waves that transmit the transmission signal to the object is equal to or less than a predetermined level; and.
　態様の１つに係る制御方法は、受電装置への送信信号の送信と前記受電装置から送信される受信信号の受信をアンテナにより行う送受信工程と、前記受信信号と前記受電装置と異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成工程と、を備える。 A control method according to one aspect includes a transmission/reception step of transmitting a transmission signal to a power reception device and receiving a reception signal transmitted from the power reception device using an antenna, and information regarding the reception signal and an object different from the power reception device. and a weight generation step of controlling the directivity of the antenna that transmits the transmission signal, based on the above, so that the intensity of the radio wave that transmits the transmission signal to the object is equal to or less than a predetermined value.
図１は、実施形態に係るワイヤレス電力伝送システムの概要を説明するための図である。FIG. 1 is a diagram for explaining an overview of a wireless power transmission system according to an embodiment. 図２は、従来のレトロディレクティブ方式で参考用送電装置が放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。FIG. 2 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by a reference power transmission device using a conventional retrodirective method using a computer simulation. 図３は、実施形態１に係る送電装置の構成の一例を示す図である。FIG. 3 is a diagram illustrating an example of the configuration of the power transmission device according to the first embodiment. 図４は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。FIG. 4 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. 図５は、アダプティブアレーアンテナと指向性の一例を示す図である。FIG. 5 is a diagram showing an example of an adaptive array antenna and directivity. 図６は、実施形態１に係る受電装置の構成の一例を示す図である。FIG. 6 is a diagram illustrating an example of the configuration of the power receiving device according to the first embodiment. 図７は、図１に示すシステムの送電装置の処理手順の一例を説明するための図である。FIG. 7 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG. 図８は、図７に示す送電装置のデータフローを説明するための図である。FIG. 8 is a diagram for explaining the data flow of the power transmission device shown in FIG. 7. 図９は、実施形態１に係る送電装置の動作例を説明するための図である。FIG. 9 is a diagram for explaining an example of the operation of the power transmission device according to the first embodiment. 図１０は、図９に示す送電装置が放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。FIG. 10 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device shown in FIG. 9 by computer simulation. 図１１は、実施形態１に係る送電装置の電波の指向性パターンの一例を示す図である。FIG. 11 is a diagram illustrating an example of a directivity pattern of radio waves of the power transmission device according to the first embodiment. 図１２は、実施形態１の変形例に係る送電装置の構成の一例を示す図である。FIG. 12 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the first embodiment. 図１３は、実施形態１の変形例に係る送電装置の構成の一例を示す図である。FIG. 13 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the first embodiment. 図１４は、実施形態２に係る送電装置の構成の一例を示す図である。FIG. 14 is a diagram illustrating an example of the configuration of a power transmission device according to the second embodiment. 図１５は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。FIG. 15 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. 図１６は、アダプティブアレーアンテナと指向性の一例を示す図である。FIG. 16 is a diagram showing an example of an adaptive array antenna and directivity. 図１７は、微係数拘束時のベクトル化の一例を示す図である。FIG. 17 is a diagram illustrating an example of vectorization during differential coefficient constraint. 図１８は、実施形態２に係る受電装置の構成の一例を示す図である。FIG. 18 is a diagram illustrating an example of the configuration of a power receiving device according to the second embodiment. 図１９は、図１に示すシステムの送電装置の処理手順の一例を説明するための図である。FIG. 19 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG. 図２０は、図１９に示す送電装置のデータフローを説明するための図である。FIG. 20 is a diagram for explaining the data flow of the power transmission device shown in FIG. 19. 図２１は、実施形態２に係る送電装置の動作例を説明するための図である。FIG. 21 is a diagram for explaining an example of the operation of the power transmission device according to the second embodiment. 図２２は、図２１に示す送電装置が放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。FIG. 22 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device shown in FIG. 21 by computer simulation. 図２３は、送電装置の電波の指向性パターンの一例を示す図である。FIG. 23 is a diagram illustrating an example of a directivity pattern of radio waves of a power transmission device. 図２４は、実施形態２の変形例に係る送電装置の構成の一例を示す図である。FIG. 24 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of the second embodiment. 図２５は、実施形態２の変形例に係る送電装置の他の構成の一例を示す図である。FIG. 25 is a diagram illustrating an example of another configuration of a power transmission device according to a modification of the second embodiment. 図２６は、実施形態２の変形例に係る送電装置のデータフローを説明するための図である。FIG. 26 is a diagram for explaining a data flow of a power transmission device according to a modification of the second embodiment. 図２７は、実施形態３に係る送電装置の構成の一例を示す図である。FIG. 27 is a diagram illustrating an example of the configuration of a power transmission device according to Embodiment 3. 図２８は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。FIG. 28 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. 図２９は、アダプティブアレーアンテナと指向性の一例を示す図である。FIG. 29 is a diagram showing an example of an adaptive array antenna and directivity. 図３０は、多点ヌル拘束方式のベクトル化の一例を示す図である。FIG. 30 is a diagram illustrating an example of vectorization using the multi-point null constraint method. 図３１は、微係数拘束方式のベクトル化の一例を示す図である。FIG. 31 is a diagram illustrating an example of vectorization using the differential coefficient constraint method. 図３２は、前処理部のヌル深度の処理例を示す図である。FIG. 32 is a diagram illustrating an example of null depth processing by the preprocessing unit. 図３３は、前処理部のヌル深度の他の処理例を示す図である。FIG. 33 is a diagram illustrating another example of processing of the null depth by the preprocessing section. 図３４は、実施形態３に係る受電装置の構成の一例を示す図である。FIG. 34 is a diagram illustrating an example of the configuration of a power receiving device according to Embodiment 3. 図３５は、図１に示すシステムの送電装置の処理手順の一例を説明するための図である。FIG. 35 is a diagram for explaining an example of a processing procedure of the power transmission device of the system shown in FIG. 図３６は、図３５に示す送電装置のデータフローの一例を説明するための図である。FIG. 36 is a diagram for explaining an example of the data flow of the power transmission device shown in FIG. 35. 図３７は、図３５に示す送電装置のデータフローの他の一例を説明するための図である。FIG. 37 is a diagram for explaining another example of the data flow of the power transmission device shown in FIG. 35. 図３８は、実施形態３に係る送電装置の動作例を説明するための図である。FIG. 38 is a diagram for explaining an example of the operation of the power transmission device according to the third embodiment. 図３９は、実施形態３に係る送電装置の電波の指向性パターンの一例を示す図である。FIG. 39 is a diagram illustrating an example of a directivity pattern of radio waves of the power transmission device according to the third embodiment. 図４０は、実施形態３に係る送電装置の電波の指向性パターンの他の一例を示す図である。FIG. 40 is a diagram illustrating another example of the radio wave directivity pattern of the power transmission device according to the third embodiment. 図４１は、実施形態３の変形例に係る送電装置の構成の一例を示す図である。FIG. 41 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3. 図４２は、実施形態３の変形例に係る送電装置の構成の一例を示す図である。FIG. 42 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3. 図４３は、実施形態３の変形例に係る送電装置の構成の一例を示す図である。FIG. 43 is a diagram illustrating an example of the configuration of a power transmission device according to a modification of Embodiment 3. 図４４は、実施形態１に係るシミュレーションの配置を示す上面図である。FIG. 44 is a top view showing the simulation arrangement according to the first embodiment. 図４５は、実施形態１に係るシミュレーションの配置を示す側面図である。FIG. 45 is a side view showing the simulation arrangement according to the first embodiment. 図４６は、実施形態１に係るシミュレーションの主要諸元を示す図である。FIG. 46 is a diagram showing main specifications of simulation according to the first embodiment. 図４７は、実施形態１に係る異なる方式による電力分布を示す図である。FIG. 47 is a diagram showing power distributions according to different methods according to the first embodiment. 図４８は、送電装置に近い２表面の疑似人体のＭＲ方式による電力分布を示す図である。FIG. 48 is a diagram showing the power distribution according to the MR method of the pseudo human body on two surfaces near the power transmission device. 図４９は、送電装置に近い２表面の疑似人体のＬＣＲ方式による電力分布を示す図である。FIG. 49 is a diagram showing the power distribution of the pseudo human body on two surfaces near the power transmission device using the LCR method. 図５０は、図４８及び図４９の疑似人体の電力の累積相対度数のグラフである。FIG. 50 is a graph of the cumulative relative power of the pseudo human body shown in FIGS. 48 and 49. FIG. 図５１は、実施形態１に係るシミュレーションの物体の移動例を示す図である。FIG. 51 is a diagram illustrating an example of movement of an object in the simulation according to the first embodiment. 図５２は、図５１のｘ方向移動（ｙ＝１．５ｍ）時の結果を示すグラフである。FIG. 52 is a graph showing the results when moving in the x direction (y=1.5 m) in FIG. 51. 図５３は、図５１のｙ方向移動（ｘ＝１．０ｍ）時の結果を示すグラフである。FIG. 53 is a graph showing the results when moving in the y direction (x=1.0 m) in FIG. 51. 図５４は、ｙ座標と疑似人体で反射する素波数の関係を示す表である。FIG. 54 is a table showing the relationship between the y-coordinate and the number of elementary waves reflected by the pseudo-human body.
　本出願に係る送電装置、ワイヤレス電力伝送システム、制御方法等を実施するための複数の実施形態を、図面を参照しつつ詳細に説明する。なお、以下の説明により本発明が限定されるものではない。また、以下の説明における構成要素には、当業者が容易に想定できるもの、実質的に同一のもの、いわゆる均等の範囲のものが含まれる。以下の説明において、同様の構成要素について同一の符号を付すことがある。さらに、重複する説明は省略することがある。 A plurality of embodiments for implementing a power transmission device, a wireless power transmission system, a control method, etc. according to the present application will be described in detail with reference to the drawings. Note that the present invention is not limited to the following explanation. Furthermore, the constituent elements in the following description include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. In the following description, similar components may be denoted by the same reference numerals. Furthermore, duplicate explanations may be omitted.
　図１は、実施形態に係るワイヤレス電力伝送システムの概要を説明するための図である。図１に示すシステム１は、例えば、マイクロ波伝送型（空間伝送型）のワイヤレス電力伝送が可能なワイヤレス電力伝送システムを含む。ワイヤレス電力伝送は、例えば、ケーブルやプラグを用いることなく、電力を伝送することが可能な仕組みである。マイクロ波伝送型のシステム１は、レトロディレクティブ方式を用いることができる。マイクロ波伝送型のシステム１は、エネルギー伝送として電波（マイクロ波）を使用する。マイクロ波伝送型のシステム１において使用する電波の周波数は、複数の周波数帯が利用可能であり、例えば、日本では、９２０ＭＨｚ帯、２．４ＧＨｚ帯、５．７ＧＨｚ帯等を含む。本実施形態では、システム１は、状況に適した給電効率の向上及び安全性の確保を両立することを可能とする。システム１は、例えば、宇宙太陽光発電等に適用することもできる。 FIG. 1 is a diagram for explaining an overview of a wireless power transmission system according to an embodiment. A system 1 shown in FIG. 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 allows power to be transmitted 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) for energy transmission. A plurality of frequency bands are available for the frequency of radio waves used in the microwave transmission system 1, and for example, in Japan, they include a 920 MHz band, a 2.4 GHz band, a 5.7 GHz band, and the like. In this embodiment, the system 1 makes it possible to improve power supply efficiency suitable for the situation and ensure safety at the same time. The system 1 can also be applied to, for example, space solar power generation.
　図１に示す一例では、システム１は、マルチパス・レトロディレクティブ方式を用いている。システム１は、送電装置１０と、受電装置２０と、を備える。システム１は、複数のパス（伝搬チャネル）を使って送電装置１０から受電装置２０に電力を伝送する。送電装置１０は、システム１において、ワイヤレスにより電力を伝送する伝送装置であり、給電用の電波を伝送可能な装置である。送電装置１０は、アレーアンテナ１１の近傍の人体等の物体を検出可能なセンサ部１５を備えている。以下の説明において、送電装置１０を「自機」と表記する場合がある。 In the example shown in FIG. 1, the system 1 uses a multipath retrodirective method. System 1 includes a power transmitting device 10 and a power receiving device 20. System 1 transmits power from power transmitting device 10 to power receiving device 20 using multiple paths (propagation channels). The power transmission device 10 is a transmission device that transmits power wirelessly in the system 1, and is a device that can transmit radio waves for power feeding. The power transmission device 10 includes a sensor unit 15 that can detect an object 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 "own device".
　受電装置２０は、システム１において、給電用の電波を受信して電力を得る被給電装置である。受電装置２０は、例えば、スマートフォン、タブレット端末、ＩｏＴ（Internet　of　Things）センサ、ノート型パーソナル・コンピュータ、ドローン、電気自動車、電動自転車、ゲーム機等を含む。このように、本開示の受電装置は、移動可能な装置であるとしてよい。 The power receiving device 20 is a power-supplied device in the system 1 that receives electric waves for power supply and obtains power. The power receiving device 20 includes, for example, a smartphone, a tablet terminal, an IoT (Internet of Things) sensor, a notebook personal computer, a drone, an electric vehicle, an electric bicycle, a game console, and the like. In this way, the power receiving device of the present disclosure may be a movable device.
　場面Ｃ１では、受電装置２０は、送電装置１０との間で定められた規定信号１０００を送信できる。規定信号１０００は、例えば、ビーコン、パイロット信号等を含む。受電装置２０は、例えば、送信周期で規定信号１０００を送信できる。受電装置２０は、規定信号１０００を含む電波を放射することで、規定信号１０００を送信できる。一方、送電装置１０は、規定信号１０００を受信すると、当該規定信号１０００に基づいて受電装置２０から送電装置１０への複数パスの特性値（アレー応答ベクトル）を推定する。送電装置１０は、推定した受電装置２０に対するアレー応答ベクトルを用いて送信用の重み係数を算出する。 In scene C1, the power receiving device 20 can transmit the specified signal 1000 determined with the power transmitting device 10. The regulation signal 1000 includes, for example, a beacon, a pilot signal, and the like. The power receiving device 20 can transmit the prescribed signal 1000 at a transmission cycle, for example. The power receiving device 20 can transmit the prescribed signal 1000 by emitting radio waves containing the prescribed signal 1000. On the other hand, upon receiving the specified signal 1000, the power transmitting device 10 estimates characteristic values (array response vectors) of multiple paths from the power receiving device 20 to the power transmitting device 10 based on the specified signal 1000. The power transmitting device 10 calculates a weighting coefficient for transmission using the estimated array response vector for the power receiving device 20.
　場面Ｃ２では、送電装置１０は、各アンテナに重み係数を乗算して指向性制御を行い、給電用の送信信号２０００を含む電波を放射する。指向性制御は、例えば、電波の放射方向と放射強度との関係を制御することを意味する。規定信号１０００と送信信号２０００の周波数が同一で伝搬路の時間変動を無視すれば、送電装置１０から受電装置２０への複数パスの特性は、受電装置２０から送電装置１０への特性と一致する。これにより、送電装置１０から放射される電波２０００Ｗは、受電装置２０に向かうパスだけでなく、受電装置２０とは異なる方向に向かうパスも活かした放射パターンになる。 In scene C2, the power transmission device 10 performs directivity control by multiplying each antenna by a weighting coefficient, and radiates radio waves including the transmission signal 2000 for power feeding. Directivity control means, for example, controlling the relationship between the radiation direction and radiation intensity of radio waves. If the frequencies of the specified signal 1000 and the transmitted signal 2000 are the same and time fluctuations in the propagation path are ignored, the characteristics of the multiple paths from the power transmitting device 10 to the power receiving device 20 match the characteristics from the power receiving device 20 to the power transmitting device 10. . Thereby, the radio waves 2000 W radiated from the power transmitting device 10 have a radiation pattern that takes advantage of not only the path toward the power receiving device 20 but also the path toward the direction different from the power receiving device 20.
　図２は、従来のレトロディレクティブ方式で参考用送電装置１００Ａが放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。図２が示す強度分布３０００は、部屋４０００の中に参考用送電装置１００Ａと受電装置２０を配置し、物性が人体と似た物体５０００を配置し、レトロディレクティブ方式で参考用送電装置１００Ａから送信信号２０００を含む電波２０００Ｗを放射した場合の強度分布を示している。参考用送電装置１００Ａは、本実施形態に係る送電装置１０と同様に、規定信号１０００に基づいて受電装置２０から送電装置１０への複数パスの特性値を推定し、当該特性値を用いてアンテナ指向性を制御し給電用の送信信号２０００を含む電波２０００Ｗを送信可能な構成になっている。部屋４０００は、３ｍ×３ｍ×３ｍの壁素材がコンクリートの部屋になっている。物体５０００は、参考用送電装置１００Ａと受電装置２０との間で、参考用送電装置１００Ａと受電装置２０とを結ぶ直線上から左にずれた位置に配置されている。物体５０００は、例えば、比誘電率が３５．４、導電率が５．１７の物性を有している。 FIG. 2 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the reference power transmission device 100A using the conventional retrodirective method using a computer simulation. The intensity distribution 3000 shown in FIG. 2 is transmitted from the reference power transmitting device 100A using a retrodirective method by placing the reference power transmitting device 100A and the power receiving device 20 in a room 4000, and placing an object 5000 with physical properties similar to the human body. It shows the intensity distribution when a radio wave of 2000 W including a signal of 2000 W is radiated. Similar to the power transmitting device 10 according to the present embodiment, the reference power transmitting device 100A estimates characteristic values of multiple paths from the power receiving device 20 to the power transmitting device 10 based on the specified signal 1000, and uses the characteristic values to adjust the antenna. It has a configuration that can control the directivity and transmit 2000 W of radio waves including a transmission signal 2000 for power feeding. Room 4000 is a 3m x 3m x 3m room with walls made of concrete. The object 5000 is placed between the reference power transmitting device 100A and the power receiving device 20 at a position shifted to the left from the straight line connecting the reference power transmitting device 100A and the power receiving device 20. The object 5000 has physical properties such as a dielectric constant of 35.4 and a conductivity of 5.17, for example.
　図２に示す一例では、強度分布３０００は、参考用送電装置１００Ａから受電装置２０に直接向かう電波２０００Ｗ－１と、参考用送電装置１００Ａから物体５０００に向かう電波２０００Ｗ－２の強度が強くなっている。すなわち、強度分布３０００は、参考用送電装置１００Ａが受電装置２０から規定信号１０００を直接受信するとともに、物体５０００で反射した規定信号１０００を受信していることを示していると考えられる。本開示では、システム１は、受電装置２０からの規定信号１０００が人体に反射し、送電装置１０に到達する場合に、従来のマルチパス・レトロディレクティブ方式より人体への影響を低減する技術を提供する。 In the example shown in FIG. 2, the intensity distribution 3000 shows that the intensity of the radio wave 2000W-1 going directly from the reference power transmitting device 100A to the power receiving device 20 and the radio wave 2000W-2 going directly from the reference power transmitting device 100A to the object 5000 are stronger. There is. That is, the intensity distribution 3000 is considered to indicate that the reference power transmitting device 100A receives the specified signal 1000 directly from the power receiving device 20 and also receives the specified signal 1000 reflected by the object 5000. In the present disclosure, system 1 provides a technology that reduces the impact on the human body when a prescribed signal 1000 from power receiving device 20 is reflected by the human body and reaches power transmitting device 10 compared to the conventional multipath retrodirective method. do.
（実施形態１）
［実施形態１に係る送電装置の構成］
　図３は、実施形態１に係る送電装置１０の構成の一例を示す図である。図４は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。図５は、アダプティブアレーアンテナと指向性の一例を示す図である。 (Embodiment 1)
[Configuration of power transmission device according to Embodiment 1]
FIG. 3 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the first embodiment. FIG. 4 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. FIG. 5 is a diagram showing an example of an adaptive array antenna and directivity.
　図３に示すように、送電装置１０は、アレーアンテナ１１と、送信信号発生部１２と、送受信部１３と、推定部１４と、センサ部１５と、検出部１６と、ウェイト生成部１７と、乗算部１８と、を備える。 As shown in FIG. 3, the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, A multiplication unit 18 is provided.
　アレーアンテナ１１は、指向性制御（ビームフォーミング）が可能な構成になっている。アレーアンテナ１１は、複数のアンテナ素子１１Ａを備えている。アレーアンテナ１１は、例えば、複数のアンテナ素子１１Ａのそれぞれが同じ電波を放射し、それぞれの位相と電力強度を調整することで、特定の方向では電波を強め、別の方向では打ち消し合って弱めることが可能な構成になっている。アレーアンテナ１１は、送信信号２０００を含む電波を放射し、受電装置２０からの規定信号１０００を含む電波を受信する。アレーアンテナ１１は、受信した信号を送受信部１３に供給する。本実施形態では、説明を簡単化するために、アレーアンテナ１１は、３つ以上のアンテナ素子１１Ａを備える場合について説明するが、アンテナ素子１１Ａの数はこれに限定されない。 The array antenna 11 has a configuration that allows directivity control (beamforming). The array antenna 11 includes a plurality of antenna elements 11A. For example, in the array antenna 11, each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction. The configuration is such that this is possible. Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 . Array antenna 11 supplies the received signal to transmitter/receiver 13 . In this embodiment, in order to simplify the explanation, a case will be described in which the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this.
　送信信号発生部１２は、受電装置２０に送信する給電用の送信信号２０００を生成する。送信信号２０００は、電力を供給可能な電波２０００Ｗを放射するための信号である。例えば、送信信号２０００はベースバンド帯の信号であってもよい。送信信号２０００は、例えば、無変調信号でもよいし、変調信号でもよい。無変調信号の場合、送信期間中、送信信号２０００の時間変動はない。変調信号の場合、送信期間中、送信信号発生部１２は送信信号２０００を時間変動させる。送信信号発生部１２は、例えば、規定信号１０００を受信するタイミングには送信信号２０００を停止することを含む。送信信号発生部１２は、乗算部１８と電気的に接続されており、生成した送信信号２０００を乗算部１８に供給する。 The transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20. The transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period. The transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000. The transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
　送受信部１３は、アレーアンテナ１１の複数のアンテナ素子１１Ａの各々と電気的に接続された複数の送受信回路１３Ａを有する。送受信回路１３Ａは、推定部１４、乗算部１８等と電気的に接続されている。送受信回路１３Ａは、アンテナ素子１１Ａで受信した受信信号を抽出して推定部１４に供給する。送受信回路１３Ａは、乗算部１８で送信ウェイトが乗算された送信信号２０００をアンテナ素子１１Ａから放射させる。送信ウェイトは、例えば、振幅及び位相を調整可能な重み係数を含む。送受信部１３は、送信ウェイト（複素振幅）が乗算された送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから同時に放射させることで、送電装置１０は指向性が制御された電波２０００Ｗを放射する。 The transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11. The transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like. The transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14. The transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18. The transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable. The transmitting/receiving unit 13 simultaneously radiates 2000 W of radio waves including the transmission signal 2000 multiplied by the transmission weight (complex amplitude) from the plurality of antenna elements 11A, so that the power transmission device 10 radiates 2000 W of radio waves with controlled directivity. .
　推定部１４は、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００から伝搬チャネル特性（インパルス応答）を推定する。伝搬チャネル特性（インパルス応答）は、例えば、振幅特性、位相特性を含む。アレー応答ベクトルは、例えば、アンテナ本数分のチャネル特性を示す。アレー応答ベクトルは、例えば、複数のアンテナ素子１１Ａごとの伝搬チャネル特性（インパルス応答）を並べたベクトルを含む。受信処理におけるアレー応答ベクトルは、受信応答ベクトルとも称する。推定部１４は、例えば、特開２００２－４３９９５号公報に開示されているように周知のアルゴリズムを用いて受信応答ベクトルを推定する。推定部１４は、アレー応答ベクトルのベクトルデータをウェイト生成部１７に供給する。 The estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A. The propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics. The array response vector indicates, for example, channel characteristics for the number of antennas. The array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged. The array response vector in reception processing is also referred to as a reception response vector. The estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995. The estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
　センサ部１５は、送電装置１０の電波伝搬環境における物体５０００の有無、方向等を検出可能な情報を取得できる。電波伝搬環境は、例えば、送電装置１０と受電装置２０との間で電波２０００Ｗを伝搬する空間を含む。センサ部１５は、例えば、カメラ、ＬＩＤＡＲ（Laser　Imaging　Detection　and　Ranging）、ミリ波レーダなどのレーダ、ＴｏＦ（Time　of　Flight）センサ、赤外線センサ、人感センサ等を用いて、電波伝搬環境に存在する物体５０００に関する情報を取得する。センサ部１５は、送電装置１０の外部に設けられてもよい。センサ部１５は、検出部１６と電気的に接続されており、電波伝搬環境における物体５０００の方向を検出可能なセンサ情報を検出部１６に供給する。センサ情報は、例えば、物体５０００の有無、距離、位置、画像等の情報を含む。 The sensor unit 15 can acquire information that can detect the presence or absence, direction, etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20. The sensor unit 15 exists in a 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, human sensor, etc. Information regarding object 5000 is acquired. The sensor unit 15 may be provided outside the power transmission device 10. The sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect the direction of the object 5000 in the radio wave propagation environment to the detection section 16. The sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image.
　検出部１６は、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の位置に関する情報を検出する。物体５０００は、例えば、人間、動物、ロボット、移動体、植物、食物、電磁波を送信又は受信する機器等を含む。検出部１６は、アレーアンテナ１１からの物体５０００の方向を検出する。例えば、検出部１６は、センサ情報が示す物体５０００の方向、位置等と、センサ部１５とアレーアンテナ１１との相対位置関係に基づいて、アレーアンテナ１１からの物体５０００の方向を検出する。複数の物体５０００が存在する場合、検出部１６は、複数の物体５０００の位置を検出する。検出部１６は、ウェイト生成部１７と電気的に接続されており、アレーアンテナ１１からの物体５０００の方向を示す方向情報をウェイト生成部１７に供給する。方向情報は、例えば、アレーアンテナ１１からの物体５０００の方向等を示す情報を含む。このように、本開示の検出部１６は、センサ部１５からの、物体５０００のＧＰＳ情報などの位置情報、方向情報、距離情報などを含むセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の位置に関する情報を検出する。 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding the position of an object 5000 that is different from the power receiving device 20 in the radio wave propagation environment. The objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like. The detection unit 16 detects the direction of the object 5000 from the array antenna 11. For example, the detection unit 16 detects the direction of the object 5000 from the array antenna 11 based on the direction, position, etc. of the object 5000 indicated by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. If a plurality of objects 5000 exist, the detection unit 16 detects the positions of the plurality of objects 5000. The detection unit 16 is electrically connected to the weight generation unit 17 and supplies direction information indicating the direction of the object 5000 from the array antenna 11 to the weight generation unit 17. The direction information includes, for example, information indicating the direction of the object 5000 from the array antenna 11. In this manner, the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
　ウェイト生成部１７は、推定部１４の推定結果である受電装置２０に対するアレー応答ベクトルと検出部１６からの物体５０００の方向情報に基づいて、電力伝送用ウェイトを生成する。ウェイトの生成方法は、例えば、ＭＩＭＯで用いられるＺＦ(Zero-Forcing)アルゴリズム、ＭＭＳＥ(Minimum　Mean　Square　Error)アルゴリズム等を用いることができる。ウェイト生成部１７は、乗算部１８と電気的に接続されており、電力伝送用ウェイトを示すウェイト情報を乗算部１８に供給する。以下の説明では、説明を簡単化するために、アレーアンテナ１１の複数のアンテナ素子１１Ａが水平方向において等間隔で並んでいる場合について説明する。 The weight generation unit 17 generates power transmission weights based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the object 5000 from the detection unit 16. As a weight generation method, for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used. The weight generation section 17 is electrically connected to the multiplication section 18 and supplies weight information indicating power transmission weights to the multiplication section 18. In the following description, in order to simplify the description, a case will be described in which a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
　図４に示すように、アダプティブアレーアンテナ送信は、送信信号２０００に複素振幅ｗｋ（ウェイト）の複素共役ｗｋ ＊を乗じた後、Ｋ本のアンテナ素子１１Ａから同時に電波２０００Ｗを放射する。なお、本開示において、（・）＊のように文字の右肩に「＊」を記している場合、複素共役を意味する。ウェイトｗｋは、ｋ＝０，・・・，Ｋ－１である。受信点２００Ｐでは、Ｋ本のアンテナ素子１１Ａから放射された電波２０００Ｗの合成信号が観測される。このとき、伝搬チャネルごとに振幅・位相が変化する。そこで、＃０から＃Ｋ－１のアンテナ素子１１Ａと受信点２００Ｐ間の伝搬チャネルのインパルス応答をＺｋ（複素数）とすると、解析的なアレーアンテナ特性は、以下の（式１１）で与えられる。
Figure JPOXMLDOC01-appb-M000002
 As shown in FIG. 4, in the adaptive array antenna transmission, after multiplying the transmission signal 2000 by the complex conjugate w k * of the complex amplitude w k (weight), radio waves 2000 W are simultaneously radiated from the K antenna elements 11A. Note that in the present disclosure, when "*" is written on the right side of a character, such as (.) * , it means complex conjugate. The weight w k is k=0,...,K-1. At the receiving point 200P, a composite signal of 2000 W of radio waves radiated from the K antenna elements 11A is observed. At this time, the amplitude and phase change for each propagation channel. Therefore, assuming that the impulse response of the propagation channel between the antenna elements 11A from #0 to #K-1 and the receiving point 200P is Z k (complex number), the analytical array antenna characteristics are given by the following (Equation 11). .
Figure JPOXMLDOC01-appb-M000002
　本開示では、解析的なアレーアンテナ特性は、アレー応答値ＡＲと称する。ウェイトベクトルをＷ、アレー応答ベクトルをＶとすると、（式１１）は複素ベクトルの内積として以下の（式１２）で表せる。なお、本開示において、（・）Ｈのように文字の右肩に「Ｈ」を記している場合、複素共役転置（エルミート転置）を意味する。
　ＡＲ＝ＷＨＶ　・・・（式１２）
　ウェイトベクトルＷとアレー応答ベクトルＶを具体的な要素で表すと、以下の（式１３）のようになる。
Figure JPOXMLDOC01-appb-M000003
 In this disclosure, the analytical array antenna characteristics are referred to as array response values AR. When the weight vector is W and the array response vector is V, (Formula 11) can be expressed as the following (Formula 12) as an inner product of complex vectors. Note that in the present disclosure, when "H" is written on the right shoulder of a character, such as (.) H , it means complex conjugate transposition (Hermitian transposition).
AR= WHV ...(Formula 12)
When the weight vector W and the array response vector V are expressed using specific elements, they are as shown in (Equation 13) below.
Figure JPOXMLDOC01-appb-M000003
　アレー応答ベクトルＶが既知であれば、適切なウェイトベクトルＷを与えることで、受信点２００Ｐでのアレー応答値ＡＲを制御できる。なお、ウェイトベクトルＷを決める際には、送信電力の合計が一定になるように、ウェイトベクトルＷのノルムの２乗が１（||Ｗ||２＝１）という制約条件を課すものとする。 If the array response vector V is known, the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (||W|| 2 = 1) so that the total transmission power is constant. .
　レトロディレクティブ方式のシステム１では、受電装置２０から送信される規定信号１０００（パイロット信号）に基づいてアレー応答ベクトルＶｄを推定し、これを利用して最適なウェイトベクトルＷｏｐｔを生成する。伝搬チャネルの時間変動を無視すれば、伝搬チャネルの可逆性（相反性）によりアレー応答ベクトルＶｄを送電装置１０から受電装置２０へのアレー応答ベクトルとみなせる。ただし、パイロット信号は送電時の電波と同じ周波数とする。||Ｗ||２＝１という条件のもとアレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔは、以下の（式１４）とすることができる。
Figure JPOXMLDOC01-appb-M000004
 In the retrodirective system 1, the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d can be regarded as the array response vector from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal shall have the same frequency as the radio waves used during power transmission. The optimal weight vector W opt that maximizes the magnitude of the array response value |W H V d | under the condition ||W|| 2 = 1 can be set as the following (Equation 14).
Figure JPOXMLDOC01-appb-M000004
　以上のように、レトロディレクティブ方式の送信の最適なウェイトベクトルＷｏｐｔは、受信したパイロット信号のアレー応答ベクトルＶｄだけでよく、受信点２００Ｐの方向などの情報は不要である。 As described above, the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and does not require information such as the direction of the reception point 200P.
　次に、レトロディレクティブ方式と複数（例えばＭ個）のヌル形成の同時実現について説明する。 Next, the simultaneous realization of the retrodirective method and the formation of multiple (for example, M) nulls will be explained.
　ヌルは、アレーアンテナ１１の指向性において、方向、点等の利得がゼロになることを意味する。アレーアンテナ１１でヌルを形成するには、ヌルに対応するアレー応答ベクトルＶｉ（ｉ＝１，・・・，Ｍ）に対し、アレー応答値の大きさ｜ＷＨＶｉ｜をゼロにすればよい。この条件のもと、アレー応答ベクトルＶｄのアレー応答値の大きさ｜ＷＨＶｄ｜を最大化する。これは以下のような（式１５）に示す最適化問題として定式化できる。本開示では、これを線形拘束付きレトロディレクティブ方式と称する。ここで、Ｋはアンテナ素子１１Ａの数である。Ｍはヌルの数である。自由度はＫ－１であるため、Ｍ＜Ｋとしている。ａｒｇｍａｘ(argument　of　the　maximum)は、最大値を達成する値の集合を意味する。（式１５）は、ウェイトベクトルＷで｜ＷＨＶｄ｜が最大となる最適なウェイトベクトルＷｏｐｔを求める式である。
Figure JPOXMLDOC01-appb-M000005
 Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero. To form a null in the array antenna 11, the magnitude of the array response value |W H V i | should be set to zero for the array response vector V i (i=1,...,M) corresponding to the null. Bye. Under this condition, the magnitude of the array response value |W H V d | of the array response vector V d is maximized. This can be formulated as an optimization problem shown in (Equation 15) below. In this disclosure, this is referred to as a retrodirective 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. argmax (argument of the maximum) means a set of values that achieves the maximum value. (Formula 15) is a formula for determining the optimal weight vector W opt where |W H V d | is maximum in the weight vector W.
Figure JPOXMLDOC01-appb-M000005
　（式１５）の最適化問題は、閉形式の解が存在する。
　以下のように（式１６）を定義すると、最適なウェイトベクトルＷｏｐｔは（式１７）で与えられる。
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000007
 The optimization problem of (Equation 15) has a closed-form solution.
When (Equation 16) is defined as below, the optimal weight vector W opt is given by (Equation 17).
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000007
　ここで、ＡはＭ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた（式１８）に示す行列である。
Figure JPOXMLDOC01-appb-M000008
 　Ａ＋は、Ａのムーア・ペンローズ一般逆行列である。ムーア・ペンローズ一般逆行列Ａ＋は、ＡＡ＋Ａ＝Ａ，Ａ＋ＡＡ＋＝Ａ＋，（ＡＡ＋）Ｈ＝ＡＡ＋，（Ａ＋Ａ）Ｈ＝Ａ＋Ａを満足する。複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭが線形独立の場合は、Ａ＋＝（ＡＨＡ）－１ＡＨとなる。 Here, A is a matrix shown in Equation 18 in which array response vectors V 1 , V 2 , . . . , VM, which are M complex column vectors, are arranged.
Figure JPOXMLDOC01-appb-M000008
 A + is the Moore-Penrose general inverse of A. The Moore-Penrose general inverse matrix A + satisfies AA + A = A, A + AA + = A + , (AA + ) H = AA + , (A + A) H = A + A. When the array response vectors V 1 , V 2 , . . . , V M , which are complex column vectors, are linearly independent, A + =(A H A) −1 A H.
　ヌルに対応するアレー応答値は、ＷＨＶｉ＝０（ｉ＝１，・・・・，Ｍ＜Ｋ）を満足しなければならない。そこで、これらを同次連立一次方程式と考えると、Ｍ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた行列Ａを使ってＡＨＷ＝０のように行列とベクトルの積で表される。この一般解はムーア・ペンローズ一般逆行列Ａ＋を用いて、Ｗ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚで与えられる。ｚは、任意の複素ベクトルである。最大化したいアレー応答値の大きさ｜ＷＨＶｄ｜にＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚを代入すると、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜が得られる。そして、コーシー・シュワルツの不等式より、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜≦||ｚ||・||（Ｉ－ＡＡ＋）Ｖｄ||が成り立つ。｜ＷＨＶｄ｜が最大になるのは当該不等式の等号のときであり、このとき、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを満たす。αは、複素定数である。 The array response value corresponding to the null must satisfy W H V i =0 (i=1, . . . , M<K). Therefore, if we consider these as homogeneous simultaneous linear equations, we can use matrix A in which array response vectors V 1 , V 2 , ..., V M , which are M complex column vectors, to calculate A H W = 0. It is expressed as a product of a matrix and a vector. This general solution is given by W=(I-AA + ) H z=(I-AA + )z using the Moore-Penrose general inverse matrix A + . z is any complex vector. By substituting W=(I-AA + ) H z=(I-AA + )z into the magnitude of the array response value to be maximized |W H V d |, |W H V d |=|z H (I −AA + )V d | is obtained. Then, from the Cauchy-Schwartz inequality, |W H V d |=|z H (I-AA + )V d |≦||z||・||(I-AA + )V d || holds true. |W H V d | becomes maximum when the inequality sign is equal, and in this case, z=α(I-AA + )V d is satisfied. α is a complex constant.
　最適なウェイトベクトルＷｏｐｔは、上述したＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚに、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを代入することで、Ｗｏｐｔ＝α（Ｉ－ＡＡ＋）Ｖｄが与えられる。ここで、（式１６）のようにＶ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄとすると、||Ｗｏｐｔ||２＝｜α｜２||Ｖ’ｄ||２＝１を満足するためにはα＝１／||Ｖ’ｄ||とすればよい。よって、最適なウェイトベクトルＷｏｐｔは、上述した（式１７）としてよいことになる。 The optimal weight vector W opt can be obtained by substituting z=α(I-AA + )V d into W=(I-AA + ) H z=(I-AA + )z described above. α(I−AA + )V d is given. Here, if V' d = (I-AA + )V d as in (Equation 16), ||W opt || 2 = |α| 2 ||V' d || 2 = 1 is satisfied. In order to do this, α=1/||V' d ||. Therefore, the optimal weight vector W opt may be the above-mentioned (Equation 17).
　次に、ヌルに対応するアレー応答ベクトルの算出方法の一例を説明する。送電装置１０と受電装置２０との間のアレー応答ベクトルは、規定信号１０００から推定するが、ヌルを向けたい対象からは、規定信号１０００が送出されないと仮定すると、別の方法でアレー応答ベクトルを算出する必要がある。本開示では、送電装置１０からヌルを向けたい対象へ直接向かう電波を回避することを目的とし、センサ部１５を用いて取得したヌル対象である物体５０００の方向からアレー応答ベクトルを算出する。 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 transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000. However, assuming that the specified signal 1000 is not sent from the target to which you want to direct the null, the array response vector can be estimated using another method. need to be calculated. In the present disclosure, an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of avoiding radio waves that go directly from the power transmission device 10 toward the target to which the null is directed.
　図５に示すように、Ｋ個のアンテナ素子１１Ａが等間隔に並ぶリニアアレーにおいて、ブロードサイドから時計回りにθ（－π／２＜θ＜π／２）だけ回転した向きに放射される遠方界でのアレー応答ベクトルは、以下の（式１９）のように与えられる。ブロードサイドは、アンテナ素子１１Ａを並べた方向に対し垂直な向きであり、図５における上方である。基準点２００Ｂの＃０のアンテナ素子１１Ａから＃ｋのアンテナ素子１１Ａまでの素子間距離がｋｄとなっている。基準点２００Ｂ＃０のアンテナ素子１１Ａから＃Ｋ－１のアンテナ素子１１Ａまでの素子間距離が（Ｋ－１）ｄとなっている。
Figure JPOXMLDOC01-appb-M000009
 As shown in FIG. 5, in a linear array in which K antenna elements 11A are arranged at equal intervals, a far field is radiated in a direction rotated clockwise by θ (-π/2<θ<π/2) from the broadside. The array response vector at is given as shown below (Equation 19). The broadside is perpendicular to the direction in which the antenna elements 11A are arranged, and is upward in FIG. The inter-element distance from the #0 antenna element 11A to the #k antenna element 11A at the reference point 200B is kd. The inter-element distance from the antenna element 11A of the reference point 200B #0 to the antenna element 11A of #K-1 is (K-1)d.
Figure JPOXMLDOC01-appb-M000009
　ここで、インパルス応答Ｚは、（式２０）とする。
Figure JPOXMLDOC01-appb-M000010
 　これにより、ヌル対象の方向θが分かれば、アレー応答ベクトルＶｉを（式２１）のように算出できる。なお、方向θは、θ＝θｉであり、ｉ＝１，・・・，Ｍである。ｊは、虚数単位であり、j２＝－１である。ここで、インパルス応答Ｚｉは、（式２２）で得ることができる。
Figure JPOXMLDOC01-appb-M000011
Figure JPOXMLDOC01-appb-M000012
 Here, the impulse response Z is expressed as (Equation 20).
Figure JPOXMLDOC01-appb-M000010
 As a result, if the direction θ of the null object is known, the array response vector V i can be calculated as shown in (Equation 21). Note that the direction θ is θ=θ i , and i=1, . . . , M. j is an imaginary unit and j 2 =-1. Here, the impulse response Z i can be obtained by (Equation 22).
Figure JPOXMLDOC01-appb-M000011
Figure JPOXMLDOC01-appb-M000012
　ウェイト生成部１７は、ヌル対象の方向θｉからヌルに対応するアレー応答ベクトルＶｉを（式２１）及び（式２２）を用いて導出し、続いて（式１８）を用いて行列（Ｉ－ＡＡ＋）を算出する。ウェイト生成部１７は、算出した行列（Ｉ－ＡＡ＋）と、受電装置２０に対応したアレー応答ベクトルＶｄとから、アレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔを決定するが、一般的には行列（Ｉ－ＡＡ＋）とアレー応答ベクトルＶｄで算出されるタイミングが異なる。そこで、ウェイト生成部１７は、行列（Ｉ－ＡＡ＋）を記憶部１７Ｄに記憶できる。 The weight generation unit 17 derives the array response vector V i corresponding to the null from the direction θ i of the null object using (Equation 21) and (Equation 22), and then derives the matrix (I −AA + ). The weight generation unit 17 generates an optimal weight that maximizes the magnitude of the array response value |W H V d | from the calculated matrix (I-AA + ) and the array response vector V d corresponding to the power receiving device 20. The vector W opt is determined, but generally the timings at which the matrix (I-AA + ) and the array response vector V d are calculated are different. Therefore, the weight generation section 17 can store the matrix (I-AA + ) in the storage section 17D.
　記憶部１７Ｄは、半導体記憶媒体、及び磁気記憶媒体等の任意の非一過的な記憶媒体を含んでよい。記憶部１７Ｄは、メモリカード、光ディスク、又は光磁気ディスク等の記憶媒体と、記憶媒体の読み取り装置との組み合わせを含んでよい。記憶部１７Ｄは、ＲＡＭなどの一時的な記憶領域として利用される記憶デバイスを含んでよい。記憶部１７Ｄは、ウェイト生成部１７の外部に設けてもよい。 The storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device. The storage unit 17D may include a storage device such as a RAM used as a temporary storage area. The storage unit 17D may be provided outside the weight generation unit 17.
　図３に示すように、乗算部１８は、ウェイト生成部１７のウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの送信信号２０００にウェイトを乗算する。乗算部１８は、例えば、乗算器を有する。乗算部１８は、アンテナ素子１１Ａに対応するウェイトを乗算した送信信号２０００を、当該アンテナ素子１１Ａの送受信回路１３Ａに供給する。 As shown in FIG. 3, the multiplication unit 18 multiplies the transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation unit 17. The multiplication unit 18 includes, for example, a multiplier. The multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
　以上、本実施形態に係る送電装置１０の機能構成例について説明した。なお、図３を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る送電装置１０の機能構成は係る例に限定されない。本実施形態に係る送電装置１０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 The functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 3 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
［実施形態１に係る受電装置］
　図６は、実施形態１に係る受電装置２０の構成の一例を示す図である。図６に示すように、受電装置２０は、アンテナ２１と、送受信部２２と、信号発生部２３と、受電部２４と、を備える。本開示の受電装置２０は、移動可能な装置であるとしてよい。例えば、このような受電装置２０として、モバイルバッテリー、スマートフォン、カメラ、振動センサ、生体センサ、温度センサ、警報などのドローンや車などの移動体に搭載される機器、自動運転車両、設置位置が可変な振動センサ、生体センサ、温度センサ、警報などとしてよい。本開示では、受電装置２０は、移動可能な装置であるため、規定信号に基づく伝搬チャネルの特性が受電装置２０の位置に応じて変化しうるとしてよい。 [Power receiving device according to Embodiment 1]
FIG. 6 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the first embodiment. As shown in FIG. 6, the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24. The power receiving device 20 of the present disclosure may be a movable device. For example, such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position. It may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc. In the present disclosure, since the power receiving device 20 is a movable device, the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
　アンテナ２１は、送受信部２２と電気的に接続されている。アンテナ２１は、送電装置１０からの電波２０００Ｗを受電可能な受電アンテナである。アンテナ２１は、例えば、パッチアンテナ、ダイポールアンテナ、パラボラアンテナ等を用いることができる。アンテナ２１は、例えば、規定信号１０００を含む電波を放射し、送電装置１０からの送信信号２０００を含む電波２０００Ｗを受信する。アンテナ２１は、受信した電波２０００Ｗの受信信号を送受信部２２に供給する。 The antenna 21 is electrically connected to the transmitting/receiving section 22. The antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10. As the antenna 21, for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used. For example, the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10. The antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
　送受信部２２は、信号発生部２３及び受電部２４と電気的に接続されている。送受信部２２は、信号発生部２３からの規定信号１０００を含む電波をアンテナ２１から放射させる。送受信部２２は、アンテナ２１で受信した電波の受信信号を受電部２４に供給する。 The transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24. The transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 . The transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
　信号発生部２３は、規定信号１０００を生成する。信号発生部２３は、送受信部２２を介して、該規定信号１０００を含む電波をアンテナ２１に放射させる。信号発生部２３は、送信周期に基づいて規定信号１０００を生成できる。信号発生部２３は、規定信号１０００とは異なる信号を生成する構成としてもよい。 The signal generating section 23 generates a regulation signal 1000. The signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 . The signal generator 23 can generate the regulation signal 1000 based on the transmission cycle. The signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
　受電部２４は、アンテナ２１で受信した電波２０００Ｗを直流電流に変換し、この直流電流を利用して電力を受電する。受電部２４は、例えば、公知である整流回路等を用いて、電波を直流電流に変換する。受電部２４は、受電した電力を、例えば、Ｑｉ（ワイヤレス給電の国際標準規格）に対応したバッテリ、負荷等に供給する。負荷は、例えば、機械設備、ＩｏＴ（Internet　of　Things）センサ、電子機器、照明機器等を含む。 The power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current. The power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit. The power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply). The loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
　以上、本実施形態に係る受電装置２０の機能構成例について説明した。なお、図６を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る受電装置２０の機能構成は係る例に限定されない。本実施形態に係る受電装置２０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 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. 6 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example. The functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
［実施形態１に係る送電装置の処理手順例］
　図７は、図１に示すシステム１の送電装置１０の処理手順の一例を説明するための図である。図８は、図７に示す送電装置１０のデータフローを説明するための図である。 [Example of processing procedure of power transmission device according to Embodiment 1]
FIG. 7 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG. FIG. 8 is a diagram for explaining the data flow of the power transmission device 10 shown in FIG. 7.
　図７に示すように、システム１において、受電装置２０は、規定信号１０００を送出する。送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、受電装置２０に対応したアレー応答ベクトルＶｄを推定する（ステップＳ１１１）。例えば、図８に示すように、送電装置１０は、推定部１４で、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。送電装置１０は、ステップＳ１１１の処理が終了すると、処理をステップＳ１３１に進める。 As shown in FIG. 7, in the system 1, the power receiving device 20 sends out a regulation signal 1000. When the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111). For example, as shown in FIG. 8, the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do. When the process of step S111 is completed, the power transmitting device 10 advances the process to step S131.
　また、送電装置１０は、検出部１６で、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向を検出する（ステップＳ１２１）。例えば、図８に示すように、送電装置１０は、検出部１６がＭ個の物体５０００をヌル対象と検出している場合、複数の物体５０００の方向θ１，θ２，・・・，θＭを検出してウェイト生成部１７に供給する。図７に戻り、送電装置１０は、ステップＳ１２１の処理が終了すると、処理をステップＳ１２２に進める。 Furthermore, the power transmitting device 10 uses the detection unit 16 to detect the direction of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 8, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions θ 1 , θ 2 , ..., θ of the plurality of objects 5000. M is detected and supplied to the weight generation section 17. Returning to FIG. 7, when the process of step S121 is completed, the power transmitting device 10 advances the process to step S122.
　送電装置１０は、ウェイト生成部１７で、ヌルに対応したアレー応答ベクトル化および行列演算を行う（ステップＳ１２２）。例えば、図８に示すように、送電装置１０は、ウェイト生成部１７が物体５０００の方向θ１，θ２，・・・，θＭと上述した（式２１）及び（式２２）に基づいて、ヌルに対応したアレー応答ベクトル化（Ｖ１，Ｖ２，・・・，ＶＭ）を行う（ステップＳ１７１）。送電装置１０は、続いてウェイト生成部１７が行列演算を行う（ステップＳ１７２）。詳細には、送電装置１０は、ヌルに対応したアレー応答ベクトルＶｉ＝Ｖ１，Ｖ２，・・・，ＶＭを用いて（Ｉ－ＡＡ＋）の行列演算を行い、演算結果を記憶部１７Ｄに記憶する。ただし、Ａ＝［Ｖ１　Ｖ２　・・・　ＶＭ］である。図７に戻り、送電装置１０は、ステップＳ１２２の処理が終了すると、処理をステップＳ１３１に進める。 In the power transmission device 10, the weight generation unit 17 performs array response vectorization and matrix calculation corresponding to nulls (step S122). For example, as shown in FIG. 8, in the power transmission device 10, the weight generation unit 17 calculates the directions θ 1 , θ 2 , ..., θ M of the object 5000 based on (Equation 21) and (Equation 22) described above. , array response vectorization (V 1 , V 2 , . . . , V M ) corresponding to the null is performed (step S171). In the power transmission device 10, the weight generation unit 17 subsequently performs matrix calculation (step S172). Specifically, the power transmission device 10 performs a matrix operation of (I-AA + ) using the array response vectors V i =V 1 , V 2 , . . . , V M corresponding to the null, and stores the operation results. It is stored in section 17D. However, A=[V 1 V 2 . . . VM ]. Returning to FIG. 7, when the process of step S122 is completed, the power transmitting device 10 advances the process to step S131.
　送電装置１０は、送信ウェイトを生成する（ステップＳ１３１）。例えば、図８に示すように、送電装置１０は、行列とベクトルの積算を行う（ステップＳ１７３）。詳細には、送電装置１０は、ウェイト生成部１７が推定部１４によって推定されたアレー応答ベクトルＶｄと記憶部１７Ｄの行列の（Ｉ－ＡＡ＋）との積を算出してアレー応答ベクトルＶｄ’を算出する。送電装置１０は、ウェイト生成部１７が算出したアレー応答ベクトルＶｄ’を、（式１７）を用いて正規化し、最適なウェイトベクトルＷｏｐｔを生成する（ステップＳ１７４）。図７に戻り、送電装置１０は、ステップＳ１３１の処理が終了すると、処理をステップＳ１３２に進める。 The power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 8, the power transmission device 10 performs matrix and vector multiplication (step S173). Specifically, in the power transmission device 10, the weight generation unit 17 calculates the product of the array response vector V d estimated by the estimation unit 14 and (I-AA + ) of the matrix in the storage unit 17D, and calculates the array response vector V Calculate d '. The power transmission device 10 normalizes the array response vector V d ′ calculated by the weight generation unit 17 using (Equation 17), and generates an optimal weight vector W opt (Step S174). Returning to FIG. 7, when the process of step S131 is completed, the power transmitting device 10 advances the process to step S132.
　送電装置１０は、送信ウェイトを乗算する（ステップＳ１３２）。例えば、送電装置１０は、乗算部１８が最適なウェイトベクトルＷｏｐｔを示すウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの給電用の送信信号２０００にウェイトを乗算し、送受信回路１３Ａに供給する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。この場合、送電装置１０は、物体５０００にヌルを向けているので、電波２０００Ｗは受電装置２０において強め合うように合成されるが、物体５０００においては弱め合うように合成される。 The power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, since the power transmitting device 10 directs the null toward the object 5000, the radio waves 2000 W are combined in a constructive manner at the power receiving device 20, but are combined in a destructive manner at the object 5000.
　受電装置２０は、例えば、受信した給電用の電波２０００Ｗを直流電流に変換し、この直流電流を利用してバッテリを充電したり、充電した電力によって動作したりする。その後、受電装置２０は、規定信号１０００を送出する。 For example, the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
　送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、上述した処理手順を繰り返すことで、ウェイトベクトルＷｏｐｔを生成して送信信号２０００の電波２０００Ｗをアレーアンテナ１１から放射する。これにより、送電装置１０は、受電装置２０や物体５０００が移動しても、電波２０００Ｗは受電装置２０において強め合うように合成され、物体５０００においては弱め合うように合成されることを維持できる。 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
　図７に示す送電装置１０の処理手順は、規定信号１０００に応じたアレー応答ベクトルＶｄの推定（ステップＳ１１１）と物体５０００の方向に応じたアレー応答ベクトルＶｉの算出及び行列演算（ステップＳ１２２）を同期する必要がない。例えば、規定信号１０００を受信する周期と検出部１６が情報を提供する周期が異なっていてもよい。また、例えば、物体５０００の方向に変化がない場合、送電装置１０は、過去のアレー応答ベクトルＶｉを用いてもよい。 The processing procedure of the power transmission device 10 shown in FIG. 7 includes estimation of the array response vector V d according to the specified signal 1000 (step S111), calculation of the array response vector V i according to the direction of the object 5000, and matrix calculation (step S122). ) does not need to be synchronized. For example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction of the object 5000, the power transmission device 10 may use the past array response vector V i .
　図９は、実施形態１に係る送電装置１０の動作例を説明するための図である。図１０は、図９に示す送電装置１０が放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。図１１は、実施形態１に係る送電装置１０の電波２０００Ｗの指向性パターンの一例を示す図である。 FIG. 9 is a diagram for explaining an example of the operation of the power transmission device 10 according to the first embodiment. FIG. 10 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device 10 shown in FIG. 9 by computer simulation. FIG. 11 is a diagram illustrating an example of a directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the first embodiment.
　図９及び図１０に示す場面では、システム１は、部屋４０００の中に送電装置１０と受電装置２０を配置し、物性が人体と同じ物体５０００が存在している。部屋４０００は、３ｍ×３ｍ×３ｍの壁素材がコンクリートの部屋になっている。物体５０００は、送電装置１０と受電装置２０との間で、送電装置１０と受電装置２０とを結ぶ直線上からずれた位置に配置されている。すなわち、図１０に示す測定環境は、図２に示した環境と同一になっている。 In the scenes shown in FIGS. 9 and 10, in the system 1, a power transmitting device 10 and a power receiving device 20 are arranged in a room 4000, and an object 5000 having the same physical properties as a human body is present. Room 4000 is a 3m x 3m x 3m room with walls made of concrete. The object 5000 is placed between the power transmitting device 10 and the power receiving device 20 at a position offset from the straight line connecting the power transmitting device 10 and the power receiving device 20. That is, the measurement environment shown in FIG. 10 is the same as the environment shown in FIG. 2.
　図１０に示すように、システム１は、送電装置１０と受電装置２０との間の近傍に物体５０００が存在する場合、送電装置１０がセンサ部１５のセンサ情報に基づいて物体５０００の方向を検出できる。受電装置２０は、規定信号１０００を含む電波を放射すると、送電装置１０に直接向かうパスと、物体５０００で反射して送電装置１０に向かうパスが主要なパスとなる。この場合、送電装置１０は、アレーアンテナ１１で受信した規定信号１０００を含む電波の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。図２の参照用送電装置１００Ａはこのアレー応答ベクトルＶｄのみを用いて送信ウェイトを生成したが、送電装置１０は、センサ部１５からのセンサ情報に基づいて、受電装置２０とは異なる物体５０００の方向θ１，θ２，・・・，θＭを検出する。送電装置１０は、物体５０００の方向より、ヌルに対応したアレー応答ベクトルＶｉを計算し、当該アレー応答ベクトルＶｉとアレー応答ベクトルＶｄと用いて最適なウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。 As shown in FIG. 10, in the system 1, when an object 5000 exists in the vicinity between the power transmitting device 10 and the power receiving device 20, the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can. When the power receiving device 20 emits a radio wave including the prescribed signal 1000, the main paths are a path directly toward the power transmitting device 10 and a path reflected by an object 5000 and directed toward the power transmitting device 10. In this case, the power transmission device 10 estimates the propagation channel characteristics of the radio wave including the prescribed signal 1000 received by the array antenna 11, and estimates the array response vector V d . Although the reference power transmitting device 100A in FIG. The directions θ 1 , θ 2 , . . . , θ M are detected. The power transmission device 10 calculates the array response vector V i corresponding to the null from the direction of the object 5000, and generates the optimal weight vector W opt using the array response vector V i and the array response vector V d . In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
　これにより、図１０に示す強度分布３１００に示すように、送電装置１０は、物体５０００の方向から規定信号１０００を受信しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、物体５０００に向かう電波２０００Ｗの放射を抑制することができる。その結果、送電装置１０は、受電装置２０からの規定信号１０００を含む電波が人体に反射して届く環境であっても、人体に向かう電波２０００Ｗを抑制できるので、安全なワイヤレス電力伝送を実現することができる。 Thereby, as shown in the intensity distribution 3100 shown in FIG. 10, even if the power transmitting device 10 receives the specified signal 1000 from the direction of the object 5000, the power transmitting device 10 can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20. In addition, radiation of radio waves of 2000 W toward the object 5000 can be suppressed. As a result, the power transmitting device 10 can suppress the 2000 W of radio waves directed toward the human body even in an environment where radio waves including the specified signal 1000 from the power receiving device 20 reach the human body after being reflected, thereby realizing safe wireless power transmission. be able to.
　送電装置１０は、伝搬環境に複数の物体５０００が存在しても、複数の物体５０００の方向を検出し、複数の物体５０００の各々にヌルを向けるように、ウェイトベクトルＷｏｐｔを生成することができる。なお、本開示において、ウェイト生成部１７は、物体の方向の利得がヌルから所定以内の利得範囲となるように送信ウェイトを生成するとしてもよい。例えば、ウェイト生成部１７は、ヌルをＡ[ｄＢ]とした場合に、物体の方向の利得がヌルＡ[ｄＢ]からＢ[ｄＢ]以内の利得範囲となるように送信ウェイトを生成するとしてもよい。ここで、Ｂの値は、０．９Ａ、０．８Ａ、０．７Ａ、０．９８Ａ、０．９９Ａ、１．１Ａ、１．０１ＡなどＡの所定の倍数であってもよい。 Even if a plurality of objects 5000 exist in the propagation environment, the power transmission device 10 can detect the directions of the plurality of objects 5000 and generate the weight vector W opt so as to direct a null to each of the plurality of objects 5000. can. Note that in the present disclosure, the weight generation unit 17 may generate transmission weights such that the gain in the object direction is within a predetermined gain range from null. For example, if the weight generation unit 17 generates transmission weights such that the gain in the direction of the object is within the gain range from the null A [dB] to B [dB], when the null is A [dB]. good. Here, the value of B may be a predetermined multiple of A, such as 0.9A, 0.8A, 0.7A, 0.98A, 0.99A, 1.1A, and 1.01A.
　図１１に示すグラフは、例えば、２つの物体５０００が存在する場合における実施形態１に係る送電装置１０から放射される電波２０００Ｗの指向性パターンを示している。図１１に示すグラフは、縦軸がアレー応答値の電力（絶対値の２乗）［ｄＢ］、横軸が電波２０００Ｗの放射方向［°］をそれぞれ示している。図１１に示す一例では、送電装置１０は、アンテナ素子１１Ａの数が８、隣り合うアンテナ素子１１Ａ同士の間隔がλ／２であり、アンテナ配置が等間隔リニアアレーになっている。λは波長を表す。送電装置１０は、３０°の方向が受電装置２０への電波２０００Ｗの放射方向と推定し、放射方向における－１０°及び－４５°が２つの物体５０００の方向と検出している。送電装置１０は、３０°の方向の受電装置２０に対応したアレー応答ベクトルＶｄと、－１０°の方向のヌルに対応したアレー応答ベクトルＶ１と、－４５°の方向のヌルに対応したアレー応答ベクトルＶ２とに基づいてウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。図１１に示す一例では、送電装置１０は、放射方向が３０°の方向付近でアレー応答値の電力が大きくなり、－１０°の方向Ｄ１及び－４５°の方向Ｄ２付近でアレー応答値の電力が小さくなっている。これにより、送電装置１０は、複数の物体５０００を検出しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、複数の物体５０００に向かう電波２０００Ｗの放射を抑制することができる。なお、一般にマルチパス環境における受電装置２０に対するアレー応答ベクトルＶｄは指向性パターンにおいて特定の方向にはならないが、図１１の例では、理解しやすいように３０°の方向のアレー応答ベクトルとした。 The graph shown in FIG. 11 shows, for example, a directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 according to the first embodiment when two objects 5000 are present. In the graph shown in FIG. 11, the vertical axis shows the power (square of the absolute value) [dB] of the array response value, and the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W. In the example shown in FIG. 11, the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is λ/2, and the antenna arrangement is a uniformly spaced linear array. λ represents wavelength. The power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects −10° and −45° in the radiation direction as the directions of the two objects 5000. The power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the −10° direction, and an array response vector V 1 corresponding to the null in the −45° direction. A weight vector W opt is generated based on the array response vector V 2 . In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11. In the example shown in FIG. 11, in the power transmission device 10, the power of the array response value becomes large near the direction where the radiation direction is 30°, and the power of the array response value becomes large near the direction D1 of -10° and the direction D2 of -45°. is getting smaller. Thereby, even if the power transmitting device 10 detects a plurality of objects 5000, it is possible to direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and suppress the emission of the radio waves of 2000 W directed toward the plurality of objects 5000. Can be done. Note that the array response vector V d for the power receiving device 20 in a multipath environment generally does not follow a specific direction in the directivity pattern, but in the example of FIG. 11, the array response vector is set in a 30° direction for ease of understanding. .
　上述した実施形態１では、送電装置１０は、アレーアンテナ１１の複数のアンテナ素子１１Ａが等間隔のリニアアレーである場合について説明したが、これに限定されない。送電装置１０は、物体５０００の方向からアレー応答ベクトルＶｉを算出可能であれば、複数のアンテナ素子１１Ａの配置は、等間隔リニアアレーでなくてもよい。 In the above-described first embodiment, the power transmission device 10 is described as a case where the plurality of antenna elements 11A of the array antenna 11 are a linear array with equal intervals, but the present invention is not limited to this. As long as the power transmission device 10 can calculate the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
［実施形態１に係る送電装置の変形例］
　図１２及び図１３は、実施形態１の変形例に係る送電装置１０の構成の一例を示す図である。図１２に示すように、送電装置１０は、センサ部１５と検出部１６とを、送電装置１０の外部の電子機器３０に設けてもよい。この場合、送電装置１０は、電子機器３０からデータの受信が可能な構成とし、電子機器３０から物体５０００の検出結果を取得してもよい。図１３に示すように、送電装置１０は、センサ部１５のみを装置の外部に設けてもよい。この場合、送電装置１０は、外部のセンサ部１５からセンサ情報等を取得可能な構成とし、センサ部１５からのセンサ情報等に基づいて検出部１６が物体５０００を検出してもよい。 [Modification of power transmission device according to Embodiment 1]
12 and 13 are diagrams illustrating an example of the configuration of the power transmission device 10 according to a modification of the first embodiment. As shown in FIG. 12, the power transmission device 10 may include the sensor section 15 and the detection section 16 in an electronic device 30 outside the power transmission device 10. In this case, the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30. As shown in FIG. 13, the power transmission device 10 may include only the sensor section 15 outside the device. In this case, the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
（実施形態２）
［実施形態２に係る送電装置の構成］
　図１４は、実施形態２に係る送電装置１０の構成の一例を示す図である。図１５は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。図１６は、アダプティブアレーアンテナと指向性の一例を示す図である。図１７は、微係数拘束時のベクトル化の一例を示す図である。 (Embodiment 2)
[Configuration of power transmission device according to Embodiment 2]
FIG. 14 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the second embodiment. FIG. 15 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. FIG. 16 is a diagram showing an example of an adaptive array antenna and directivity. FIG. 17 is a diagram illustrating an example of vectorization during differential coefficient constraint.
　図１４に示すように、送電装置１０は、アレーアンテナ１１と、送信信号発生部１２と、送受信部１３と、推定部１４と、センサ部１５と、検出部１６と、ウェイト生成部１７と、乗算部１８と、を備える。 As shown in FIG. 14, the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, A multiplication unit 18 is provided.
　アレーアンテナ１１は、指向性制御（ビームフォーミング）が可能な構成になっている。アレーアンテナ１１は、複数のアンテナ素子１１Ａを備えている。アレーアンテナ１１は、例えば、複数のアンテナ素子１１Ａのそれぞれが同じ電波を放射し、それぞれの位相と電力強度を調整することで、特定の方向では電波を強め、別の方向では打ち消し合って弱めることが可能な構成になっている。アレーアンテナ１１は、送信信号２０００を含む電波を放射し、受電装置２０からの規定信号１０００を含む電波を受信する。アレーアンテナ１１は、受信した信号を送受信部１３に供給する。本実施形態では、説明を簡単化するために、アレーアンテナ１１は、３つ以上のアンテナ素子１１Ａを備える場合について説明するが、アンテナ素子１１Ａの数はこれに限定されない。 The array antenna 11 has a configuration that allows directivity control (beamforming). The array antenna 11 includes a plurality of antenna elements 11A. For example, in the array antenna 11, each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction. The configuration is such that this is possible. Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 . Array antenna 11 supplies the received signal to transmitter/receiver 13 . In this embodiment, in order to simplify the explanation, a case will be described in which the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this.
　送信信号発生部１２は、受電装置２０に送信する給電用の送信信号２０００を生成する。送信信号２０００は、電力を供給可能な電波２０００Ｗを放射するための信号である。例えば、送信信号２０００はベースバンド帯の信号であってもよい。送信信号２０００は、例えば、無変調信号でもよいし、変調信号でもよい。無変調信号の場合、送信期間中、送信信号２０００の時間変動はない。変調信号の場合、送信期間中、送信信号発生部１２は送信信号２０００を時間変動させる。送信信号発生部１２は、例えば、規定信号１０００を受信するタイミングには送信信号２０００を停止することを含む。送信信号発生部１２は、乗算部１８と電気的に接続されており、生成した送信信号２０００を乗算部１８に供給する。 The transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20. The transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period. The transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000. The transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
　送受信部１３は、アレーアンテナ１１の複数のアンテナ素子１１Ａの各々と電気的に接続された複数の送受信回路１３Ａを有する。送受信回路１３Ａは、推定部１４、乗算部１８等と電気的に接続されている。送受信回路１３Ａは、アンテナ素子１１Ａで受信した受信信号を抽出して推定部１４に供給する。送受信回路１３Ａは、乗算部１８で送信ウェイトが乗算された送信信号２０００をアンテナ素子１１Ａから放射させる。送信ウェイトは、例えば、振幅及び位相を調整可能な重み係数を含む。送受信部１３は、送信ウェイト（複素振幅）が乗算された送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから同時に放射させることで、送電装置１０は指向性が制御された電波２０００Ｗを放射する。 The transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11. The transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like. The transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14. The transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18. The transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable. The transmitting/receiving unit 13 simultaneously radiates 2000 W of radio waves including the transmission signal 2000 multiplied by the transmission weight (complex amplitude) from the plurality of antenna elements 11A, so that the power transmission device 10 radiates 2000 W of radio waves with controlled directivity. .
　推定部１４は、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００から伝搬チャネル特性（インパルス応答）を推定する。伝搬チャネル特性（インパルス応答）は、例えば、振幅特性、位相特性を含む。アレー応答ベクトルは、例えば、アンテナ本数分のチャネル特性を示す。アレー応答ベクトルは、例えば、複数のアンテナ素子１１Ａごとの伝搬チャネル特性（インパルス応答）を並べたベクトルを含む。受信処理におけるアレー応答ベクトルは、受信応答ベクトルとも称する。推定部１４は、例えば、特開２００２－４３９９５号公報に開示されているように周知のアルゴリズムを用いて受信応答ベクトルを推定する。推定部１４は、アレー応答ベクトルのベクトルデータをウェイト生成部１７に供給する。 The estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A. The propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics. The array response vector indicates, for example, channel characteristics for the number of antennas. The array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged. The array response vector in reception processing is also referred to as a reception response vector. The estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995. The estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
　センサ部１５は、送電装置１０の電波伝搬環境における物体５０００の有無、方向、領域等を検出可能な情報を取得できる。電波伝搬環境は、例えば、送電装置１０と受電装置２０との間で電波２０００Ｗを伝搬する空間を含む。物体５０００の領域は、例えば、電波伝搬環境における物体５０００の領域、自機からの物体５０００の角度広がりに関する情報を含む。センサ部１５は、例えば、カメラ、ミリ波レーダなどのレーダ、ＬＩＤＡＲ（Laser　Imaging　Detection　and　Ranging）、ＴｏＦ（Time　of　Flight）センサ、赤外線センサ、人感センサ、深度センサ等を用いて、電波伝搬環境に存在する物体５０００に関する情報を取得する。センサ部１５は、送電装置１０の外部に設けられてもよい。センサ部１５は、検出部１６と電気的に接続されており、電波伝搬環境における物体５０００の方向及び領域を検出可能なセンサ情報を検出部１６に供給する。センサ情報は、例えば、物体５０００の有無、距離、位置、画像等の情報を含む。 The sensor unit 15 can acquire information that can detect the presence, direction, area, etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20. The area of the object 5000 includes, for example, information regarding the area of the object 5000 in the radio wave propagation environment and the angular spread of the object 5000 from the own aircraft. The sensor unit 15 uses, for example, a camera, a radar such as a millimeter wave radar, a LIDAR (Laser Imaging Detection and Ranging), a ToF (Time of Flight) sensor, an infrared sensor, a human sensor, a depth sensor, etc. to detect the radio wave propagation environment. Obtain information regarding object 5000 present in . The sensor unit 15 may be provided outside the power transmission device 10. The sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect the direction and area of the object 5000 in the radio wave propagation environment to the detection section 16. The sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image.
　検出部１６は、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の位置及び領域に関する情報を検出する。物体５０００は、例えば、人間、動物、ロボット、移動体、植物、食物、電磁波を送信又は受信する機器等を含む。検出部１６は、センサ情報が示す画像に対して公知である物体認識処理を実行し、物体５０００の領域、形状、電波伝搬環境における物体が存在する領域、自機からの物体５０００の方向及び領域等を検出する。例えば、検出部１６は、センサ情報が示す物体５０００の方向、位置、領域等と、センサ部１５とアレーアンテナ１１との相対位置関係に基づいて、アレーアンテナ１１からの物体５０００の方向、領域等を検出する。複数の物体５０００が存在する場合、検出部１６は、複数の物体５０００の位置及び領域を検出する。検出部１６は、ウェイト生成部１７と電気的に接続されており、アレーアンテナ１１からの物体５０００の方向、領域等を識別可能な方向情報としてウェイト生成部１７に供給する。このように、本開示の検出部１６は、センサ部１５からの、物体５０００のＧＰＳ情報などの位置情報、方向情報、距離情報などを含むセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の位置に関する情報を検出する。 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding the position and area of an object 5000 that is different from the power receiving device 20 in the radio wave propagation environment. The objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like. The detection unit 16 executes a known object recognition process on the image indicated by the sensor information, and detects the area and shape of the object 5000, the area where the object exists in the radio wave propagation environment, and the direction and area of the object 5000 from the own device. Detect etc. For example, the detection unit 16 detects the direction, position, area, etc. of the object 5000 from the array antenna 11 based on the direction, position, area, etc. of the object 5000 indicated by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. Detect. If a plurality of objects 5000 exist, the detection unit 16 detects the positions and regions of the plurality of objects 5000. The detection unit 16 is electrically connected to the weight generation unit 17, and supplies the direction, area, etc. of the object 5000 from the array antenna 11 to the weight generation unit 17 as identifiable direction information. In this manner, the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
　方向情報は、例えば、アレーアンテナ１１からの物体５０００の方向、領域等を示す情報を含む。方向情報は、例えば、図１４に示すように、物体５０００を含む領域１５１、大きさ１５２等の識別可能な情報を含む。なお、方向情報は、複数のアンテナ素子１１Ａの配置に応じて設定された物体５０００の大きさを識別可能な情報とすることができる。例えば、複数のアンテナ素子１１Ａがマトリックス状に配置されている場合、物体５０００の領域１５１は、縦横の長さ、位置、物体５０００の形状等を設定できる。例えば、複数のアンテナ素子１１Ａが一方の方向に並んで配置されている場合、物体５０００の大きさ１５２は、幅、高さ等の一方の方向における長さや距離、自機からの角度範囲等を設定できる。物体５０００の領域１５１は、物体５０００の外形等に応じた空間領域としてもよい。 The direction information includes, for example, information indicating the direction, area, etc. of the object 5000 from the array antenna 11. For example, as shown in FIG. 14, the direction information includes identifiable information such as a region 151 including the object 5000 and a size 152. Note that the direction information can be information that allows identification of the size of the object 5000 set according to the arrangement of the plurality of antenna elements 11A. For example, when the plurality of antenna elements 11A are arranged in a matrix, the vertical and horizontal lengths, position, shape of the object 5000, etc. can be set for the region 151 of the object 5000. For example, when a plurality of antenna elements 11A are arranged side by side in one direction, the size 152 of the object 5000 includes the length and distance in one direction such as width and height, the angular range from the own aircraft, etc. Can be set. The region 151 of the object 5000 may be a spatial region according to the outer shape of the object 5000, etc.
　ウェイト生成部１７は、推定部１４の推定結果である受電装置２０に対するアレー応答ベクトルと検出部１６からの物体５０００の方向情報に基づいて、電力伝送用ウェイトを生成する。ウェイトの生成方法は、例えば、ＭＩＭＯで用いられるＺＦ(Zero-Forcing)アルゴリズム、ＭＭＳＥ(Minimum　Mean　Square　Error)アルゴリズム等を用いることができる。ウェイト生成部１７は、乗算部１８と電気的に接続されており、電力伝送用ウェイトを示すウェイト情報を乗算部１８に供給する。以下の説明では、説明を簡単化するために、アレーアンテナ１１の複数のアンテナ素子１１Ａが水平方向において等間隔で並んでいる場合について説明する。 The weight generation unit 17 generates power transmission weights based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the object 5000 from the detection unit 16. As a weight generation method, for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used. The weight generation section 17 is electrically connected to the multiplication section 18 and supplies the multiplication section 18 with weight information indicating power transmission weights. In the following description, in order to simplify the description, a case will be described in which a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
　図１５に示すように、アダプティブアレーアンテナ送信は、送信信号２０００に複素振幅ｗｋ（ウェイト）の複素共役ｗｋ ＊を乗じた後、Ｋ本のアンテナ素子１１Ａから同時に電波２０００Ｗを放射する。なお、本開示において、（・）＊のように文字の右肩に「＊」を記している場合、複素共役を意味する。ウェイトｗｋは、ｋ＝０，・・・，Ｋ－１である。受信点２００Ｐでは、Ｋ本のアンテナ素子１１Ａから放射された電波２０００Ｗの合成信号が観測される。このとき、伝搬チャネルごとに振幅・位相が変化する。そこで、＃０から＃Ｋ－１のアンテナ素子１１Ａと受信点２００Ｐ間の伝搬チャネルのインパルス応答をＺｋ（複素数）とすると、解析的なアレーアンテナ特性は、以下の（式２１１）で与えられる。
Figure JPOXMLDOC01-appb-M000013
 As shown in FIG. 15, in adaptive array antenna transmission, after multiplying a transmission signal 2000 by a complex conjugate w k * of a complex amplitude w k (weight), radio waves 2000 W are simultaneously radiated from K antenna elements 11A. Note that in the present disclosure, when "*" is written on the right side of a character, such as (.) * , it means complex conjugate. The weight w k is k=0,...,K-1. At the receiving point 200P, a composite signal of 2000 W of radio waves radiated from the K antenna elements 11A is observed. At this time, the amplitude and phase change for each propagation channel. Therefore, if the impulse response of the propagation channel between #0 to #K-1 antenna elements 11A and receiving point 200P is Z k (complex number), the analytical array antenna characteristics are given by the following (Equation 211). .
Figure JPOXMLDOC01-appb-M000013
　本開示では、解析的なアレーアンテナ特性は、アレー応答値ＡＲと称する。ウェイトベクトルをＷ、アレー応答ベクトルをＶとすると、（式２１１）は複素ベクトルの内積として以下の（式２１２）で表せる。なお、本開示において、（・）Ｈのように文字の右肩に「Ｈ」を記している場合、複素共役転置（エルミート転置）を意味する。
　ＡＲ＝ＷＨＶ　・・・（式２１２）
　ウェイトベクトルＷとアレー応答ベクトルＶを具体的な要素で表すと、以下の（式２１３）のようになる。
Figure JPOXMLDOC01-appb-M000014
 In this disclosure, the analytical array antenna characteristics are referred to as array response values AR. When the weight vector is W and the array response vector is V, (Formula 211) can be expressed as the following (Formula 212) as an inner product of complex vectors. Note that in the present disclosure, when "H" is written on the right shoulder of a character, such as (.) H , it means complex conjugate transposition (Hermitian transposition).
AR=W H V... (Formula 212)
When the weight vector W and the array response vector V are expressed using specific elements, they are as shown in (Equation 213) below.
Figure JPOXMLDOC01-appb-M000014
　アレー応答ベクトルＶが既知であれば、適切なウェイトベクトルＷを与えることで、受信点２００Ｐでのアレー応答値ＡＲを制御できる。なお、ウェイトベクトルＷを決める際には、送信電力の合計が一定になるように、ウェイトベクトルＷのノルムの２乗が１（||Ｗ||２＝１）という制約条件を課すものとする。 If the array response vector V is known, the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (||W|| 2 = 1) so that the total transmission power is constant. .
　レトロディレクティブ方式のシステム１では、受電装置２０から送信される規定信号１０００（パイロット信号）に基づいてアレー応答ベクトルＶｄを推定し、これを利用して最適なウェイトベクトルＷｏｐｔを生成する。伝搬チャネルの時間変動を無視すれば、伝搬チャネルの可逆性（相反性）によりアレー応答ベクトルＶｄを送電装置１０から受電装置２０へのアレー応答ベクトルとみなせる。ただし、パイロット信号は送電時の電波と同じ周波数とする。||Ｗ||２＝１という条件のもとアレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔは、以下の（式２１４）とすることができる。
Figure JPOXMLDOC01-appb-M000015
 In the retrodirective system 1, the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d can be regarded as the array response vector from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal shall have the same frequency as the radio waves used during power transmission. The optimal weight vector W opt that maximizes the magnitude of the array response value |W H V d | under the condition ||W|| 2 = 1 can be set as the following (Equation 214).
Figure JPOXMLDOC01-appb-M000015
　以上のように、レトロディレクティブ方式の送信の最適なウェイトベクトルＷｏｐｔは、受信したパイロット信号のアレー応答ベクトルＶｄだけでよく、受信点２００Ｐの方向などの情報は不要である。 As described above, the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and does not require information such as the direction of the reception point 200P.
　次に、レトロディレクティブ方式と複数（例えばＭ個）のヌル形成の同時実現について説明する。 Next, the simultaneous realization of the retrodirective method and the formation of multiple (for example, M) nulls will be described.
　ヌルは、アレーアンテナ１１の指向性において、方向、点等の利得がゼロになることを意味する。アレーアンテナ１１でヌルを形成するには、ヌルに対応するアレー応答ベクトルＶｉ（ｉ＝１，・・・，Ｍ）に対し、アレー応答値の大きさ｜ＷＨＶｉ｜をゼロにすればよい。この条件のもと、アレー応答ベクトルＶｄのアレー応答値の大きさ｜ＷＨＶｄ｜を最大化する。これは以下のような（式２１５）に示す最適化問題として定式化できる。本開示では、これを線形拘束付きレトロディレクティブ方式と称する。ここで、Ｋはアンテナ素子１１Ａの数である。Ｍはヌルの数である。自由度はＫ－１であるため、Ｍ＜Ｋとしている。ａｒｇｍａｘ(argument　of　the　maximum)は、最大値を達成する値の集合を意味する。（式２１５）は、ウェイトベクトルＷで｜ＷＨＶｄ｜が最大となる最適なウェイトベクトルＷｏｐｔを求める条件式である。
Figure JPOXMLDOC01-appb-M000016
 Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero. To form a null in the array antenna 11, the magnitude of the array response value |W H V i | should be set to zero for the array response vector V i (i=1,...,M) corresponding to the null. Bye. Under this condition, the magnitude of the array response value |W H V d | of the array response vector V d is maximized. This can be formulated as an optimization problem shown in (Equation 215) below. In this disclosure, this is referred to as a retrodirective 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. argmax (argument of the maximum) means a set of values that achieves the maximum value. (Formula 215) is a conditional expression for determining the optimal weight vector W opt where |W H V d | is maximum in the weight vector W.
Figure JPOXMLDOC01-appb-M000016
　（式２１５）の最適化問題は、閉形式の解が存在する。
　以下のように（式２１６）を定義すると、最適なウェイトベクトルＷｏｐｔは（式２１７）で与えられる。
Figure JPOXMLDOC01-appb-M000017
Figure JPOXMLDOC01-appb-M000018
 The optimization problem of (Equation 215) has a closed-form solution.
When (Equation 216) is defined as below, the optimal weight vector W opt is given by (Equation 217).
Figure JPOXMLDOC01-appb-M000017
Figure JPOXMLDOC01-appb-M000018
　ここで、ＡはＭ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた（式２１８）に示す行列である。
Figure JPOXMLDOC01-appb-M000019
 　Ａ＋は、Ａのムーア・ペンローズ一般逆行列である。ムーア・ペンローズ一般逆行列Ａ＋は、ＡＡ＋Ａ＝Ａ，Ａ＋ＡＡ＋＝Ａ＋，（ＡＡ＋）Ｈ＝ＡＡ＋，（Ａ＋Ａ）Ｈ＝Ａ＋Ａを満足する。複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭが線形独立の場合は、Ａ＋＝（ＡＨＡ）－１ＡＨとなる。 Here, A is a matrix shown in (Equation 218) in which array response vectors V 1 , V 2 , . . . , VM , which are M complex column vectors, are arranged.
Figure JPOXMLDOC01-appb-M000019
 A + is the Moore-Penrose general inverse of A. The Moore-Penrose general inverse matrix A + satisfies AA + A = A, A + AA + = A + , (AA + ) H = AA + , (A + A) H = A + A. When the array response vectors V 1 , V 2 , . . . , V M , which are complex column vectors, are linearly independent, A + =(A H A) −1 A H.
　ヌルに対応するアレー応答値は、ＷＨＶｉ＝０（ｉ＝１，・・・・，Ｍ＜Ｋ）を満足しなければならない。そこで、これらを同次連立一次方程式と考えると、Ｍ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた行列Ａを使ってＡＨＷ＝０にように行列とベクトルの積で表される。この一般解はムーア・ペンローズ一般逆行列Ａ＋を用いて、Ｗ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚで与えられる。ｚは、任意の複素ベクトルである。最大化したいアレー応答値の大きさ｜ＷＨＶｄ｜にＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚを代入すると、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜が得られる。そして、コーシー・シュワルツの不等式より、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜≦||ｚ||・||（Ｉ－ＡＡ＋）Ｖｄ||が成り立つ。｜ＷＨＶｄ｜が最大になるのは当該不等式の等号のときであり、このとき、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを満たす。αは、任意の複素定数である。 The array response value corresponding to the null must satisfy W H V i =0 (i=1, . . . , M<K). Therefore, if we consider these as homogeneous simultaneous linear equations, we can use matrix A in which array response vectors V 1 , V 2 , ..., V M , which are M complex column vectors, to set A H W = 0. It is expressed as a product of a matrix and a vector. This general solution is given by W=(I-AA + ) H z=(I-AA + )z using the Moore-Penrose general inverse matrix A + . z is any complex vector. By substituting W=(I-AA + ) H z=(I-AA + )z into the magnitude of the array response value to be maximized |W H V d |, |W H V d |=|z H (I −AA + )V d | is obtained. Then, from the Cauchy-Schwartz inequality, |W H V d |=|z H (I-AA + )V d |≦||z||・||(I-AA + )V d || holds true. |W H V d | becomes maximum when the inequality sign is equal, and in this case, z=α(I-AA + )V d is satisfied. α is an arbitrary complex constant.
　最適なウェイトベクトルＷｏｐｔは、上述したＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚに、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを代入することで、Ｗｏｐｔ＝α（Ｉ－ＡＡ＋）Ｖｄが与えられる。ここで、（式２１６）のようにＶ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄとすると、||Ｗｏｐｔ||２＝｜α｜２||Ｖ’ｄ||２＝１を満足するためにはα＝１／||Ｖ’ｄ||とすればよい。よって、最適なウェイトベクトルＷｏｐｔは、上述した（式２１７）としてよいことになる。 The optimal weight vector W opt can be obtained by substituting z=α(I-AA + )V d into W=(I-AA + ) H z=(I-AA + )z described above. α(I−AA + )V d is given. Here, if V' d = (I-AA + )V d as in (Equation 216), ||W opt || 2 = |α| 2 ||V' d || 2 = 1 is satisfied. In order to do this, α=1/||V' d ||. Therefore, the optimal weight vector W opt may be the above-mentioned (Equation 217).
　次に、ヌルに対応するアレー応答ベクトルの算出方法の一例を説明する。送電装置１０と受電装置２０との間のアレー応答ベクトルは、規定信号１０００から推定するが、ヌルを向けたい対象からは、規定信号１０００が送出されないと仮定すると、別の方法でアレー応答ベクトルを算出する必要がある。本開示では、送電装置１０からヌルを向けたい対象へ直接向かう電波を回避することを目的とし、センサ部１５を用いて取得したヌル対象である物体５０００の方向からアレー応答ベクトルを算出する。 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 transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000. However, assuming that the specified signal 1000 is not sent from the target to which you want to direct the null, the array response vector can be estimated using another method. need to be calculated. In the present disclosure, an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of avoiding radio waves that go directly from the power transmission device 10 toward the target to which the null is directed.
　図１６に示すように、Ｋ個のアンテナ素子１１Ａが等間隔に並ぶリニアアレーにおいて、ブロードサイドから時計回りにθ（－π／２＜θ＜π／２）だけ回転した向きに放射される遠方界でのアレー応答ベクトルは、以下の（式２１９）のように与えられる。ブロードサイドは、アンテナ素子１１Ａを並べた方向に対し垂直な向きであり、図１６における上方である。基準点２００Ｂの＃０のアンテナ素子１１Ａから＃Ｋのアンテナ素子１１Ａまでの素子間距離がｋｄとなっている。基準点２００Ｂの＃０のアンテナ素子１１Ａから＃Ｋ－１のアンテナ素子１１Ａまでの素子間距離が（Ｋ－１）ｄとなっている。
Figure JPOXMLDOC01-appb-M000020
 As shown in FIG. 16, in a linear array in which K antenna elements 11A are arranged at equal intervals, a far field is radiated in a direction rotated clockwise by θ (-π/2<θ<π/2) from the broadside. The array response vector at is given as (Equation 219) below. The broadside is perpendicular to the direction in which the antenna elements 11A are arranged, and is upward in FIG. 16. The inter-element distance from the #0 antenna element 11A to the #K antenna element 11A at the reference point 200B is kd. The inter-element distance from the #0 antenna element 11A to the #K-1 antenna element 11A at the reference point 200B is (K-1)d.
Figure JPOXMLDOC01-appb-M000020
　ここで、インパルス応答Ｚは、（式２２０）とする。
Figure JPOXMLDOC01-appb-M000021
 　これにより、ヌル対象の方向θが分かれば、アレー応答ベクトルＶｉを（式２２１）のように算出できる。なお、方向θは、θ＝θｉであり、ｉ＝１，・・・，Ｍである。ｊは、虚数単位であり、j２＝－１である。ここで、インパルス応答Ｚｉは、（式２２２）で得ることができる。
Figure JPOXMLDOC01-appb-M000022
Figure JPOXMLDOC01-appb-M000023
 Here, the impulse response Z is expressed as (Equation 220).
Figure JPOXMLDOC01-appb-M000021
 As a result, if the direction θ of the null object is known, the array response vector V i can be calculated as shown in (Equation 221). Note that the direction θ is θ=θ i , and i=1, . . . , M. j is an imaginary unit and j 2 =-1. Here, the impulse response Z i can be obtained by (Equation 222).
Figure JPOXMLDOC01-appb-M000022
Figure JPOXMLDOC01-appb-M000023
　ウェイト生成部１７は、ヌル対象の方向θｉからヌルに対応するアレー応答ベクトルＶｉを（式２２１）及び（式２２２）を用いて導出し、続いて（式２１８）を用いて行列（Ｉ－ＡＡ＋）を算出する。ウェイト生成部１７は、算出した行列（Ｉ－ＡＡ＋）と、受電装置２０に対応したアレー応答ベクトルＶｄから、アレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔを決定するが、一般的には行列（Ｉ－ＡＡ＋）とアレー応答ベクトルＶｄでは算出されるタイミングが異なる。そこで、ウェイト生成部１７は、行列（Ｉ－ＡＡ＋）を記憶部１７Ｄに記憶できる。 The weight generation unit 17 derives the array response vector V i corresponding to the null from the direction θ i of the null object using (Equation 221) and (Equation 222), and then derives the matrix (I −AA + ). The weight generation unit 17 generates an optimal weight vector that maximizes the magnitude of the array response value |W H V d | from the calculated matrix (I-AA + ) and the array response vector V d corresponding to the power receiving device 20. W opt is determined, but generally the timing at which the matrix (I-AA + ) and the array response vector V d are calculated is different. Therefore, the weight generation section 17 can store the matrix (I-AA + ) in the storage section 17D.
　記憶部１７Ｄは、半導体記憶媒体、及び磁気記憶媒体等の任意の非一過的な記憶媒体を含んでよい。記憶部１７Ｄは、メモリカード、光ディスク、又は光磁気ディスク等の記憶媒体と、記憶媒体の読み取り装置との組み合わせを含んでよい。記憶部１７Ｄは、ＲＡＭなどの一時的な記憶領域として利用される記憶デバイスを含んでよい。記憶部１７Ｄは、ウェイト生成部１７の外部に設けてもよい。 The storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device. The storage unit 17D may include a storage device such as a RAM used as a temporary storage area. The storage unit 17D may be provided outside the weight generation unit 17.
　次に、ヌルを広角化する一例を説明する。ヌル対象の物体５０００は拡がりを持っており、物体５０００の領域に応じてヌルを広角化することが望ましい。ヌルを広角化するには、複数の方法を用いることができる。本開示では、微係数拘束（Derivative　Constraints）を用いる場合について説明する。上述した（式２１１）、（式２１２）に（式２１９）、（式２２０）を代入すると、θ方向のＫ素子等間隔リニアアレーのアレー応答値は、（式２２３）で得られる。
Figure JPOXMLDOC01-appb-M000024
 Next, an example of widening a null will be described. The object 5000 to be nulled has an expanse, and it is desirable to widen the angle of the null according to the area of the object 5000. Multiple methods can be used to widen the null. In this disclosure, a case will be described in which derivative constraints are used. By substituting (Formula 219) and (Formula 220) into the above-mentioned (Formula 211) and (Formula 212), the array response value of the K element equally spaced linear array in the θ direction is obtained by (Formula 223).
Figure JPOXMLDOC01-appb-M000024
　ＷＨＶ＝Ｄ（θ）とする。Ｄ（θ）は、アレー応答関数あるいはアレーファクタと呼ばれる。Ｄ（θ）は、θの連続関数であり、θで微分可能である。また、この絶対値｜Ｄ（θ）｜を図示したものは、アレーアンテナの指向性パターンになる。 Let W H V=D(θ). D(θ) is called an array response function or array factor. D(θ) is a continuous function of θ and is differentiable with respect to θ. Moreover, the diagram showing this absolute value |D(θ)| is the directivity pattern of the array antenna.
　（式２２３）にθ＝θｉ（ｉ＝１，・・・，Ｍ）を代入したＤ（θｉ）は、θｉ方向のアレー応答値である。また、（式２２３）は、微分可能であるから、θ＝θｉの近傍であるθ＝θｉ＋Δθのアレー応答値Ｄ（θｉ＋Δθ）は、Ｌｉ次近似式を用いて以下の（式２２４）のように表せる。
Figure JPOXMLDOC01-appb-M000025
 D(θ i ) obtained by substituting θ=θ i (i=1, . . . , M) into (Equation 223) is the array response value in the θ i direction. Furthermore, since (Equation 223) is differentiable, the array response value D(θ i +Δθ) of θ=θ i +Δθ, which is near θ= θ i , can be calculated using the following ( It can be expressed as in equation 224).
Figure JPOXMLDOC01-appb-M000025
　（式２２４）において、微係数Ｄ（ｌ）（θｉ）（ｌ＝１，・・・，Ｌｉ）がゼロならば、Ｄ（θｉ＋Δθ）≒Ｄ（θｉ）となり、θｉの近傍θｉ＋Δθでアレー応答値を同程度にできる。これをヌル（Ｄ（θｉ）＝０）に対して適用したものが微係数拘束によるヌルの広角化であり、近似式の次数のＬｉにより広角化の度合いを制御できる。本開示では、文字の右肩の（ｌ）は、微分の階数を示す。 In (Formula 224), if the differential coefficient D (l) (θ i ) (l=1,..., L i ) is zero, D(θ i +Δθ)≈D(θ i ), and the difference of θ i The array response values can be made comparable in the vicinity θ i +Δθ. Applying this to the null (D(θ i )=0) is the widening of the null by differential coefficient constraint, and the degree of widening can be controlled by the order L i of the approximation equation. In this disclosure, the (l) on the right side of the letter indicates the order of differentiation.
　微係数拘束条件Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，Ｌｉ）は、以下の（式２２５）の等価になる。
Figure JPOXMLDOC01-appb-M000026
 The differential coefficient constraint D (l) (θ i )=0 (l=1, . . . , L i ) is equivalent to the following (Equation 225).
Figure JPOXMLDOC01-appb-M000026
　そこで、対角行列Ｑｌを以下の（式２２６）とすると、（式２２５）は以下の（式２２７）と表せる。なお、（式２２６）および（式２２７）は、ｌ＝１，・・・，Ｌｉである。
　Ｑｌ＝ｄｉａｇ［０ｌ　１ｌ　・・・　（Ｋ－１）ｌ］・・・（式２２６）
　ＷＨ（ＱｌＶｉ）＝０　・・・（式２２７） Therefore, if the diagonal matrix Q l is given as the following (Formula 226), then (Formula 225) can be expressed as the following (Formula 227). Note that (Formula 226) and (Formula 227) are l=1, . . . , Li .
Q l =diag[0 l 1 l ... (K-1) l ]... (Formula 226)
W H (Q l V i )=0 (Formula 227)
　以下の（式２２８）及び（式２２９）としてまとめると、ｌ階微係数の拘束条件は、以下の（式２３０）で与えられる。なお、（式２２９）は、ｌ＝１，・・・，Ｌｉである。（式２３０）において、ｌ＝０，・・・，Ｌｉである。Ｖｉ （ｌ）は前記アレー応答ベクトルと異なるが、（式２３０）より（式２１５）の拘束条件と同じように扱える。そこで、本開示では（式２３０）のＶｉ （ｌ）を拘束ベクトルと称する。
　Ｖｉ （０）＝Ｖｉ　・・・（式２２８）
　Ｖｉ （ｌ）＝ＱｌＶｉ　・・・（式２２９）
　ＷＨＶｉ （ｌ）＝０　・・・（式２３０） When summarized as the following (Formula 228) and (Formula 229), the constraint condition of the l-th order differential coefficient is given by the following (Formula 230). Note that (Formula 229) is l=1, . . . , Li . In (Formula 230), l=0,..., Li . Although V i (l) is different from the array response vector described above, it can be handled in the same way as the constraint condition in (Formula 215) from (Formula 230). Therefore, in the present disclosure, V i (l) in (Equation 230) is referred to as 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)
　（式２３０）の拘束条件のもと、アレー応答ベクトルＶｄのアレー応答値の大きさ｜ＷＨＶｄ｜を最大化する最適化問題は、以下の（式２３１）のように定式化できる。
Figure JPOXMLDOC01-appb-M000027
 Under the constraint of (Equation 230), the optimization problem for maximizing the array response value |W H V d | of the array response vector V d can be formulated as shown in (Equation 231) below. .
Figure JPOXMLDOC01-appb-M000027
　ここで、Ｋはアンテナ素子１１Ａの数であり、Ｍはヌルの数である。ヌルの数は、検出部１６が検出した物体５０００の数である。Ｌ１，Ｌ２，・・・，ＬＭは各ヌルの広角化の度合いを決める数であり、本開示ではこれを広角度と称する。広角度は、検出部１６が検出した物体５０００の領域に応じて決まり、広角度分拘束ベクトルが追加される。自由度はＫ－１であるため、Ｍ＋Ｌ１＋Ｌ２＋・・・＋ＬＭ＜Ｋとしている。また、アレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｋ－１）は線形独立である。 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 detected by the detection unit 16. L 1 , L 2 , . . . , LM are numbers that determine the degree of widening of each null, and are referred to as wide angles in this disclosure. The wide angle is determined according to the area of the object 5000 detected by the detection unit 16, and a constraint vector corresponding to the wide angle is added. Since the degree of freedom is K-1, M+L 1 +L 2 +...+L M <K. Furthermore, the array response vectors V i (l) (l=0, . . . , K-1) are linearly independent.
　上記の（式２１５）と（式２３１）の比較からわかるように、線形拘束付きレトロディレクティブ方式のアルゴリズムを踏襲しつつ、ヌルを広角化することが可能である。本開示では、これを微係数拘束付きレトロディレクティブ方式と称する。 As can be seen from the comparison between (Equation 215) and (Equation 231) above, it is possible to widen the null while following the algorithm of the retrodirective method with linear constraints. In this disclosure, this is referred to as a retrodirective method with derivative constraint.
　ウェイト生成部１７は、規定信号１０００の伝搬チャネル特性と検出部１６が検出した物体５０００の方向及び領域の検出結果に基づいて、物体５０００の方向及び領域にヌルが向くように送信ウェイトを生成する。前記送信ウェイトを生成するために、例えば、ウェイト生成部１７は、前記広角度Ｌｉを決定する。 The weight generation unit 17 generates transmission weights such that the null points toward the direction and area of the object 5000 based on the propagation channel characteristics of the prescribed signal 1000 and the detection result of the direction and area of the object 5000 detected by the detection unit 16. . In order to generate the transmission weight, for example, the weight generation unit 17 determines the wide angle L i .
　例えば、ウェイト生成部１７は、方向θｉから（式２２１）と（式２２２）を用いてアレー応答ベクトルＶｉを算出する。例えば、ウェイト生成部１７は、図１７に示すように、ヌル対象の方向θｉと領域δｉとを示す情報をテーブル１７０に適用して広角度Ｌｉを求める。領域δｉは、物体５０００の領域、大きさ等に関する情報を含む。広角度Ｌｉは、広角化パラメータであり、物体５０００の領域δｉだけでなく方向θｉにも依存するため、テーブル１７０を用いて求めてもよいし、機械学習等を用いて求めてもよい。本実施形態では、テーブル１７０は、記憶部１７Ｄに記憶されており、方向θｉと領域δｉから広角度Ｌｉを導き出すルックアップテーブルである。 For example, the weight generation unit 17 calculates the array response vector V i from the direction θ i using (Equation 221) and (Equation 222). For example, as shown in FIG. 17, the weight generation unit 17 applies information indicating the direction θ i and the region δ i of the null target to the table 170 to obtain the wide angle L i . The area δ i includes information regarding the area, size, etc. of the object 5000. The widening angle L i is a widening parameter and depends not only on the area δ i of the object 5000 but also on the direction θ i , so it may be determined using the table 170 or using machine learning or the like. good. In this embodiment, the table 170 is stored in the storage unit 17D and is a lookup table that derives the wide angle L i from the direction θ i and the area δ i .
　ウェイト生成部１７は、求めた広角度Ｌｉとアレー応答ベクトルＶｉとから、上記の（式２２６）、（式２２８）、（式２２９）を用いてベクトル化することで、拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。ウェイト生成部１７は、拘束ベクトルＶｉ （ｌ）を用いて、アレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔを、上述した（式２３１）によって決定する。なお、送電装置１０は、広角度Ｌｉをヌル対象ごとに設定できる。送電装置１０は、ヌルを向ける方向及び領域から算出する行列と、規定信号１０００の伝搬チャネル特性とを独立して算出できる。 The weight generation unit 17 vectorizes the obtained wide angle L i and array response vector V i using the above (Equation 226), (Equation 228), and (Equation 229) to generate a constraint vector V i (l) Find (l=0,...,L i ). The weight generation unit 17 uses the constraint vector V i (l) to determine the optimal weight vector W opt that maximizes the magnitude |W H V d | of the array response value according to the above-mentioned (Equation 231). . Note that the power transmission device 10 can set the wide angle L i for each null target. The power transmission device 10 can independently calculate a matrix calculated from the direction and region in which the null is directed and the propagation channel characteristics of the prescribed signal 1000.
　図１４に示すように、乗算部１８は、ウェイト生成部１７のウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの送信信号２０００にウェイトを乗算する。乗算部１８は、例えば、乗算器を有する。乗算部１８は、アンテナ素子１１Ａに対応するウェイトを乗算した送信信号２０００を、当該アンテナ素子１１Ａの送受信回路１３Ａに供給する。 As shown in FIG. 14, the multiplication section 18 multiplies the transmission signal 2000 from the transmission signal generation section 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation section 17. The multiplication unit 18 includes, for example, a multiplier. The multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
　以上、本実施形態に係る送電装置１０の機能構成例について説明した。なお、図１４を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る送電装置１０の機能構成は係る例に限定されない。本実施形態に係る送電装置１０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 The functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 14 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
［実施形態２に係る受電装置］
　図１８は、実施形態２に係る受電装置２０の構成の一例を示す図である。図１８に示すように、受電装置２０は、アンテナ２１と、送受信部２２と、信号発生部２３と、受電部２４と、を備える。本開示の受電装置２０は、移動可能な装置であるとしてよい。例えば、このような受電装置２０として、モバイルバッテリー、スマートフォン、カメラ、振動センサ、生体センサ、温度センサ、警報などのドローンや車などの移動体に搭載される機器、自動運転車両、設置位置が可変な振動センサ、生体センサ、温度センサ、警報などとしてよい。本開示では、受電装置２０は、移動可能な装置であるため、規定信号に基づく伝搬チャネルの特性が受電装置２０の位置に応じて変化しうるとしてよい。 [Power receiving device according to Embodiment 2]
FIG. 18 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the second embodiment. As shown in FIG. 18, the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24. The power receiving device 20 of the present disclosure may be a movable device. For example, such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position. It may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc. In the present disclosure, since the power receiving device 20 is a movable device, the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
　アンテナ２１は、送受信部２２と電気的に接続されている。アンテナ２１は、送電装置１０からの電波２０００Ｗを受電可能な受電アンテナである。アンテナ２１は、例えば、パッチアンテナ、ダイポールアンテナ、パラボラアンテナ等を用いることができる。アンテナ２１は、例えば、規定信号１０００を含む電波を放射し、送電装置１０からの送信信号２０００を含む電波２０００Ｗを受信する。アンテナ２１は、受信した電波２０００Ｗの受信信号を送受信部２２に供給する。 The antenna 21 is electrically connected to the transmitting/receiving section 22. The antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10. As the antenna 21, for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used. For example, the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10. The antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
　送受信部２２は、信号発生部２３及び受電部２４と電気的に接続されている。送受信部２２は、信号発生部２３からの規定信号１０００を含む電波をアンテナ２１から放射させる。送受信部２２は、アンテナ２１で受信した電波の受信信号を受電部２４に供給する。 The transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24. The transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 . The transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
　信号発生部２３は、規定信号１０００を生成する。信号発生部２３は、送受信部２２を介して、該規定信号１０００を含む電波をアンテナ２１に放射させる。信号発生部２３は、送信周期に基づいて規定信号１０００を生成できる。信号発生部２３は、規定信号１０００とは異なる信号を生成する構成としてもよい。 The signal generating section 23 generates a regulation signal 1000. The signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 . The signal generator 23 can generate the regulation signal 1000 based on the transmission cycle. The signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
　受電部２４は、アンテナ２１で受信した電波２０００Ｗを直流電流に変換し、この直流電流を利用して電力を受電する。受電部２４は、例えば、公知である整流回路等を用いて、電波を直流電流に変換する。受電部２４は、受電した電力を、例えば、Ｑｉ（ワイヤレス給電の国際標準規格）に対応したバッテリ、負荷等に供給する。負荷は、例えば、機械設備、ＩｏＴ（Internet　of　Things）センサ、電子機器、照明機器等を含む。 The power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current. The power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit. The power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply). The loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
　以上、本実施形態に係る受電装置２０の機能構成例について説明した。なお、図１８を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る受電装置２０の機能構成は係る例に限定されない。本実施形態に係る受電装置２０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 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. 18 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example. The functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
［実施形態２に係る送電装置の処理手順例］
　図１９は、図１に示すシステム１の送電装置１０の処理手順の一例を説明するための図である。図２０は、図１９に示す送電装置１０のデータフローを説明するための図である。 [Example of processing procedure of power transmission device according to Embodiment 2]
FIG. 19 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG. FIG. 20 is a diagram for explaining the data flow of power transmission device 10 shown in FIG. 19.
　図１９に示すように、システム１において、受電装置２０は、規定信号１０００を送出する。送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、受電装置２０に対応したアレー応答ベクトルＶｄを推定する（ステップＳ１１１）。例えば、図２０に示すように、送電装置１０は、推定部１４で、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。図１９に戻り、送電装置１０は、ステップＳ１１１の処理が終了すると、処理をステップＳ１３１に進める。 As shown in FIG. 19, in the system 1, the power receiving device 20 sends out a regulation signal 1000. When the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111). For example, as shown in FIG. 20, the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do. Returning to FIG. 19, when the process of step S111 is completed, the power transmission device 10 advances the process to step S131.
　また、送電装置１０は、検出部１６で、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向及び領域を検出する（ステップＳ１２１）。例えば、図２０に示すように、送電装置１０は、検出部１６がＭ個の物体５０００をヌル対象と検出している場合、複数の物体５０００の方向θ１，θ２，・・・，θＭを検出する。そして、送電装置１０は、複数の物体５０００の領域δ１，δ２，・・・，δＭを検出する。送電装置１０は、検出した物体５０００の方向θ１，θ２，・・・，θＭ及び領域δ１，δ２，・・・，δＭをウェイト生成部１７に供給する。図１９に戻り、送電装置１０は、ステップＳ１２１の処理が終了すると、処理をステップＳ１２２に進める。 Furthermore, in the power transmitting device 10, the detection unit 16 detects the direction and area of the object 5000 that is different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 20, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions θ 1 , θ 2 , ..., θ of the plurality of objects 5000. Detect M. Then, the power transmission device 10 detects regions δ 1 , δ 2 , . . . , δ M of the plurality of objects 5000. The power transmission device 10 supplies the directions θ 1 , θ 2 , ..., θ M and the regions δ 1 , δ 2 , ..., δ M of the detected object 5000 to the weight generation unit 17 . Returning to FIG. 19, upon completion of the process in step S121, the power transmission device 10 advances the process to step S122.
　送電装置１０は、ウェイト生成部１７で、ヌルに対応した拘束ベクトル化及び行列演算を行う（ステップＳ１２２）。例えば、図２０に示すように、送電装置１０は、方向θｉと領域δｉとを示す情報をテーブル１７０に適用して広角度Ｌｉを求め、広角度Ｌｉとアレー応答ベクトルＶｉとから、上記の（式２２６）、（式２２８）、（式２２９）を用いてベクトル化することで、ヌルに対応した拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める（ステップＳ１７１）。送電装置１０は、続いてウェイト生成部１７が行列演算を行う（ステップＳ１７２）。詳細には、送電装置１０は、ヌルに対応した拘束ベクトルＶｉ （ｌ）を用いて（Ｉ－ＡＡ＋）の行列演算を行い、演算結果を記憶部１７Ｄに記憶する。ただし、Ａ＝［Ｖ１ （０），・・・，Ｖ１ （L1），Ｖ２ （０），・・・，Ｖ２ （L2），・・・，ＶM （０），・・・，ＶM （LM）］である。図１９に戻り、送電装置１０は、ステップＳ１２２の処理が終了すると、処理をステップＳ１３１に進める。 In the power transmission device 10, the weight generation unit 17 performs constraint vectorization and matrix calculation corresponding to nulls (step S122). For example, as shown in FIG. 20, the power transmission device 10 calculates the wide angle Li by applying information indicating the direction θ i and the area δ i to the table 170, and calculates the wide angle Li and the array response vector V i . By vectorizing using the above (Formula 226), (Formula 228), and (Formula 229), the constraint vector V i (l) (l=0,...,L i ) corresponding to the null is obtained. (Step S171). In the power transmission device 10, the weight generation unit 17 subsequently performs matrix calculation (step S172). Specifically, the power transmission device 10 performs a matrix calculation of (I-AA + ) using the constraint vector V i (l) corresponding to the null, and stores the calculation result in the storage unit 17D. However, A=[V 1 (0) ,..., V 1 (L1) , V 2 (0) ,..., V 2 (L2) ,..., V M (0) ,... , V M (LM) ]. Returning to FIG. 19, when the process of step S122 is completed, the power transmitting device 10 advances the process to step S131.
　送電装置１０は、送信ウェイトを生成する（ステップＳ１３１）。例えば、図２０に示すように、送電装置１０は、行列とベクトルの積算を行う（ステップＳ１７３）。詳細には、送電装置１０は、ウェイト生成部１７が推定部１４によって推定されたアレー応答ベクトルＶｄと記憶部１７Ｄの（Ｉ－ＡＡ＋）との積を算出してアレー応答ベクトルＶｄ’を算出する。そして、送電装置１０は、正規化を行う（ステップＳ１７４）。詳細には、送電装置１０は、ウェイト生成部１７が算出したアレー応答ベクトルＶｄ’を、（式２１７）を用いて正規化し、最適なウェイトベクトルＷｏｐｔを生成する。図１９に戻り、送電装置１０は、ステップＳ１３１の処理が終了すると、処理をステップＳ１３２に進める。 The power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 20, the power transmission device 10 performs matrix and vector multiplication (step S173). Specifically, in the power transmission device 10, the weight generation unit 17 calculates the product of the array response vector V d estimated by the estimation unit 14 and (I−AA + ) in the storage unit 17D, and generates the array response vector V d ′. Calculate. Then, the power transmission device 10 performs normalization (step S174). Specifically, the power transmission device 10 normalizes the array response vector V d ' calculated by the weight generation unit 17 using (Equation 217), and generates the optimal weight vector W opt . Returning to FIG. 19, when the process of step S131 is completed, the power transmitting device 10 advances the process to step S132.
　送電装置１０は、送信ウェイトを乗算する（ステップＳ１３２）。例えば、送電装置１０は、乗算部１８が最適なウェイトベクトルＷｏｐｔを示すウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの給電用の送信信号２０００にウェイトを乗算し、送受信回路１３Ａに供給する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。この場合、送電装置１０は、物体５０００の領域にヌルを向けているので、電波２０００Ｗは受電装置２０において強め合うように合成されるが、物体５０００においては弱め合うように合成される。 The power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, since the power transmitting device 10 directs the null toward the region of the object 5000, the radio waves 2000 W are combined in a constructive manner in the power receiving device 20, but are combined in a destructive manner in the object 5000.
　受電装置２０は、例えば、受信した給電用の電波２０００Ｗを直流電流に変換し、この直流電流を利用してバッテリを充電したり、充電した電力によって動作したりする。その後、受電装置２０は、規定信号１０００を送出する。 For example, the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
　送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、上述した処理手順を繰り返すことで、ウェイトベクトルＷｏｐｔを生成して送信信号２０００の電波２０００Ｗをアレーアンテナ１１から放射する。これにより、送電装置１０は、受電装置２０や物体５０００が移動しても、電波２０００Ｗは受電装置２０において強め合うように合成され、物体５０００においては弱め合うように合成されることを維持できる。 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
　図１９に示す送電装置１０の処理手順は、規定信号１０００に応じたアレー応答ベクトルＶｄの推定（ステップＳ１１１）と物体５０００の方向及び領域に応じた拘束ベクトルＶｉ （ｌ）との算出及び行列演算（ステップＳ１２２）は同期する必要がない。よって、例えば、規定信号１０００を受信する周期と検出部１６が情報を提供する周期が異なっていてもよい。また、例えば、物体５０００の方向及び領域に変化がない場合、送電装置１０は、過去の拘束ベクトルＶｉ （ｌ）を用いてもよい。 The processing procedure of the power transmission device 10 shown in FIG. 19 includes estimating the array response vector V d according to the specified signal 1000 (step S111), calculating the constraint vector V i (l) according to the direction and area of the object 5000, and The matrix calculation (step S122) does not need to be synchronized. Therefore, for example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction and area of the object 5000, the power transmission device 10 may use the past constraint vector V i (l) .
　図２１は、実施形態２に係る送電装置１０の動作例を説明するための図である。図２２は、図２１に示す送電装置１０が放射した電波の強度分布を計算機シミュレーションによって計算した結果の一例を示す図である。図２３は、実施形態２に係る送電装置１０の電波２０００Ｗの指向性パターンの一例を示す図である。 FIG. 21 is a diagram for explaining an example of the operation of the power transmission device 10 according to the second embodiment. FIG. 22 is a diagram showing an example of the result of calculating the intensity distribution of radio waves emitted by the power transmission device 10 shown in FIG. 21 by computer simulation. FIG. 23 is a diagram illustrating an example of a directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the second embodiment.
　図２１及び図２２に示す場面では、システム１は、部屋４０００の中に送電装置１０と受電装置２０を配置し、物性が人体と同じ物体５０００が存在している。部屋４０００は、３ｍ×３ｍ×３ｍの壁素材がコンクリートの部屋になっている。物体５０００は、送電装置１０と受電装置２０との間で、送電装置１０と受電装置２０とを結ぶ直線上からずれた位置に配置されている。すなわち、図２２に示す測定環境は、図２に示した環境と同一になっている。 In the scenes shown in FIGS. 21 and 22, the system 1 has a power transmitting device 10 and a power receiving device 20 arranged in a room 4000, and an object 5000 having the same physical properties as a human body is present. Room 4000 is a 3m x 3m x 3m room with walls made of concrete. The object 5000 is placed between the power transmitting device 10 and the power receiving device 20 at a position offset from the straight line connecting the power transmitting device 10 and the power receiving device 20. That is, the measurement environment shown in FIG. 22 is the same as the environment shown in FIG. 2.
　図２２に示すように、システム１は、送電装置１０と受電装置２０との間の近傍に物体５０００が存在する場合、送電装置１０がセンサ部１５のセンサ情報に基づいて物体５０００の方向を検出できる。受電装置２０は、規定信号１０００を含む電波を放射すると、送電装置１０に直接向かうパスと、物体５０００で反射して送電装置１０に向かうパスが主要なパスとなる。この場合、送電装置１０は、アレーアンテナ１１で受信した規定信号１０００を含む電波の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。送電装置１０は、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向及び領域を検出し、複数の物体５０００の方向θ１，θ２，・・・，θＭ及び領域δ１，δ２，・・・，δＭを検出する。なお、図２２においてはＭ＝１である。送電装置１０は、物体５０００の方向、すなわちヌルに対応したアレー応答ベクトルＶｉを計算するとともに、物体５０００の領域に基づいて拘束ベクトルＶｉ （ｌ）を計算し、拘束ベクトルとする。当該拘束ベクトルＶｉ （ｌ）とアレー応答ベクトルＶｄと用いて最適なウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。 As shown in FIG. 22, in the system 1, when an object 5000 exists in the vicinity between the power transmitting device 10 and the power receiving device 20, the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can. When the power receiving device 20 emits a radio wave including the prescribed signal 1000, the main paths are a path directly toward the power transmitting device 10 and a path reflected by an object 5000 and directed toward the power transmitting device 10. In this case, the power transmission device 10 estimates the propagation channel characteristics of the radio wave including the prescribed signal 1000 received by the array antenna 11, and estimates the array response vector V d . The power transmitting device 10 detects the direction and region of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15, and detects the directions θ 1 , θ 2 , . . . of the plurality of objects 5000. . , θ M and regions δ 1 , δ 2 , . . . , δ M are detected. Note that in FIG. 22, M=1. The power transmission device 10 calculates an array response vector V i corresponding to the direction of the object 5000, that is, a null, and also calculates a constraint vector V i (l) based on the area of the object 5000, and uses it as a constraint vector. An optimal weight vector W opt is generated using the constraint vector V i (l) and the array response vector V d . In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
　これにより、図２２に示す強度分布３１００に示すように、送電装置１０は、物体５０００の方向から規定信号１０００を受信しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、物体５０００の領域に広角化したヌルを形成することで、物体５０００に向かう電波２０００Ｗの放射を抑制することができる。その結果、送電装置１０は、受電装置２０からの規定信号１０００が人体に反射して届く環境であっても、人体に向かう電波２０００Ｗを抑制できるので、安全なワイヤレス電力伝送を実現することができる。 Thereby, as shown in the intensity distribution 3100 shown in FIG. 22, even if the power transmitting device 10 receives the prescribed signal 1000 from the direction of the object 5000, it can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20. Furthermore, by forming a wide-angle null in the area of the object 5000, radiation of the radio wave 2000W toward the object 5000 can be suppressed. As a result, even in an environment where the prescribed signal 1000 from the power receiving device 20 reaches the human body after being reflected, the power transmitting device 10 can suppress the 2000 W of radio waves directed toward the human body, making it possible to realize safe wireless power transmission. .
　送電装置１０は、伝搬環境に複数の物体５０００が存在しても、複数の物体５０００の方向及び領域を検出し、複数の物体５０００の各々にヌルを向けるように、ウェイトベクトルＷｏｐｔを生成することができる。 Even if a plurality of objects 5000 exist in the propagation environment, the power transmission device 10 detects the directions and regions of the plurality of objects 5000 and generates a weight vector W opt so as to direct a null to each of the plurality of objects 5000. be able to.
　図２３に示すグラフは、例えば、２つの物体５０００が存在する場合における実施形態２に係る送電装置１０から放射される電波２０００Ｗの指向性パターンの一例を示している。図２３に示すグラフは、縦軸がアレー応答値の電力（絶対値の２乗）［ｄＢ］、横軸が電波２０００Ｗの放射方向［°］をそれぞれ示している。図２３に示す一例では、送電装置１０は、アンテナ素子１１Ａの数が８、隣り合うアンテナ素子１１Ａ同士の間隔がλ／２であり、アンテナ配置が等間隔リニアアレーになっている。λは波長を表す。送電装置１０は、３０°の方向が受電装置２０への電波２０００Ｗの放射方向と推定し、放射方向における－１０°及び－４５°が２つの物体５０００の方向と検出している。送電装置１０は、３０°の方向の受電装置２０に対応したアレー応答ベクトルＶｄと、－１０°の方向のヌルに対応したアレー応答ベクトルＶ１と、－４５°の方向のヌルに対応したアレー応答ベクトルＶ２とそれぞれのヌルの広角度に基づいてウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。図２３に示す一例では、送電装置１０は、放射方向が３０°の方向付近でアレー応答値の電力が大きくなり、－１０°の方向Ｄ１及び－４５°の方向Ｄ２付近でアレー応答値の電力が小さくなっている。これにより、送電装置１０は、複数の物体５０００を検出しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、複数の物体５０００に向かう電波２０００Ｗの放射を抑制することができる。なお、一般にマルチパス環境における受電装置２０に対するアレー応答ベクトルＶｄは指向性パターンにおいて特定の方向にならないが、図２３の例では、理解しやすいように３０°の方向のアレー応答ベクトルとした。 The graph shown in FIG. 23 shows an example of the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 according to the second embodiment when two objects 5000 are present, for example. In the graph shown in FIG. 23, the vertical axis shows the power (square of the absolute value) [dB] of the array response value, and the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W. In the example shown in FIG. 23, the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is λ/2, and the antenna arrangement is a uniformly spaced linear array. λ represents wavelength. The power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects −10° and −45° in the radiation direction as the directions of the two objects 5000. The power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the −10° direction, and an array response vector V 1 corresponding to the null in the −45° direction. Generate a weight vector W opt based on the array response vector V 2 and the wide angle of each null. In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11. In the example shown in FIG. 23, in the power transmission device 10, the power of the array response value becomes large near the direction where the radiation direction is 30°, and the power of the array response value becomes large near the direction D1 of -10° and the direction D2 of -45°. is getting smaller. Thereby, even if the power transmitting device 10 detects a plurality of objects 5000, it is possible to direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and suppress the emission of the radio waves of 2000 W directed toward the plurality of objects 5000. Can be done. Although the array response vector V d for the power receiving device 20 in a multipath environment generally does not have a specific direction in the directivity pattern, in the example of FIG. 23, the array response vector is set in a 30° direction for ease of understanding.
　上記した実施形態２では、送電装置１０は、アレーアンテナ１１の複数のアンテナ素子１１Ａが等間隔のリニアアレーである場合について説明したが、これに限定されない。送電装置１０は、物体５０００の方向からアレー応答ベクトルＶｉを算出可能であれば、複数のアンテナ素子１１Ａの配置は、等間隔リニアアレーでなくてもよい。 In the above-described second embodiment, the power transmission device 10 has been described as a case where the plurality of antenna elements 11A of the array antenna 11 are a linear array with equal intervals, but the present invention is not limited to this. As long as the power transmission device 10 can calculate the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
［実施形態２に係る送電装置の変形例］
　図２４は、実施形態２の変形例に係る送電装置１０の構成の一例を示す図である。図２５は、実施形態２の変形例に係る送電装置１０の他の構成の一例を示す図である。図２４に示すように、送電装置１０は、センサ部１５と検出部１６とを、送電装置１０の外部の電子機器３０に設けてもよい。この場合、送電装置１０は、電子機器３０からデータの受信が可能な構成とし、電子機器３０から物体５０００の検出結果を取得してもよい。図２５に示すように、送電装置１０は、センサ部１５のみを装置の外部に設けてもよい。この場合、送電装置１０は、外部のセンサ部１５からセンサ情報等を取得可能な構成とし、センサ部１５からのセンサ情報等に基づいて検出部１６が物体５０００を検出してもよい。 [Modification of power transmission device according to Embodiment 2]
FIG. 24 is a diagram illustrating an example of the configuration of a power transmission device 10 according to a modification of the second embodiment. FIG. 25 is a diagram illustrating an example of another configuration of the power transmission device 10 according to a modification of the second embodiment. As shown in FIG. 24, the power transmission device 10 may include the sensor section 15 and the detection section 16 in an electronic device 30 outside the power transmission device 10. In this case, the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30. As shown in FIG. 25, the power transmission device 10 may include only the sensor section 15 outside the device. In this case, the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
［実施形態２に係る任意の条件下で生成されたウェイトに微係数拘束を適用した例］
　微係数拘束付きレトロディレクティブ方式において、Ｖｄはレトロディレクティブ方式における最適ウェイトと同じ方向であり、行列（Ｉ－ＡＡ＋）は行列Ａの列ベクトルが張る部分空間の直交部分空間への射影行列である。行列Ａの列ベクトルが張る部分空間の要素はＡｘで与えられる。行列（Ｉ－ＡＡ＋）にベクトルＡｘを右から掛けると（Ｉ－ＡＡ＋）Ａｘ＝（Ｉ－ＡＡ＋Ａ）ｘ＝（Ａ－Ａ）ｘ＝０となる。これは任意のベクトルに対し、当該行列を左から掛けることにより、行列Ａの列ベクトルが張る部分空間と平行な成分はゼロになり、直交する成分だけ残ることを意味する。よって、行列Ａの列ベクトルが張る部分空間の直交部分空間への射影行列である。 [Example of applying differential coefficient constraint to weights generated under arbitrary conditions according to Embodiment 2]
In the retrodirective method with differential coefficient constraints, V d is in the same direction as the optimal weight in the retrodirective method, and the matrix (I-AA + ) is a projection matrix of the subspace spanned by the column vectors of matrix A onto the orthogonal subspace. be. The elements of the subspace spanned by the column vectors of matrix A are given by Ax. Multiplying the matrix (I-AA + ) by the vector Ax from the right yields (I-AA + )Ax=(I-AA + A)x=(AA)x=0. This means that by multiplying an arbitrary vector by the matrix from the left, the components parallel to the subspace spanned by the column vectors of matrix A become zero, and only the orthogonal components remain. Therefore, it is a projection matrix of the subspace spanned by the column vectors of matrix A onto the orthogonal subspace.
　すなわち、送電装置１０は、行列（Ｉ－ＡＡ＋）によりヌル方向へ向かう放射成分を取り除くことができる。これはある条件下で算出されたあらゆる送信ウェイトに適用することができることを意味する。図２６は、実施形態２の変形例に係る送電装置のデータフローを説明するための図である。なお、ある条件は、物体５０００の方向及び領域に基づいて一般化された複数の条件を含む。 That is, the power transmission device 10 can remove the radiation component heading in the null direction using the matrix (I-AA + ). This means that it can be applied to any transmission weight calculated under certain conditions. FIG. 26 is a diagram for explaining a data flow of a power transmission device according to a modification of the second embodiment. Note that a certain condition includes a plurality of conditions that are generalized based on the direction and area of the object 5000.
　図２６に示す送電装置１０は、ウェイト生成部１７がある条件下で生成されたウェイトベクトルＷと、記憶部１７Ｄの（Ｉ－ＡＡ＋）との積を算出してウェイトベクトルＷ’を算出する（ステップＳ１７５）。そして、送電装置１０は、ウェイト生成部１７が算出したウェイトベクトルＷ’を正規化して最適なウェイトベクトルＷｏｐｔ（＝Ｗ’／||Ｗ’||）を生成する（ステップＳ１７６）。ただし、Ａ＝［Ｖ１ （０），・・・，Ｖ１ （L1），Ｖ２ （０），・・・，Ｖ２ （L2），・・・，ＶM （０），・・・，ＶM （LM）］である。送電装置１０は、上述したステップＳ１３２で送信ウェイトを乗算する。例えば、送電装置１０は、乗算部１８が最適なウェイトベクトルＷｏｐｔを示すウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの給電用の送信信号２０００にウェイトを乗算し、送受信回路１３Ａに供給する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。その結果、送電装置１０は、物体５０００の領域にヌルを向けているので、電波２０００Ｗが受電装置２０に向かうが、物体５０００に向かう放射を減少させることができる。このように、送電装置１０は、構成を変更しても、上述した作用効果を得ることができる。 The power transmission device 10 shown in FIG. 26 calculates the weight vector W′ by calculating the product of the weight vector W generated under a certain condition by the weight generation unit 17 and (I−AA + ) in the storage unit 17D. (Step S175). Then, the power transmission device 10 normalizes the weight vector W' calculated by the weight generation unit 17 to generate an optimal weight vector W opt (=W'/||W'||) (step S176). However, A=[V 1 (0) ,..., V 1 (L1) , V 2 (0) ,..., V 2 (L2) ,..., V M (0) ,... , V M (LM) ]. The power transmission device 10 multiplies the transmission weight in step S132 described above. For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. As a result, since the power transmitting device 10 directs the null toward the region of the object 5000, the radio waves of 2000 W are directed toward the power receiving device 20, but the radiation directed toward the object 5000 can be reduced. In this way, the power transmission device 10 can obtain the above-mentioned effects even if the configuration is changed.
［実施形態２に係るヌルの広角化に多点ヌル拘束方式を適用した例］
　ヌルを広角化する他の例を説明する。ヌルを広角化するために、例えば、物体５０００の領域に複数のヌル点を配置してもよい。例えば、ウェイト生成部１７は、ヌル対象の物体５０００の方向θｉと領域δｉから当該方向の最小値θｍｉｎ ｉと最大値θｍａｘ ｉを決定する。ウェイト生成部１７は、予め定められた刻み幅でθｍｉｎからθｍａｘをカバーする方向θｉ （０），θｉ （１），・・・，θｉ （Ｌｉ）を決定する。なお、刻み幅は、物体５０００の方向θｉによらず、一定でもよいし物体５０００の方向θｉごとに変更してもよい。ウェイト生成部１７は、（式２２１）と（式２２２）を用いて、θｉ （ｌ）からアレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を算出し、これらを（式２３１）の拘束ベクトルＶｉ （ｌ）としてもよい。本開示では、物体５０００の領域に渡ってヌルを設定する方式を多点ヌル拘束付きレトロディレクティブ方式と称する。多点ヌル拘束付きレトロディレクティブ方式も微係数拘束付きレトロディレクティブ方式も（式２３１）を用いる。よって、ヌル広角化において、複数のヌルを設定する前記多点ヌル拘束付きレトロディレクティブ方式と広角度に従って複数の拘束ベクトルを設定する前記微係数拘束付きレトロディレクティブ方式を組み合わせてもよい。 [Example of applying multi-point null constraint method to widening the null according to Embodiment 2]
Another example of widening the null will be explained. In order to widen the null, for example, a plurality of null points may be placed in the area of the object 5000. For example, the weight generation unit 17 determines the minimum value θ min i and the maximum value θ max i in the direction from the direction θ i and the area δ i of the object 5000 to be nulled. The weight generation unit 17 determines directions θ i (0) , θ i (1) , . . . , θ i (Li) that cover from θ min to θ max in predetermined steps. Note that the step width may be constant regardless of the direction θ i of the object 5000, or may be changed for each direction θ i of the object 5000. The weight generation unit 17 calculates the array response vector V i (l) (l=0,..., L i ) from θ i (l) using (Equation 221) and (Equation 222), and may be taken as the constraint vector V i (l) in (Formula 231). In this disclosure, a method of setting nulls across the region of the object 5000 is referred to as a retrodirective method with multi-point null constraints. Both the retrodirective method with multi-point null constraint and the retrodirective method with differential coefficient constraint use (Equation 231). Therefore, in null widening, the retrodirective method with multi-point null constraint that sets a plurality of nulls and the retrodirective method with differential coefficient constraint that sets a plurality of constraint vectors according to the wide angle may be combined.
［実施形態２に係る物体の方向及び領域を限定した例］
　物体５０００の方向及び領域は特定の条件によって限定してもよい。例えば、検出部１６は、人間であれば、センサ情報が示す画像に対して公知である物体認識処理により人間に対する方向及び領域のうち頭部に限定してもよい。また、例えば、送電装置１０が受信した規定信号１０００に対して公知である到来方向推定処理により、物体５０００の方向及び領域を規定信号１０００が到来する方向及び領域に限定してもよい。また、例えば、物体５０００の領域を分割し、ヌルの対象領域を分割した領域に限定してもよい。その際、分割した領域を時間的に切り替えてもよい。 [Example in which direction and area of object are limited according to Embodiment 2]
The direction and area of object 5000 may be limited by specific conditions. For example, in the case of a human being, the detection unit 16 may limit the direction and area to the human head by performing a known object recognition process on the image indicated by the sensor information. Further, for example, the direction and area of the object 5000 may be limited to the direction and area in which the specified signal 1000 arrives by performing a known arrival direction estimation process on the specified signal 1000 received by the power transmission device 10. Furthermore, for example, the area of the object 5000 may be divided, and the null target area may be limited to the divided area. At this time, the divided regions may be switched over in time.
［実施形態２に係る微係数拘束条件の変換］
　微係数拘束条件Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，Ｌｉ）と、上述した（式２２５）が等価になることを以下に証明する。 [Conversion of differential coefficient constraint according to Embodiment 2]
It will be proven below that the differential coefficient constraint D (l) (θ i )=0 (l=1, . . . , L i ) is equivalent to the above-mentioned (Equation 225).
　まず、以下の（式２Ｃ１）が成り立つことを示す。なお、Ｆｌｎ（θ）はθの関数である。
Figure JPOXMLDOC01-appb-M000028
 First, it will be shown that the following (Formula 2C1) holds true. Note that F ln (θ) is a function of θ.
Figure JPOXMLDOC01-appb-M000028
［２－１］ｌ＝１のときを考える。
　以下の（式２Ｃ１ａ）の両辺をθで微分することで（式２Ｃ１ｂ）が得られる。
Figure JPOXMLDOC01-appb-M000029
Figure JPOXMLDOC01-appb-M000030
 よって、以下の（式２Ｃ２）が得られる。
Figure JPOXMLDOC01-appb-M000031
 [2-1] Consider the case when l=1.
By differentiating both sides of the following (Formula 2C1a) with respect to θ, (Formula 2C1b) is obtained.
Figure JPOXMLDOC01-appb-M000029
Figure JPOXMLDOC01-appb-M000030
 Therefore, the following (Formula 2C2) is obtained.
Figure JPOXMLDOC01-appb-M000031
　以下の（式２Ｃ２ａ）及び（式２Ｃ２ｂ）とすると、（式２Ｃ３）が得られる。
Figure JPOXMLDOC01-appb-M000032
Figure JPOXMLDOC01-appb-M000033
Figure JPOXMLDOC01-appb-M000034
 　以上のようにｌ＝１のとき（式２Ｃ１）を満たす。 When the following (Formula 2C2a) and (Formula 2C2b) are used, (Formula 2C3) is obtained.
Figure JPOXMLDOC01-appb-M000032
Figure JPOXMLDOC01-appb-M000033
Figure JPOXMLDOC01-appb-M000034
 As described above, when l=1, (formula 2C1) is satisfied.
［２－２］ｌ＝ｐのとき、（式２Ｃ１）が以下の（式２Ｃ４）のように成立しているとする。
Figure JPOXMLDOC01-appb-M000035
 [2-2] When l=p, it is assumed that (Formula 2C1) holds true as in (Formula 2C4) below.
Figure JPOXMLDOC01-appb-M000035
　（式２Ｃ４）の両辺をθで微分すると、以下の（式２Ｃ５）が得られる。
Figure JPOXMLDOC01-appb-M000036
 By differentiating both sides of (Formula 2C4) with respect to θ, the following (Formula 2C5) is obtained.
Figure JPOXMLDOC01-appb-M000036
　（式２Ｃ２ｂ）の両辺をθで微分すると、以下の（式２Ｃ６）が得られる。
Figure JPOXMLDOC01-appb-M000037
 By differentiating both sides of (Formula 2C2b) with respect to θ, the following (Formula 2C6) is obtained.
Figure JPOXMLDOC01-appb-M000037
　（式２Ｃ６）に（式２Ｃ５）を代入すると、以下の（式２Ｃ６１）が得られる。
Figure JPOXMLDOC01-appb-M000038
 By substituting (Formula 2C5) into (Formula 2C6), the following (Formula 2C61) is obtained.
Figure JPOXMLDOC01-appb-M000038
　（式２Ｃ６１）の両辺を（ｊ２πｄ／λ）ｃｏｓθで割ると、以下の（式２Ｃ７）が得られる。
Figure JPOXMLDOC01-appb-M000039
 By dividing both sides of (Formula 2C61) by (j2πd/λ)cosθ, the following (Formula 2C7) is obtained.
Figure JPOXMLDOC01-appb-M000039
　ここで、以下の（式２Ｃ８）、（式２Ｃ９）、（式２Ｃ１０）とする。ただし、（式２Ｃ９）において、ｎ＝２，・・・，ｐである。
Figure JPOXMLDOC01-appb-M000040
Figure JPOXMLDOC01-appb-M000041
Figure JPOXMLDOC01-appb-M000042
 Here, the following (Formula 2C8), (Formula 2C9), and (Formula 2C10) are used. However, in (Formula 2C9), n=2, . . . , p.
Figure JPOXMLDOC01-appb-M000040
Figure JPOXMLDOC01-appb-M000041
Figure JPOXMLDOC01-appb-M000042
　（式２Ｃ８）、（式２Ｃ９）、（式２Ｃ１０）により、（式２Ｃ７）は、以下の（式２Ｃ１１）となる。
Figure JPOXMLDOC01-appb-M000043
 　以上により、ｌ＝ｐにおいて、（式２Ｃ１）が成り立てば、ｌ＝ｐ＋１の時も（式２Ｃ１）が成り立つ。
　上記の［２－１］及び［２－２］から数学的帰納法により（式２Ｃ１）は成立する。 (Formula 2C8), (Formula 2C9), and (Formula 2C10), (Formula 2C7) becomes the following (Formula 2C11).
Figure JPOXMLDOC01-appb-M000043
 From the above, if (Formula 2C1) holds true when l=p, (Formula 2C1) also holds true when l=p+1.
From the above [2-1] and [2-2], (Formula 2C1) is established by mathematical induction.
　（式２Ｃ１）にθ＝θｉ及びＺｉ＝Ｚ（θｉ）を代入すると、以下の（式２Ｃ１２）となる。
Figure JPOXMLDOC01-appb-M000044
 When θ=θ i and Z i =Z(θ i ) are substituted into (Formula 2C1), the following (Formula 2C12) is obtained.
Figure JPOXMLDOC01-appb-M000044
　（式２Ｃ１２）より、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，Ｌｉ）であれば、以下の（式２Ｃ１２ａ）となる。ただし、（式２Ｃ１２ａ）において、ｌ＝１，・・・，Ｌｉである。
Figure JPOXMLDOC01-appb-M000045
 From (Formula 2C12), if D (l) (θ i )=0 (l=1, . . . , Li ) , the following (Formula 2C12a) is obtained. However, in (Formula 2C12a), l=1, . . . , Li .
Figure JPOXMLDOC01-appb-M000045
　逆に、（式２Ｃ１２）より、以下の（式２Ｃ１２ｂ）であれば、以下の（式２Ｃ１２ｃ）となる。ただし、（式２Ｃ１２ｃ）において、ｌ＝１，・・・，Ｌｉである。
Figure JPOXMLDOC01-appb-M000046
Figure JPOXMLDOC01-appb-M000047
 Conversely, from (Formula 2C12), if the following (Formula 2C12b) is satisfied, then the following (Formula 2C12c) is obtained. However, in (Formula 2C12c), l=1, . . . , Li .
Figure JPOXMLDOC01-appb-M000046
Figure JPOXMLDOC01-appb-M000047
　そこで、以下の（式２Ｃ１２ｄ）ならば、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，Ｌｉ）を示す。
Figure JPOXMLDOC01-appb-M000048
 Therefore, the following (Formula 2C12d) indicates D (l) (θ i )=0 (l=1, . . . , L i ).
Figure JPOXMLDOC01-appb-M000048
［２－Ａ］ｌ＝１のときを考える。
　Ｆ１１（θｉ）・Ｄ’（θｉ）＝０ならば、Ｆ１１（θｉ）＝λ／（ｊ２πｄ・ｃｏｓθ）≠０よりＤ’（θｉ）＝０である。 [2-A] Consider the case when l=1.
If F 11 (θ i )·D'(θ i )=0, then D'(θ i )=0 since F 11 (θ i )=λ/(j2πd·cos θ )≠0.
［２－Ｂ］ｌ＝ｐ（＜Ｌｉ）のときＤ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ）とすると、以下の（式２Ｃ１２ｅ）となる。
Figure JPOXMLDOC01-appb-M000049
 [2-B] When l=p (<L i ), if D (l) (θ i )=0 (l=1, . . . , p), the following (Formula 2C12e) is obtained.
Figure JPOXMLDOC01-appb-M000049
　上記の（式２Ｃ１０）より、以下の（式２Ｃ１２ｆ）であるから、Ｄ（ｐ＋１）（θｉ）＝０となる。
Figure JPOXMLDOC01-appb-M000050
 From the above (Formula 2C10), the following (Formula 2C12f) holds, so D (p+1) (θ i )=0.
Figure JPOXMLDOC01-appb-M000050
　よって、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ＋１）である。
　上記の［２－Ａ］及び［２－Ｂ］から以下の（式２Ｃ１２ｇ）ならば、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ＋１）となる。
Figure JPOXMLDOC01-appb-M000051
 Therefore, D (l) (θ i )=0 (l=1, . . . , p+1).
From the above [2-A] and [2-B], if the following (Formula 2C12g) is used, then D (l) (θ i )=0 (l=1, . . . , p+1).
Figure JPOXMLDOC01-appb-M000051
　よって、以下の（式２Ｃ１２ｈ）ならば、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，Ｌ）である。以上により、題意は示された。
Figure JPOXMLDOC01-appb-M000052
 Therefore, in the following (Formula 2C12h), D (l) (θ i )=0 (l=1, . . . , L). From the above, the meaning of the title has been demonstrated.
Figure JPOXMLDOC01-appb-M000052
［実施形態２に係る微係数拘束ベクトルの独立性］
　アレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｋ－１）が線形独立であることを証明する。 [Independence of differential coefficient constraint vector according to Embodiment 2]
Prove that the array response vectors V i (l) (l=0, . . . , K-1) are linearly independent.
　まず、アレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｋ－１）が線形独立であるためには、以下の（式２Ｄ１）とすると、これが成り立つのは、ａｌ＝０（ｌ＝０，・・・，Ｋ－１）の時のみであることを示せばよい。
Figure JPOXMLDOC01-appb-M000053
 First, in order for the array response vectors V i (l) (l=0, . . . , K-1) to be linearly independent, the following (Equation 2D1) holds true: a l =0 It is only necessary to show that this is true only when (l=0, . . . , K-1).
Figure JPOXMLDOC01-appb-M000053
　ここで、以下の（式２Ｄ２）とすると、（式２Ｄ１）は、Ａｉａ＝０となり、「ａ＝０が唯一の解であること」と「Ａｉの逆行列が存在すること」は等価になる。よって、Ａｉの行列式がゼロでないことを示せばよい。
Figure JPOXMLDOC01-appb-M000054
 Here, if we take the following (Formula 2D2), (Formula 2D1) becomes A i a=0, and "a=0 is the only solution" and "the inverse matrix of A i exists" are become equivalent. Therefore, it is sufficient to show that the determinant of A i is not zero.
Figure JPOXMLDOC01-appb-M000054
　上述した（式２２１）、（式２２６）、（式２２８）及び（式２２９）より、以下の（式２Ｄ３）となるので、行列式｜Ａｉ｜は以下の（式２Ｄ４）になる。
Figure JPOXMLDOC01-appb-M000055
Figure JPOXMLDOC01-appb-M000056
 From the above-mentioned (Formula 221), (Formula 226), (Formula 228), and (Formula 229), the following (Formula 2D3) is obtained, so the determinant |A i | becomes the following (Formula 2D4).
Figure JPOXMLDOC01-appb-M000055
Figure JPOXMLDOC01-appb-M000056
　（式２Ｄ４）の第１行に対して余因子展開を行うと、以下の（式２Ｄ５）になる。
Figure JPOXMLDOC01-appb-M000057
 When the first row of (Formula 2D4) is subjected to cofactor expansion, the following (Formula 2D5) is obtained.
Figure JPOXMLDOC01-appb-M000057
　また、一般に、（式２Ｄ５１）が成り立つので、（式２Ｄ５）は以下の（式２Ｄ６）になる。
Figure JPOXMLDOC01-appb-M000058
Figure JPOXMLDOC01-appb-M000059
 Moreover, since (Formula 2D51) generally holds true, (Formula 2D5) becomes the following (Formula 2D6).
Figure JPOXMLDOC01-appb-M000058
Figure JPOXMLDOC01-appb-M000059
　また、（式２Ｄ６）はヴァンデルモンドの行列式を含み、ヴァンデルモンドの行列式は以下の（式２Ｄ６１）となることから、以下の（式２Ｄ６２）となる。
Figure JPOXMLDOC01-appb-M000060
Figure JPOXMLDOC01-appb-M000061
 Further, (Formula 2D6) includes the Vandermonde determinant, and since the Vandermonde determinant is the following (Formula 2D61), the following (Formula 2D62) is obtained.
Figure JPOXMLDOC01-appb-M000060
Figure JPOXMLDOC01-appb-M000061
　よって、｜Ａｉ｜≠０である。以上により、題意は示された。 Therefore, |A i |≠0. From the above, the meaning of the title has been demonstrated.
［実施形態２に係る対角行列の変更］
　上述した（式２２６）に示したＱｌ＝ｄｉａｇ［０ｌ　１ｌ　・・・　（Ｋ－１）ｌ］は、Ｑｌ’＝ｄｉａｇ［ｑｌ，０　ｑｌ，１　・・・ｑｌ，Ｋ－１］に置き換えることができる。このことを、以下に証明する。 [Change of diagonal matrix according to Embodiment 2]
Q l = diag [0 l 1 l ... (K-1) l ] shown in (Equation 226) above is Q l '= diag [q l, 0 q l, 1 ... q l, K-1 ]. This is proven below.
　ここで、ｑｌ，ｋを以下の（式２Ｅ１）とする。ただし、ｋ＝０，・・・，Ｋ－１である。
Figure JPOXMLDOC01-appb-M000062
 Here, let q l,k be the following (Formula 2E1). However, k=0,...,K-1.
Figure JPOXMLDOC01-appb-M000062
　（式２Ｅ１）からＱｌ’＝ｄｉａｇ［ｑｌ，０　ｑｌ，１　・・・ｑｌ，Ｋ－１］は、以下の（式２Ｅ２）になる。
Figure JPOXMLDOC01-appb-M000063
 From (Formula 2E1), Q l '=diag[q l,0 q l,1 ...q l,K-1 ] becomes the following (Formula 2E2).
Figure JPOXMLDOC01-appb-M000063
　ここで、以下の（式２Ｅ３）と置くと、Ｑｌ’は以下の（式２Ｅ４）で表せる。ただし、ｃｌ，１，・・・，ｃｌ，ｌは定数である。
Figure JPOXMLDOC01-appb-M000064
Figure JPOXMLDOC01-appb-M000065
 Here, if the following (Formula 2E3) is set, Q l ' can be expressed by the following (Formula 2E4). However, c l,1 , . . . , c l,l are constants.
Figure JPOXMLDOC01-appb-M000064
Figure JPOXMLDOC01-appb-M000065
　（式２Ｅ４）の両辺にＶｉを右から掛けると、以下の（式２Ｅ５）及び（式２Ｅ６）により、以下の（式２Ｅ７）が与えられる。
Figure JPOXMLDOC01-appb-M000066
Figure JPOXMLDOC01-appb-M000067
Figure JPOXMLDOC01-appb-M000068
 When both sides of (Formula 2E4) are multiplied by Vi from the right, the following (Formula 2E7) is given by the following (Formula 2E5) and (Formula 2E6).
Figure JPOXMLDOC01-appb-M000066
Figure JPOXMLDOC01-appb-M000067
Figure JPOXMLDOC01-appb-M000068
　（式２Ｅ７）を書き並べると、以下の（式２Ｅ８）になることから、Ｖｉ （ｌ）（ｌ＝０，・・・，Ｌｊ）を横に並べた行列Ａｉ＝［Ｖｉ （０）　Ｖｉ （１）　・・・　Ｖｉ （Ｌｌ）］と、Ｖ’ｉ （ｌ）（ｌ＝０，・・・，Ｌｊ）を横に並べた行列Ａ’ｉ＝［Ｖ’ｉ （０）　Ｖ’ｉ （１）　・・・　Ｖ’ｉ （Ｌｌ）］は、以下の（式２Ｅ９）を使ってＡ’ｉ＝ＡｉＢｉと表せる。ただし、Ｖ’ｉ （０）＝Ｖｉ＝Ｖｉ （０）である。また、Ｃｒ，ｒ≠０（ｒ＝１，・・・，Ｌｊ）により、行列Ｂｉは正則である。
Figure JPOXMLDOC01-appb-M000069
Figure JPOXMLDOC01-appb-M000070
 When (Equation 2E7) is written and arranged, the following (Equation 2E8 ) is obtained. Therefore, the matrix A i = [ V i ( 0) V i (1) ...V i (Ll) ] and V' i (l) (l=0,..., L j ) are arranged horizontally A' i = [V' i (0) V' i (1) ...V' i (Ll) ] can be expressed as A' i =A i B i using the following (Formula 2E9). However, V′ i (0) = V i =V i (0) . Furthermore, the matrix B i is regular because C r,r ≠0 (r=1, . . . , L j ).
Figure JPOXMLDOC01-appb-M000069
Figure JPOXMLDOC01-appb-M000070
　以下の（式２Ｅ１０）に示す行列Ａと以下の（式２Ｅ１１）に示す行列Ａ’は、以下の（式２Ｅ１２）に示す行列Ｂを使って、Ａ’＝ＡＢと表せる。
Figure JPOXMLDOC01-appb-M000071
Figure JPOXMLDOC01-appb-M000072
Figure JPOXMLDOC01-appb-M000073
 Matrix A shown in (Equation 2E10) below and matrix A' shown in (Equation 2E11) below can be expressed as A'=AB using matrix B shown in (Equation 2E12) below.
Figure JPOXMLDOC01-appb-M000071
Figure JPOXMLDOC01-appb-M000072
Figure JPOXMLDOC01-appb-M000073
　上述した行列Ｂｉが正則であるので、ＡＢ＝ＡＡ＋ＡＢ＝ＡＢＢ－１Ａ＋ＡＢ＝ＡＢ（Ｂ－１Ａ＋）ＡＢとなり、（ＡＢ）＋＝Ｂ－１Ａ＋である。よって、Ａ’Ａ’＋＝ＡＢ（ＡＢ）＋＝ＡＢＢ－１Ａ＋＝ＡＡ＋である。行列Ａは、演算ＡＡ＋に使われ、Ｑｌを使った時のＡＡ＋の演算結果と、Ｑ’ｌを使った時のＡ’Ａ’＋の演算結果が等しいことから、Ｑｌの代わりにＱ’ｌを使って演算してもよいことが分かる。以上により、題意は示された。 Since the matrix B i described above is regular, AB=AA + AB=ABB −1 A + AB=AB(B −1 A + )AB, and (AB) + =B −1 A + . Therefore, A'A' + = AB (AB) + = ABB -1 A + = AA + . Matrix A is used in the operation AA + , and since the result of the operation of AA + when using Q l is the same as the result of operation of A'A' + when using Q' l , it can be used instead of Q l . It can be seen that the calculation can be performed using Q'l . From the above, the meaning of the title has been demonstrated.
［実施形態２に係るムーア・ペンローズ一般逆行列の演算］
　Ａのムーア・ペンローズ一般逆行列Ａ＋は特異値分解により演算できる。また、複素列ベクトルＶ１，Ｖ２，・・・，ＶＭが線形独立の場合は、Ａ＋＝（ＡＨＡ）－１ＡＨとして計算できる。ここで行列Ａ＝［Ｖ１　Ｖ２　・・・　ＶＭ］である。一方、複素列ベクトルＶ１，Ｖ２，・・・，ＶＭの線形独立性が保証されない場合は、公知である正則化パラメータαを用いてＡ＋＝（αＩ＋ＡＨＡ）－１ＡＨとすることで近似的に解を求めることができる。例えば、ウェイト生成部１７の行列演算（ステップＳ１７２）において、正則化パラメータを使った演算を行ってもよい。 [Operation of Moore-Penrose general inverse matrix according to Embodiment 2]
The Moore-Penrose general inverse matrix A + of A can be calculated by singular value decomposition. Furthermore, when the complex column vectors V 1 , V 2 , . . . , V M are linearly independent, it can be calculated as A + =(A H A) −1 A H. Here, matrix A=[V 1 V 2 . . . VM ]. On the other hand, if the linear independence of the complex column vectors V 1 , V 2 , . By doing this, the solution can be found approximately. For example, in the matrix calculation (step S172) of the weight generation unit 17, a calculation using a regularization parameter may be performed.
（実施形態３）
［実施形態３に係る送電装置の構成］
　図２７は、実施形態３に係る送電装置１０の構成の一例を示す図である。図２８は、アダプティブアレーアンテナの等価低域系解析モデルの一例を示す図である。図２９は、アダプティブアレーアンテナと指向性の一例を示す図である。 (Embodiment 3)
[Configuration of power transmission device according to Embodiment 3]
FIG. 27 is a diagram illustrating an example of the configuration of the power transmission device 10 according to the third embodiment. FIG. 28 is a diagram illustrating an example of an equivalent low-frequency analysis model of an adaptive array antenna. FIG. 29 is a diagram showing an example of an adaptive array antenna and directivity.
　図２７に示すように、送電装置１０は、アレーアンテナ１１と、送信信号発生部１２と、送受信部１３と、推定部１４と、センサ部１５と、検出部１６と、ウェイト生成部１７と、乗算部１８と、前処理部１９と、を備える。 As shown in FIG. 27, the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, an estimation section 14, a sensor section 15, a detection section 16, a weight generation section 17, It includes a multiplication section 18 and a preprocessing section 19.
　アレーアンテナ１１は、指向性制御（ビームフォーミング）が可能な構成になっている。アレーアンテナ１１は、複数のアンテナ素子１１Ａを備えている。アレーアンテナ１１は、例えば、複数のアンテナ素子１１Ａのそれぞれが同じ電波を放射し、それぞれの位相と電力強度を調整することで、特定の方向では電波を強め、別の方向では打ち消し合って弱めることが可能な構成になっている。アレーアンテナ１１は、送信信号２０００を含む電波を放射し、受電装置２０からの規定信号１０００を含む電波を受信する。アレーアンテナ１１は、受信した信号を送受信部１３に供給する。本実施形態では、説明を簡単化するために、アレーアンテナ１１は、３つ以上のアンテナ素子１１Ａを備える場合について説明するが、アンテナ素子１１Ａの数はこれに限定されない。アレーアンテナ１１は、アンテナの一例である。 The array antenna 11 has a configuration that allows directivity control (beamforming). The array antenna 11 includes a plurality of antenna elements 11A. For example, in the array antenna 11, each of the plurality of antenna elements 11A emits the same radio wave, and by adjusting the phase and power intensity of each, the radio waves can be strengthened in a specific direction and canceled out and weakened in another direction. The configuration is such that this is possible. Array antenna 11 emits radio waves including transmission signal 2000 and receives radio waves including regulation signal 1000 from power receiving device 20 . Array antenna 11 supplies the received signal to transmitter/receiver 13 . In this embodiment, in order to simplify the explanation, a case will be described in which the array antenna 11 includes three or more antenna elements 11A, but the number of antenna elements 11A is not limited to this. Array antenna 11 is an example of an antenna.
　送信信号発生部１２は、受電装置２０に送信する給電用の送信信号２０００を生成する。送信信号２０００は、電力を供給可能な電波２０００Ｗを放射するための信号である。例えば、送信信号２０００はベースバンド帯の信号であってもよい。送信信号２０００は、例えば、無変調信号でもよいし、変調信号でもよい。無変調信号の場合、送信期間中、送信信号２０００の時間変動はない。変調信号の場合、送信期間中、送信信号発生部１２は送信信号２０００を時間変動させる。送信信号発生部１２は、例えば、規定信号１０００を受信するタイミングには送信信号２０００を停止することを含む。送信信号発生部１２は、乗算部１８と電気的に接続されており、生成した送信信号２０００を乗算部１８に供給する。 The transmission signal generation unit 12 generates a transmission signal 2000 for power feeding to be transmitted to the power receiving device 20. The transmission signal 2000 is a signal for emitting radio waves of 2000 W that can supply 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 transmitted signal 2000 during the transmission period. In the case of a modulated signal, the transmission signal generator 12 changes the transmission signal 2000 over time during the transmission period. The transmission signal generation unit 12 includes, for example, stopping the transmission signal 2000 at the timing of receiving the specified signal 1000. The transmission signal generation section 12 is electrically connected to the multiplication section 18 and supplies the generated transmission signal 2000 to the multiplication section 18 .
　送受信部１３は、アレーアンテナ１１の複数のアンテナ素子１１Ａの各々と電気的に接続された複数の送受信回路１３Ａを有する。送受信回路１３Ａは、推定部１４、乗算部１８等と電気的に接続されている。送受信回路１３Ａは、アンテナ素子１１Ａで受信した受信信号を抽出して推定部１４に供給する。送受信回路１３Ａは、乗算部１８で送信ウェイトが乗算された送信信号２０００をアンテナ素子１１Ａから放射させる。送信ウェイトは、例えば、振幅及び位相を調整可能な重み係数を含む。送受信部１３は、送信ウェイト（複素振幅）が乗算された送信信号２０００を含む電波を複数のアンテナ素子１１Ａから同時に放射させることで、送電装置１０は指向性が制御された電波２０００Ｗを放射する。なお、送電装置１０は、送信信号が無変調波の場合、乗算部１８を不要としてもよい。 The transmitter/receiver section 13 includes a plurality of transmitter/receiver circuits 13A electrically connected to each of the plurality of antenna elements 11A of the array antenna 11. The transmitting/receiving circuit 13A is electrically connected to the estimation section 14, the multiplication section 18, and the like. The transmitting/receiving circuit 13A extracts the received signal received by the antenna element 11A and supplies it to the estimation unit 14. The transmission/reception circuit 13A causes the antenna element 11A to radiate the transmission signal 2000 multiplied by the transmission weight by the multiplier 18. The transmission weight includes, for example, a weighting coefficient whose amplitude and phase are adjustable. The transmitting/receiving unit 13 causes the plurality of antenna elements 11A to simultaneously radiate radio waves including a transmission signal 2000 multiplied by a transmission weight (complex amplitude), so that the power transmission device 10 emits radio waves 2000 W with controlled directivity. Note that the power transmitting device 10 may not include the multiplier 18 when the transmission signal is a non-modulated wave.
　推定部１４は、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００から伝搬チャネル特性（インパルス応答）を推定する。伝搬チャネル特性（インパルス応答）は、例えば、振幅特性、位相特性を含む。アレー応答ベクトルは、例えば、アンテナ本数分のチャネル特性を示す。アレー応答ベクトルは、例えば、複数のアンテナ素子１１Ａごとの伝搬チャネル特性（インパルス応答）を並べたベクトルを含む。受信処理におけるアレー応答ベクトルは、受信応答ベクトルとも称する。推定部１４は、例えば、特開２００２－４３９９５号公報に開示されているように周知のアルゴリズムを用いて受信応答ベクトルを推定する。推定部１４は、アレー応答ベクトルのベクトルデータをウェイト生成部１７に供給する。 The estimation unit 14 estimates the propagation channel characteristics (impulse response) from the prescribed signal 1000 included in the received signal received by the plurality of antenna elements 11A. The propagation channel characteristics (impulse response) include, for example, amplitude characteristics and phase characteristics. The array response vector indicates, for example, channel characteristics for the number of antennas. The array response vector includes, for example, a vector in which propagation channel characteristics (impulse responses) of each of the plurality of antenna elements 11A are arranged. The array response vector in reception processing is also referred to as a reception response vector. The estimation unit 14 estimates the reception response vector using a well-known algorithm as disclosed in, for example, Japanese Patent Laid-Open No. 2002-43995. The estimation unit 14 supplies vector data of the array response vector to the weight generation unit 17.
　センサ部１５は、送電装置１０の電波伝搬環境における物体５０００の有無、位置、領域、距離（深度）等を検出可能な情報を取得できる。電波伝搬環境は、例えば、送電装置１０と受電装置２０との間で電波２０００Ｗを伝搬する空間を含む。物体５０００の領域は、例えば、電波伝搬環境における物体５０００の領域、自機からの物体５０００の角度、角度広がりに関する情報を含む。センサ部１５は、例えば、カメラ、ＬＩＤＡＲ（Laser　Imaging　Detection　and　Ranging）、ミリ波レーダなどのレーダ、ＴｏＦ（Time　of　Flight）センサ、赤外線センサ、人感センサ、深度センサ等を用いて、電波伝搬環境に存在する物体５０００に関する情報を取得する。センサ部１５は、送電装置１０の外部に設けられてもよい。センサ部１５は、検出部１６と電気的に接続されており、電波伝搬環境における物体５０００の少なくとも方向及び距離を検出可能なセンサ情報を検出部１６に供給する。センサ情報は、例えば、物体５０００の有無、距離、位置、画像等の情報を含む。このように、本開示の検出部16は、センサ部１５からの、物体５０００のGPS情報などの位置情報、方向情報、距離情報などを含むセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の位置に関する情報を検出する。 The sensor unit 15 can acquire detectable information such as the presence or absence, position, area, distance (depth), etc. of the object 5000 in the radio wave propagation environment of the power transmission device 10. The radio wave propagation environment includes, for example, a space in which radio waves of 2000 W are propagated between the power transmitting device 10 and the power receiving device 20. The area of the object 5000 includes, for example, information regarding the area of the object 5000 in the radio wave propagation environment, the angle of the object 5000 from the own aircraft, and the angular spread. The sensor unit 15 uses, for example, a camera, LIDAR (Laser Imaging Detection and Ranging), radar such as a millimeter wave radar, ToF (Time of Flight) sensor, infrared sensor, human sensor, depth sensor, etc. to monitor the radio wave propagation environment. Obtain information regarding object 5000 present in . The sensor unit 15 may be provided outside the power transmission device 10. The sensor section 15 is electrically connected to the detection section 16, and supplies sensor information that can detect at least the direction and distance of the object 5000 in the radio wave propagation environment to the detection section 16. The sensor information includes, for example, information such as the presence or absence of the object 5000, distance, position, and image. In this manner, the detection unit 16 of the present disclosure detects the power receiving device 20 in the radio wave propagation environment based on sensor information including position information such as GPS information of the object 5000, direction information, distance information, etc. from the sensor unit 15. detects information regarding the positions of different objects 5000.
　検出部１６は、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の、例えば、位置、領域及び距離に関する情報を検出する。物体５０００は、例えば、人間、動物、ロボット、移動体、植物、食物、電磁波を送信又は受信する機器等を含む。検出部１６は、センサ情報が示す画像に対して公知である物体認識処理を実行し、物体５０００の有無、形状、電波伝搬環境における物体が存在する領域、自機からの物体５０００の方向及び距離等を検出する。例えば、検出部１６は、センサ情報が示す物体５０００の方向、位置、領域等と、センサ部１５とアレーアンテナ１１との相対位置関係に基づいて、アレーアンテナ１１からの物体５０００の方向、領域、位置、距離等を検出する。複数の物体５０００が存在する場合、検出部１６は、複数の物体５０００ごとの位置及び距離等を検出する。検出部１６は、前処理部１９と電気的に接続されており、アレーアンテナ１１からの物体５０００の方向、領域、距離等を識別可能な方向情報として前処理部１９に供給する。 Based on the sensor information from the sensor unit 15, the detection unit 16 detects information regarding, for example, the position, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment. The objects 5000 include, for example, humans, animals, robots, moving bodies, plants, food, devices that transmit or receive electromagnetic waves, and the like. The detection unit 16 executes a known object recognition process on the image indicated by the sensor information, and determines the presence or absence of the object 5000, its shape, the area where the object exists in the radio wave propagation environment, and the direction and distance of the object 5000 from the own device. Detect etc. For example, the detection unit 16 detects the direction, position, area, etc. of the object 5000 from the array antenna 11 based on the direction, position, area, etc. of the object 5000 indicated by the sensor information and the relative positional relationship between the sensor unit 15 and the array antenna 11. Detect position, distance, etc. When a plurality of objects 5000 exist, the detection unit 16 detects the position, distance, etc. of each of the plurality of objects 5000. The detection unit 16 is electrically connected to the preprocessing unit 19, and supplies the direction, area, distance, etc. of the object 5000 from the array antenna 11 to the preprocessing unit 19 as identifiable direction information.
　方向情報は、例えば、アレーアンテナ１１からの物体５０００の方向、領域、距離等を示す情報を含む。方向情報は、例えば、図２７に示すように、物体５０００を含む領域１５１、大きさ１５２、距離１５３等の識別可能な情報を含む。なお、方向情報は、複数のアンテナ素子１１Ａの配置に応じて設定された物体５０００の大きさを識別可能な情報とすることができる。例えば、複数のアンテナ素子１１Ａがマトリックス状に配置されている場合、物体５０００の領域１５１は、縦横の長さ、位置、物体５０００の形状等を設定できる。例えば、複数のアンテナ素子１１Ａが一方の方向に並んで配置されている場合、物体５０００の大きさ１５２は、幅、高さ等の一方の方向における長さや距離、自機からの角度範囲等を設定できる。物体５０００の距離１５３は、センサ部１５から物体５０００までの最短、最長、その平均等の距離、深度等を設定できる。なお、物体５０００の領域１５１は、物体５０００の外形等に応じた空間領域としてもよい。 The direction information includes, for example, information indicating the direction, area, distance, etc. of the object 5000 from the array antenna 11. For example, as shown in FIG. 27, the direction information includes identifiable information such as a region 151 including the object 5000, a size 152, and a distance 153. Note that the direction information can be information that allows identification of the size of the object 5000 set according to the arrangement of the plurality of antenna elements 11A. For example, when the plurality of antenna elements 11A are arranged in a matrix, the vertical and horizontal lengths, position, shape of the object 5000, etc. can be set for the region 151 of the object 5000. For example, when a plurality of antenna elements 11A are arranged side by side in one direction, the size 152 of the object 5000 includes the length and distance in one direction such as width and height, the angular range from the own aircraft, etc. Can be set. For the distance 153 of the object 5000, the shortest, longest, average distance, depth, etc. from the sensor unit 15 to the object 5000 can be set. Note that the region 151 of the object 5000 may be a spatial region according to the outer shape of the object 5000, etc.
　前処理部１９は、検出部１６からの方向情報に基づいて、ベクトル化及びヌル深度の大きさを識別可能な情報として生成する処理を行う。物体５０００の大きさに合わせてヌルを広角化する場合、前処理部１９は、例えば、多点ヌル拘束方式及び微係数拘束方式の少なくとも一方を用いて、ベクトル化を行うことができる。前処理部１９の処理については、後述する。前処理部１９は、ウェイトの生成に関する前処理を行い、処理結果をウェイト生成部１７に供給する。 Based on the direction information from the detection unit 16, the preprocessing unit 19 performs processing to generate vectorization and the size of the null depth as identifiable information. When widening the null to match the size of the object 5000, the preprocessing unit 19 can perform vectorization using at least one of a multipoint null constraint method and a differential coefficient constraint method, for example. The processing of the preprocessing section 19 will be described later. The preprocessing unit 19 performs preprocessing related to weight generation, and supplies the processing results to the weight generation unit 17.
　ウェイト生成部１７は、推定部１４の推定結果である受電装置２０に対するアレー応答ベクトルと検出部１６の方向情報に基づいて前処理部１９において演算した結果から、電力伝送用ウェイトを生成する。ウェイトの生成方法は、例えば、ＭＩＭＯで用いられるＺＦ(Zero-Forcing)アルゴリズム、ＭＭＳＥ(Minimum　Mean　Square　Error)アルゴリズム等を用いることができる。ウェイト生成部１７は、乗算部１８と電気的に接続されており、電力伝送用ウェイトを示すウェイト情報を乗算部１８に供給する。以下の説明では、説明を簡単化するために、アレーアンテナ１１の複数のアンテナ素子１１Ａが水平方向において等間隔で並んでいる場合について説明する。 The weight generation unit 17 generates power transmission weights from the results of the calculation performed by the preprocessing unit 19 based on the array response vector for the power receiving device 20 that is the estimation result of the estimation unit 14 and the direction information of the detection unit 16. As a weight generation method, for example, the ZF (Zero-Forcing) algorithm used in MIMO, the MMSE (Minimum Mean Square Error) algorithm, etc. can be used. The weight generation section 17 is electrically connected to the multiplication section 18 and supplies the multiplication section 18 with weight information indicating power transmission weights. In the following description, in order to simplify the description, a case will be described in which a plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals in the horizontal direction.
　図２８に示すように、アダプティブアレーアンテナ送信は、送信信号２０００に複素振幅（ウェイトｗｋ）の複素共役ｗｋ ＊を乗じた後、Ｋ本のアンテナ素子１１Ａから同時に電波２０００Ｗを放射する。なお、本開示において、（・）＊のように文字の右肩に「＊」を記している場合、複素共役を意味する。ウェイトｗｋは、ｋ＝０，・・・，Ｋ－１である。受信点２００Ｐでは、Ｋ本のアンテナ素子１１Ａから放射された電波２０００Ｗの合成信号が観測される。このとき、伝搬チャネルごとに振幅・位相が変化する。そこで、＃０から＃Ｋ－１のアンテナ素子１１Ａと受信点２００Ｐ間の伝搬チャネルのインパルス応答をＺｋ（複素数）とすると、解析的なアレーアンテナ特性は、以下の（式３１１）で与えられる。
Figure JPOXMLDOC01-appb-M000074
 As shown in FIG. 28, in the adaptive array antenna transmission, after multiplying the transmission signal 2000 by the complex conjugate w k * of the complex amplitude (weight w k ), radio waves 2000 W are simultaneously radiated from the K antenna elements 11A. Note that in the present disclosure, when "*" is written on the right side of a character, such as (.) * , it means complex conjugate. The weight w k is k=0,...,K-1. At the receiving point 200P, a composite signal of 2000 W of radio waves radiated from the K antenna elements 11A is observed. At this time, the amplitude and phase change for each propagation channel. Therefore, assuming that the impulse response of the propagation channel between the antenna elements 11A from #0 to #K-1 and the receiving point 200P is Z k (complex number), the analytical array antenna characteristics are given by the following (Equation 311). .
Figure JPOXMLDOC01-appb-M000074
　本開示では、解析的なアレーアンテナ特性は、アレー応答値ＡＲと称する。ウェイトベクトルをＷ、アレー応答ベクトルをＶとすると、（式３１１）は複素ベクトルの内積として以下の（式３１２）で表せる。なお、本開示において、（・）Ｈのように文字の右肩に「Ｈ」を記している場合、複素共役転置（エルミート転置）を意味する。
　ＡＲ＝ＷＨＶ　・・・（式３１２）
　ウェイトベクトルＷとアレー応答ベクトルＶを具体的な要素で表すと、以下の（式３１３）のようになる。
Figure JPOXMLDOC01-appb-M000075
 In this disclosure, the analytical array antenna characteristics are referred to as array response values AR. When the weight vector is W and the array response vector is V, (Formula 311) can be expressed as the following (Formula 312) as an inner product of complex vectors. Note that in the present disclosure, when "H" is written on the right shoulder of a character, such as (.) H , it means complex conjugate transposition (Hermitian transposition).
AR= WH V...(Formula 312)
When the weight vector W and the array response vector V are expressed using specific elements, they are as shown in (Equation 313) below.
Figure JPOXMLDOC01-appb-M000075
　アレー応答ベクトルＶが既知であれば、適切なウェイトベクトルＷを与えることで、受信点２００Ｐでのアレー応答値ＡＲを制御できる。なお、ウェイトベクトルＷを決める際には、送信電力の合計が一定になるように、ウェイトベクトルＷのノルムの２乗が１（||Ｗ||２＝１）という制約条件を課すものとする。 If the array response vector V is known, the array response value AR at the reception point 200P can be controlled by providing an appropriate weight vector W. Note that when determining the weight vector W, a constraint condition is imposed that the square of the norm of the weight vector W is 1 (||W|| 2 = 1) so that the total transmission power is constant. .
　レトロディレクティブ方式のシステム１では、受電装置２０から送信される規定信号１０００（パイロット信号）に基づいてアレー応答ベクトルＶｄを推定し、これを利用して最適なウェイトベクトルＷｏｐｔを生成する。伝搬チャネルの時間変動を無視すれば、伝搬チャネルの可逆性（相反性）により受信時のアレー応答ベクトルＶｄを送電装置１０から受電装置２０への送信時のアレー応答ベクトルとみなせる。ただし、受信時のパイロット信号は送電時の電波と同じ周波数とする。||Ｗ||２＝１という条件のもとアレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔは、以下の（式３１４）とすることができる。
Figure JPOXMLDOC01-appb-M000076
 In the retrodirective system 1, the array response vector V d is estimated based on the specified signal 1000 (pilot signal) transmitted from the power receiving device 20, and is used to generate the optimal weight vector W opt . If time fluctuations in the propagation channel are ignored, the array response vector V d at the time of reception can be regarded as the array response vector at the time of transmission from the power transmitting device 10 to the power receiving device 20 due to the reversibility (reciprocity) of the propagation channel. However, the pilot signal during reception shall have the same frequency as the radio waves during power transmission. The optimal weight vector W opt that maximizes the magnitude of the array response value |W H V d | under the condition ||W|| 2 = 1 can be set as the following (Equation 314).
Figure JPOXMLDOC01-appb-M000076
　以上にように、レトロディレクティブ方式の送信の最適なウェイトベクトルＷｏｐｔは、受信したパイロット信号のアレー応答ベクトルＶｄだけでよく、受信点２００Ｐの方向などの情報は不要である。 As described above, the optimal weight vector W opt for retrodirective transmission requires only the array response vector V d of the received pilot signal, and information such as the direction of the receiving point 200P is not required.
　次に、レトロディレクティブ方式と複数（例えばＭ個）のヌル形成の同時実現について説明する。 Next, the simultaneous realization of the retrodirective method and the formation of multiple (for example, M) nulls will be described.
　ヌルは、アレーアンテナ１１の指向性において、方向、点等の利得がゼロになることを意味する。アレーアンテナ１１でヌルを形成するには、ヌルに対応するアレー応答ベクトルＶｉ（ｉ＝１，・・・，Ｍ）に対し、アレー応答値の大きさ｜ＷＨＶｉ｜をゼロにすればよい。この条件のもと、アレー応答ベクトルＶｄのアレー応答値の大きさ｜ＷＨＶｄ｜を最大化する。これは以下のような（式３１５）に示す最適化問題として定式化できる。本開示では、これを線形拘束付きレトロディレクティブ方式と称する。ここで、Ｋはアンテナ素子１１Ａの数である。Ｍはヌルの数である。自由度はＫ－１であるため、Ｍ＜Ｋとしている。ａｒｇｍａｘ(argument　of　the　maximum)は、最大値を達成する値の集合を意味する。（式３１５）は、ウェイトベクトルＷで｜ＷＨＶｄ｜が最大となる最適なウェイトベクトルＷｏｐｔを求める式である。
Figure JPOXMLDOC01-appb-M000077
 Null means that the gain in direction, point, etc. in the directivity of the array antenna 11 is zero. To form a null in the array antenna 11, the magnitude of the array response value |W H V i | should be set to zero for the array response vector V i (i=1,...,M) corresponding to the null. Bye. Under this condition, the magnitude of the array response value |W H V d | of the array response vector V d is maximized. This can be formulated as an optimization problem shown in (Equation 315) below. In this disclosure, this is referred to as a retrodirective 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. argmax (argument of the maximum) means a set of values that achieves the maximum value. (Formula 315) is a formula for determining the optimal weight vector W opt where |W H V d | is maximum in the weight vector W.
Figure JPOXMLDOC01-appb-M000077
　（式３１５）の最適化問題は、閉形式の解が存在する。
　（式３１６）を定義すると、最適なウェイトベクトルＷｏｐｔは（式３１７）で与えられる。
Figure JPOXMLDOC01-appb-M000078
Figure JPOXMLDOC01-appb-M000079
 The optimization problem of (Equation 315) has a closed-form solution.
When (Equation 316) is defined, the optimal weight vector W opt is given by (Equation 317).
Figure JPOXMLDOC01-appb-M000078
Figure JPOXMLDOC01-appb-M000079
　ここで、ＡはＭ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた（式３１８）に示す行列である。
Figure JPOXMLDOC01-appb-M000080
 Here, A is a matrix shown in (Equation 318) in which array response vectors V 1 , V 2 , . . . , VM , which are M complex column vectors, are arranged.
Figure JPOXMLDOC01-appb-M000080
　Ａ＋は、Ａのムーア・ペンローズ一般逆行列である。ムーア・ペンローズ一般逆行列Ａ＋は、ＡＡ＋Ａ＝Ａ，Ａ＋ＡＡ＋＝Ａ＋，（ＡＡ＋）Ｈ＝ＡＡ＋，（Ａ＋Ａ）Ｈ＝Ａ＋Ａを満足する。複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭが線形独立の場合は、Ａ＋＝（ＡＨＡ）－１ＡＨとなる。 A + is the Moore-Penrose general inverse of A. The Moore-Penrose general inverse matrix A + satisfies AA + A = A, A + AA + = A + , (AA + ) H = AA + , (A + A) H = A + A. When the array response vectors V 1 , V 2 , . . . , V M , which are complex column vectors, are linearly independent, A + =(A H A) −1 A H.
　ヌルに対応するアレー応答値は、ＷＨＶｉ＝０（ｉ＝１，・・・・，Ｍ＜Ｋ）を満足しなければならない。そこで、これらを同次連立一次方程式と考えると、Ｍ個の複素列ベクトルであるアレー応答ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた行列Ａを使ってＡＨＷ＝０にように行列とベクトルの積で表される。この一般解はムーア・ペンローズ一般逆行列Ａ＋を用いて、Ｗ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚで与えられる。ｚは、任意の複素ベクトルである。最大化したいアレー応答値の大きさ｜ＷＨＶｄ｜にＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚを代入すると、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜となる。そして、コーシー・シュワルツの不等式より、｜ＷＨＶｄ｜＝｜ｚＨ（Ｉ－ＡＡ＋）Ｖｄ｜≦||ｚ||・||（Ｉ－ＡＡ＋）Ｖｄ||が成り立つ。｜ＷＨＶｄ｜が最大になるのは当該不等式の等号のときであり、このとき、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを満たす。αは、任意の複素定数である。 The array response value corresponding to the null must satisfy W H V i =0 (i=1, . . . , M<K). Therefore, if we consider these as homogeneous simultaneous linear equations, we can use matrix A in which array response vectors V 1 , V 2 , ..., V M , which are M complex column vectors, to set A H W = 0. It is expressed as a product of a matrix and a vector. This general solution is given by W=(I-AA + ) H z=(I-AA + )z using the Moore-Penrose general inverse matrix A + . z is any complex vector. By substituting W=(I-AA + ) H z=(I-AA + )z into the magnitude of the array response value to be maximized |W H V d |, |W H V d |=|z H (I -AA + )V d |. Then, from the Cauchy-Schwartz inequality, |W H V d |=|z H (I-AA + )V d |≦||z||・||(I-AA + )V d || holds true. |W H V d | becomes maximum when the inequality sign is equal, and in this case, z=α(I-AA + )V d is satisfied. α is an arbitrary complex constant.
　最適なウェイトベクトルＷｏｐｔは、上述したＷ＝（Ｉ－ＡＡ＋）Ｈｚ＝（Ｉ－ＡＡ＋）ｚに、ｚ＝α（Ｉ－ＡＡ＋）Ｖｄを代入することで、Ｗｏｐｔ＝α（Ｉ－ＡＡ＋）Ｖｄが与えられる。ここで、（式３１６）のようにＶ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄとすると、||Ｗｏｐｔ||２＝｜α｜２||Ｖ’ｄ||２＝１を満足するためにはα＝１／||Ｖ’ｄ||とすればよい。よって、最適なウェイトベクトルＷｏｐｔは、上述した（式３１７）としてよいことになる。 The optimal weight vector W opt can be obtained by substituting z=α(I-AA + )V d into W=(I-AA + ) H z=(I-AA + )z described above. α(I−AA + )V d is given. Here, if V' d = (I-AA + )V d as in (Equation 316), ||W opt || 2 = |α| 2 ||V' d || 2 = 1 is satisfied. In order to do this, α=1/||V' d ||. Therefore, the optimal weight vector W opt may be the above-mentioned (Equation 317).
　次に、ヌルに対応するアレー応答ベクトルの算出方法の一例を説明する。送電装置１０と受電装置２０との間のアレー応答ベクトルは、規定信号１０００から推定するが、ヌルを向けたい対象からは、規定信号１０００が送出されないと仮定すると、別の方法でアレー応答ベクトルを算出する必要がある。本開示では、送電装置１０からヌルを向けたい対象へ直接向かうパスをヌル対象とすることを目的とし、センサ部１５を用いて取得したヌル対象である物体５０００の方向からアレー応答ベクトルを算出する。 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 transmitting device 10 and the power receiving device 20 is estimated from the specified signal 1000. However, assuming that the specified signal 1000 is not sent from the target to which you want to direct the null, the array response vector can be estimated using another method. need to be calculated. In the present disclosure, an array response vector is calculated from the direction of the object 5000, which is the null target, obtained using the sensor unit 15, with the aim of setting the path directly from the power transmission device 10 to the target to which the null is directed. .
　図２９に示すように、Ｋ個のアンテナ素子１１Ａが等間隔に並ぶリニアアレーにおいて、ブロードサイドから時計回りにθ（－π／２＜θ＜π／２）だけ回転した向きに放射される遠方界でのアレー応答ベクトルは、以下の（式３１９）のように与えられる。ブロードサイドは、アンテナ素子１１Ａを並べた方向に対し垂直な向きであり、図２９における上方である。基準点２００Ｂの＃０のアンテナ素子１１Ａから＃ｋのアンテナ素子１１Ａまでの素子間距離がｋｄとなっている。基準点２００Ｂ＃０のアンテナ素子１１Ａから＃Ｋ－１のアンテナ素子１１Ａまでの素子間距離が（Ｋ－１）ｄとなっている。
Figure JPOXMLDOC01-appb-M000081
 As shown in FIG. 29, in a linear array in which K antenna elements 11A are arranged at equal intervals, a far field is radiated in a direction rotated clockwise by θ (-π/2<θ<π/2) from the broadside. The array response vector at is given as (Equation 319) below. The broadside is perpendicular to the direction in which the antenna elements 11A are arranged, and is upward in FIG. 29. The inter-element distance from the #0 antenna element 11A to the #k antenna element 11A at the reference point 200B is kd. The inter-element distance from the antenna element 11A of the reference point 200B #0 to the antenna element 11A of #K-1 is (K-1)d.
Figure JPOXMLDOC01-appb-M000081
　ここで、インパルス応答Ｚは、以下の（式３２０）で与えられる。
Figure JPOXMLDOC01-appb-M000082
 　これにより、ヌル対象の方向θが分かれば、アレー応答ベクトルＶｉを以下の（式３２１）のように算出できる。なお、方向θは、θ＝θｉであり、ｉ＝１，・・・，Ｍである。ｊは、虚数単位であり、j２＝－１である。ここで、インパルス応答Ｚｉは、以下の（式３２２）で得ることができる。
Figure JPOXMLDOC01-appb-M000083
Figure JPOXMLDOC01-appb-M000084
 Here, the impulse response Z is given by the following (Equation 320).
Figure JPOXMLDOC01-appb-M000082
 As a result, if the direction θ of the null target is known, the array response vector V i can be calculated as shown in (Equation 321) below. Note that the direction θ is θ=θ i , and i=1, . . . , M. j is an imaginary unit and j 2 =-1. Here, the impulse response Z i can be obtained by the following (Equation 322).
Figure JPOXMLDOC01-appb-M000083
Figure JPOXMLDOC01-appb-M000084
　ウェイト生成部１７は、ヌル対象の方向θｉからヌルに対応するアレー応答ベクトルＶｉを（式３２１）及び（式３２２）を用いて導出し、続いて（式３１８）を用いて行列（Ｉ－ＡＡ＋）を算出する。ウェイト生成部１７は、算出した行列（Ｉ－ＡＡ＋）と、受電装置２０に対応したアレー応答ベクトルＶｄとから、アレー応答値の大きさ｜ＷＨＶｄ｜を最大にする最適なウェイトベクトルＷｏｐｔを決定する。 The weight generation unit 17 derives the array response vector V i corresponding to the null from the direction θ i of the null object using (Equation 321) and (Equation 322), and then derives the matrix (I −AA + ). The weight generation unit 17 generates an optimal weight that maximizes the magnitude of the array response value |W H V d | from the calculated matrix (I-AA + ) and the array response vector V d corresponding to the power receiving device 20. Determine the vector W opt .
　記憶部１７Ｄは、半導体記憶媒体、及び磁気記憶媒体等の任意の非一過的な記憶媒体を含んでよい。記憶部１７Ｄは、メモリカード、光ディスク、又は光磁気ディスク等の記憶媒体と、記憶媒体の読み取り装置との組み合わせを含んでよい。記憶部１７Ｄは、ＲＡＭなどの一時的な記憶領域として利用される記憶デバイスを含んでよい。記憶部１７Ｄは、ウェイト生成部１７の外部に設けてもよい。 The storage unit 17D may include any non-transitory 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, an optical disk, or a magneto-optical disk, and a storage medium reading device. The storage unit 17D may include a storage device such as a RAM used as a temporary storage area. The storage unit 17D may be provided outside the weight generation unit 17.
　次に、ヌルを広角化する一例を説明する。ヌル対象の物体５０００は拡がりを持っており、物体５０００の領域に応じてヌルを広角化することが望ましい。ヌルを広角化するには、複数の方法を用いることができる。ヌルの広角化には、例えば、多点ヌル拘束（Multiple　Null　Constraints）方式、微係数拘束（Derivative　Constraints）方式等を用いることができる。 Next, an example of widening the null will be described. The object 5000 to be nulled has an expanse, and it is desirable to widen the angle of the null according to the area of the object 5000. Multiple methods can be used to widen the null. To widen the angle of the null, for example, a multiple null constraint method, a derivative constraint method, or the like can be used.
　多点ヌル拘束方式は、ヌル対象の大きさに合わせ、一方向ではなく、その近傍の複数の方向にヌルを形成することで、ヌルの広角化を図る方法である。例えば、上述した（式３１５）のアレー応答ベクトルＶｉは、ヌル対象の方向であるθｉから（式３２１）と（式３２２）を用いて計算されるが、ヌル対象の大きさに合わせヌル近傍の複数方向もヌル対象の方向として与えることで広角化を実現する。 The multi-point null constraint method is a method of widening the angle of the null by forming the null not in one direction but in multiple directions in the vicinity according to the size of the null target. For example, the array response vector V i in (Equation 315) above is calculated from θ i , which is the direction of the null object, using (Equation 321) and (Equation 322). A wide angle is achieved by giving multiple nearby directions as null target directions.
　微係数拘束方式は、θ方向のアレー応答値の連続性を用いて、微係数より平坦化を図る方法である。以下に、微係数拘束方式の詳細を説明する。 The differential coefficient constraint method is a method that uses the continuity of array response values in the θ direction to achieve flattening based on the differential coefficient. The details of the differential coefficient constraint method will be explained below.
　Ｋ個のアンテナ素子１１Ａが等間隔リニアアレーのθ方向のアレー応答ベクトルＶ（θ）に対するアレー応答値は、θの関数であり、これをＤ（θ）とする。上述した（式３１１）、（式３１２）に（式３１９）、（式３２０）を代入すると、Ｄ（θ）は、以下の（式３２３）で与えられる。
Figure JPOXMLDOC01-appb-M000085
 The array response value for the array response vector V(θ) in the θ direction of a linear array in which K antenna elements 11A are equally spaced is a function of θ, and this is defined as D(θ). By substituting (Formula 319) and (Formula 320) into (Formula 311) and (Formula 312) described above, D(θ) is given by the following (Formula 323).
Figure JPOXMLDOC01-appb-M000085
　Ｄ（θ）は、アレー応答関数、あるいはアレーファクタと呼ばれる。Ｄ（θ）は、θの連続関数であり、θで微分可能である。なお、この絶対値｜Ｄ（θ）｜を図示したものは、アレーアンテナの指向性パターンになる。 D(θ) is called an array response function or array factor. D(θ) is a continuous function of θ and is differentiable with respect to θ. Note that this absolute value |D(θ)| is illustrated as the directivity pattern of the array antenna.
　（式３２３）にθ＝θｉ（ｉ＝１，・・・，Ｍ）を代入したＤ（θｉ）は、θｉ方向のアレー応答値である。また、（式３２３）は、微分可能であるから、θ＝θｉの近傍であるθ＝θｉ＋Δθのアレー応答値Ｄ（θｉ＋Δθ）は、Ｌｉ次近似式を用いて以下の（式３２４）のように表せる。
Figure JPOXMLDOC01-appb-M000086
 D(θ i ) obtained by substituting θ=θ i (i=1, . . . , M) into (Equation 323) is the array response value in the θ i direction. Furthermore, since (Equation 323) is differentiable, the array response value D( θ i + Δθ) of θ=θ i +Δθ which is near θ=θ i can be calculated using the following ( It can be expressed as Equation 324).
Figure JPOXMLDOC01-appb-M000086
　（式３２４）において、微係数Ｄ（ｌ）（θｉ）（ｌ＝１，・・・，Ｌｉ）がゼロならば、Ｄ（θｉ＋Δθ）≒Ｄ（θｉ）となり、θｉの近傍θｉ＋Δθでアレー応答値を同程度にできる。これをヌル（Ｄ（θｉ）＝０）に対して適用したものが微係数拘束によるヌルの広角化であり、近似式の次数のＬｉにより広角化の度合いを制御できる。本開示ではＬｉを広角度と称する。本開示では、微係数Ｄ（ｌ）（θｉ）の右肩の（ｌ）は、微分の階数を示す。 In (Equation 324), if the differential coefficient D (l) (θ i ) (l=1,..., L i ) is zero, D(θ i +Δθ)≈D(θ i ), and the difference of θ i The array response values can be made comparable in the vicinity θ i +Δθ. Applying this to the null (D(θ i )=0) is the widening of the null by differential coefficient constraint, and the degree of widening can be controlled by the order L i of the approximation equation. In this disclosure, L i is referred to as wide angle. In the present disclosure, (l) on the right shoulder of the differential coefficient D (l) (θ i ) indicates the order of differentiation.
　ヌルの方向をθｉ（ｉ＝１，・・・，Ｍ）、近似式の次数をＬｉとすると、微係数拘束条件は、以下の（式３２５）となる。ただし、（式３２５）は、ｌ＝１，・・・，Ｌｉである。なお、Ｖｉ （ｌ）の右肩の（ｌ）は、微分の階数ではなく、インデックスに過ぎない。
　Ｄ（ｌ）(θｉ）＝ＷＨＶ（ｌ）(θｉ）＝０　・・・（式３２５） Assuming that the direction of the null is θ i (i=1, . . . , M) and the order of the approximate expression is L i , the differential coefficient constraint condition is the following (Equation 325). However, in (Formula 325), l=1, . . . , Li . Note that (l) on the right shoulder of V i (l ) is not the order of differentiation but only an index.
D (l) (θ i )=W H V (l) (θ i )=0 (Formula 325)
　（式３２５）は、以下の（式３２６）と等価である。ただし、（式３２６）は、ｌ＝１，・・・，Ｌｉである。ここでＱｌは対角行列であり、以下の（式３２７）で与えられる。なお、微係数拘束条件の変換については、後述する。
　ＷＨ（ＱｌＶｉ）＝ＷＨ（ＱｌＶ（θｉ））＝０　・・・（式３２６）
　Ｑｌ＝ｄｉａｇ［０ｌ　１ｌ　・・・　（Ｋ－１）ｌ］・・・（式３２７） (Formula 325) is equivalent to (Formula 326) below. However, in (Formula 326), l=1, . . . , Li . Here, Q l is a diagonal matrix and is given by the following (Equation 327). Note that the conversion of the differential coefficient constraint condition will be described 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)
　よって、上述した（式３１５）のアレー応答ベクトルＶｉとしてＶｉ （ｌ）＝ＱｌＶｉを追加することで、微係数拘束によるヌルの広角化を実現できる。ここでｌ＝１，・・・，Ｌｉである。Ｖｉ （ｌ）は正しくはアレー応答ベクトルではなく、この場合（式３１５）のＶｉをアレー応答ベクトルと呼ぶのは不適切である。そこで、拘束条件を与えるベクトルとして、以降では、（式３１５）のＶｉを拘束ベクトルと称することがある。 Therefore, by adding V i (l) = Q l V i as the array response vector V i in (Equation 315) described above, widening of the null angle due to the differential coefficient constraint can be realized. Here, l=1, . . . , Li . V i (l) is not correctly an array response vector, and it is inappropriate to call V i in (Equation 315) an array response vector in this case. Therefore, as a vector that provides a constraint condition, V i in (Equation 315) may be hereinafter referred to as a constraint vector.
　上述したようにヌルを広角化するには、拘束ベクトル数を増やさなければならない。これにより、ウェイトベクトルＷの制約が厳しくなり、受電装置２０のアレー応答値｜ＷＨＶｄ｜が小さくなる可能性がある。その一方で、送電装置１０と物体５０００との距離が離れている場合、深いヌルを形成する必要がなく、ヌル深度を制御することで、受電装置２０への電力供給を改善することが見込まれる。以下では、ヌル深度の制御方法の一例について説明する。 As mentioned above, in order to widen the null, the number of constraint vectors must be increased. As a result, restrictions on the weight vector W become stricter, and the array response value |W H V d | of the power receiving device 20 may become smaller. On the other hand, if the distance between the power transmitting device 10 and the object 5000 is large, there is no need to form a deep null, and by controlling the null depth, it is expected that the power supply to the power receiving device 20 will be improved. . An example of a method for controlling the null depth will be described below.
　上述した（式３１５）の拘束条件の一部を変更した最適化問題を、以下の条件式の（式３２８）のように定式化できる。詳細には、（式３２８）は、（式３１５）のＷＨＶｉ＝０を、｜ＷＨＶｉ｜２＝｜εｉ｜２に変更している。
Figure JPOXMLDOC01-appb-M000087
 An optimization problem in which a part of the constraint condition in (Formula 315) described above is changed can be formulated as in the following conditional expression (Formula 328). Specifically, in (Formula 328), W H V i =0 in (Formula 315) is changed to |W H V i | 2 = |ε i | 2 .
Figure JPOXMLDOC01-appb-M000087
　ここで、Ｋはアンテナ素子１１Ａの数であり、Ｍはヌルの数である。ヌルの数Ｍは、検出部１６が検出した物体５０００の領域に応じた数である。 Here, K is the number of antenna elements 11A, and M is the number of nulls. The number M of nulls corresponds to the area of the object 5000 detected by the detection unit 16.
　（式３２８）の最適なウェイトベクトルＷｏｐｔは、上述した（式３１６）を用いて以下の（式３２９）で与えられる。
Figure JPOXMLDOC01-appb-M000088
 The optimal weight vector W opt in (Formula 328) is given by the following (Formula 329) using the above-mentioned (Formula 316).
Figure JPOXMLDOC01-appb-M000088
　ここで、Ｖ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄ、Ｖε＝（Ａ＋）Ｈεである。Ａは、Ｍ個の複素列の拘束ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた行列であり、Ａ＋は、Ａのムーア・ペンローズ一般逆行列である。また、ε＝［ε１　ε２　・・・　εＭ］Ｔであり、εｉの絶対値｜εｉ｜は、（式３２８）により与えられる。本開示において、（・）Ｔのように文字の右肩に「Ｔ」を記している場合、転置を意味する。εｉの偏角は、ベクトル（Ａ＋Ｖｄ）の各要素と同じ値とすることで、アレー応答値｜ＷＨＶｄ｜を最大化できる。なお、（式３２９）におけるαは、以下の（式３３０）で与えられる。
Figure JPOXMLDOC01-appb-M000089
 Here, V' d = (I-AA + )V d and V ε = (A + ) H ε. A is a matrix in which M complex column constraint vectors V 1 , V 2 , . . . , V M are arranged, and A + is a Moore-Penrose general inverse matrix of A. Further, ε=[ε 1 ε 2 ... ε M ] T , and the absolute value |ε i | of ε i is given by (Equation 328). In the present disclosure, when "T" is written on the right shoulder of a character, such as (.) T , it means transposition. By setting the argument angle of ε i to the same value as each element of the vector (A + V d ), the array response value |W H V d | can be maximized. Note that α in (Formula 329) is given by (Formula 330) below.
Figure JPOXMLDOC01-appb-M000089
　（式３２９）及び（式３３０）によってウェイトベクトルＷと拘束ベクトルＶｉの内積の大きさ｜ＷＨＶｉ｜を｜εｉ｜にできるが、上述した（式３１６）及び（式３１７）に比べ、Ｖεとαの演算が必要な分、複雑になる。 (Formula 329) and (Formula 330) allow the size of the inner product of the weight vector W and the constraint vector V i to be |W H V i |, but the above-mentioned (Formula 316) and (Formula 317) In comparison, it becomes more complicated as calculations for V ε and α are required.
　上述した（式３２８）は、近似解にすることで、処理を簡単化できる。以下に、近似解の求め方の一例について説明する。 The processing of (Equation 328) described above can be simplified by using an approximate solution. An example of how to obtain an approximate solution will be described below.
　ウェイトベクトルＷのノルムの２乗が１（||Ｗ||＝１）であり、||Ｖｄ||は既知であるので、｜ＷＨＶｄ｜を最大化することは、｜ＷＨＶｄ｜／（||Ｗ||・||Ｖｄ||）を１に近づけることと等価である。これは、Ｗ／||Ｗ||≒Ｖｄ／||Ｖｄ||と考えることができる。すなわち、Ｗ≒γＶｄとなる。γは、比例定数である。また、｜ＷＨＶｉ｜２＝｜εｉ｜２をＷＨＶｉ≒０に変更する。これにより、（式３２８）の最適化問題は、近似的に以下の条件式の（式３３１）ように考えることができる。（式３３１）において≒は左辺の値と右辺の値をできるだけ近づけることを意味する。
Figure JPOXMLDOC01-appb-M000090
 Since the square of the norm of the weight vector W is 1 (||W||=1) and ||V d || is known, maximizing |W H V d | means |W H This is equivalent to bringing V d |/(||W||·||V d ||) closer to 1. This can be considered as W/||W||≈V d /||V d ||. That is, W≒γV d . γ is a proportionality constant. Also, |W H V i | 2 = |ε i | 2 is changed to W H V i ≈0. As a result, the optimization problem of (Equation 328) can be approximately considered as the following conditional expression (Equation 331). In (Equation 331), ≈ means that the value on the left side and the value on the right side are made as close as possible.
Figure JPOXMLDOC01-appb-M000090
　（式３３１）の最適なウェイトベクトルＷｏｐｔは、以下の（式３３２）を定義すると、以下の（式３３３）で与えられる。なお、近似解によるヌル深度制御については、後述する。
Figure JPOXMLDOC01-appb-M000091
Figure JPOXMLDOC01-appb-M000092
 The optimal weight vector W opt of (Formula 331) is given by the following (Formula 333) when the following (Formula 332) is defined. Note that null depth control using an approximate solution will be described later.
Figure JPOXMLDOC01-appb-M000091
Figure JPOXMLDOC01-appb-M000092
　ここで、Ａ’は、Ｍ個の複素列ベクトルα１Ｖ１，α２Ｖ２，・・・，αＭＶＭを並べた行列Ａ’＝［α１Ｖ１　α２Ｖ２　・・・　αＭＶＭ］である。αｉ（ｉ＝１，・・・，Ｍ）は、Ｖｉに対する重み係数である。上述した絶対値｜εｉ｜の代わりにαｉを用いることで、ヌル深度を制御できる。このように、ヌル深度を制御するアルゴリズムは、厳密解から求めてもよいし、近似解を用いてもよい。また、ヌル深度を制御するアルゴリズムは、厳密解から求めても、近似解を用いて求めても、いずれもヌル広角化に対応できる。 Here , A' is a matrix in which M complex column vectors α 1 V 1 , α 2 V 2 , ... , α M V M are arranged. α M VM ]. α i (i=1, . . . , M) is a weighting coefficient for V i . By using α i instead of the above-mentioned absolute value |ε i |, the null depth can be controlled. In this way, the algorithm for controlling the null depth may be obtained from an exact solution or may use an approximate solution. Further, the algorithm for controlling the null depth can handle widening of the null angle, whether it is determined from an exact solution or using an approximate solution.
　ウェイト生成部１７は、規定信号１０００の伝搬チャネル特性と、検出部１６が検出した物体５０００の方向、領域及び距離を識別可能な方向情報に基づいて前処理部１９において演算した結果から、物体５０００の領域にヌルが向くように送信ウェイトを生成する。領域にヌルを向ける場合、拘束ベクトルＶｉはＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）となる。 The weight generation unit 17 calculates the object 5000 based on the propagation channel characteristics of the prescribed signal 1000 and the result of calculation in the preprocessing unit 19 based on the direction information that can identify the direction, area, and distance of the object 5000 detected by the detection unit 16. Generate transmission weights so that nulls are directed to the region of . When pointing a null to a region, the constraint vector V i becomes V i (l) (l=0, . . . , L i ).
　図３０は、多点ヌル拘束方式のベクトル化の一例を示す図である。多点ヌル拘束方式を用いる場合、前処理部１９は、図３０に示すように、ヌル対象の物体５０００の方向θｉと領域δｉから（式３２１）と（式３２２）を用いてアレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。詳細には、前処理部１９は、物体５０００の方向θｉと領域δｉから当該方向の最小値θｍｉｎ ｉと最大値θｍａｘ ｉを決定する。ウェイト生成部１７は、予め定められた刻み幅でθｍｉｎからθｍａｘをカバーする方向θ（０） ｉ，・・・，θ（Ｌｉ） ｉを決定する。なお、刻み幅は、物体５０００の方向θｉによらず一定でもよいし、物体５０００の方向θｉごとに変更してもよい。前処理部１９は、方向θ（０） ｉ，・・・，θ（Ｌｉ） ｉから（式３２１）と（式３２２）を用いて、拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。本開示では、微係数拘束方式において近似式の次数Ｌｉを広角化の度合いを表す尺度として広角度と称したが、多点ヌル拘束方式における前記Ｌｉも広角度と称することがある。 FIG. 30 is a diagram illustrating an example of vectorization using the multi-point null constraint method. When using the multi-point null constraint method, the preprocessing unit 19 calculates the array response using (Equation 321) and (Equation 322) from the direction θ i and area δ i of the object 5000 to be nulled, as shown in FIG. Find the vector V i (l) (l=0, . . . , L i ). Specifically, the preprocessing unit 19 determines the minimum value θ min i and the maximum value θ max i in the direction from the direction θ i and the area δ i of the object 5000. The weight generation unit 17 determines directions θ (0) i , . . . , θ (Li) i that cover the range from θ min to θ max in predetermined steps. Note that the step width may be constant regardless of the direction θ i of the object 5000, or may be changed for each direction θ i of the object 5000. The preprocessing unit 19 uses (Formula 321 ) and ( Formula 322 ) to calculate the constraint vector V i (l) (l=0,...・, L i ). In the present disclosure, the order L i of the approximate expression in the differential coefficient constraint method is referred to as a wide angle as a measure representing the degree of widening, but the L i in the multi-point null constraint method may also be referred to as a wide angle.
　図３１は、微係数拘束方式のベクトル化の一例を示す図である。微係数拘束方式を用いる場合、前処理部１９は、図３１に示すように、方向θｉと領域δｉから（式３２１）と（式３２２）等を用いてアレー応答ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。詳細には、前処理部１９は、方向θｉと物体５００の領域δｉから広角度Ｌｉを求める。広角度Ｌｉは、領域δｉだけではなく方向θｉにも依存する。このため、前処理部１９は、これらの情報から広角度Ｌｉを導き出すテーブル、機械学習等を用いることで、広角度Ｌｉを求める。 FIG. 31 is a diagram illustrating an example of vectorization using the differential coefficient constraint method. When using the differential coefficient constraint method, the preprocessing unit 19 calculates the array response vector V i (l ) from the direction θ i and the area δ i using (Equation 321) and (Equation 322), etc., as shown in FIG. Find (l=0,...,L i ). Specifically, the preprocessing unit 19 determines the wide angle L i from the direction θ i and the area δ i of the object 500. The wide angle L i depends not only on the area δ i but also on the direction θ i . Therefore, the preprocessing unit 19 calculates the wide angle L i by using a table, machine learning, etc. that derives the wide angle L i from this information.
　図３１に示す一例では、前処理部１９は、方向θｉと領域δｉとを示す情報をテーブル１７０に適用して広角度Ｌｉを求める。領域δｉは、例えば、物体５０００の領域、距離等に関する情報を含む。テーブル１７０は、記憶部１７Ｄに記憶されており、方向θｉと領域δｉから広角度Ｌｉを導き出すルックアップテーブルである。前処理部１９は、求めた広角度Ｌｉとアレー応答ベクトルＶｉとから、上記の（式３２５）、（式３２６）、（式３２７）を用いてベクトル化することで、拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。ここでＶｉ （０）＝Ｖｉとする。 In the example shown in FIG. 31, the preprocessing unit 19 applies information indicating the direction θ i and the area δ i to the table 170 to obtain the wide angle L i . The area δ i includes information regarding the area, distance, etc. of the object 5000, for example. The table 170 is stored in the storage unit 17D and is a lookup table for deriving the wide angle L i from the direction θ i and the area δ i . The preprocessing unit 19 vectorizes the obtained wide angle L i and array response vector V i using the above (Equation 325), (Equation 326), and (Equation 327) to obtain a constraint vector V i (l) Find (l=0,...,L i ). Here, it is assumed that V i (0) = V i .
　図３２は、前処理部１９のヌル深度の処理例を示す図である。図３２に示す一例は、前処理部１９が上述した（式３２８）を用いる場合の処理例を示している。前処理部１９は、図３２に示すように、ヌル深度の大きさについての処理を行うことができる。上述した（式３２８）の場合、ヌル対象までの距離ｄｉから電波２０００Ｗの強度の減衰量が推定できる。前処理部１９は、事前に測定した結果に基づく距離ｄｉと絶対値｜εｉ｜のテーブルを用いて、絶対値｜εｉ｜を求める。絶対値｜εｉ｜は、例えば、アンテナ素子自体の指向性を考慮し、物体５０００の方向θｉごとに変更してもよい。 FIG. 32 is a diagram illustrating an example of null depth processing by the preprocessing unit 19. An example shown in FIG. 32 shows a processing example when the preprocessing unit 19 uses the above-mentioned (Formula 328). The preprocessing unit 19 can perform processing regarding the size of the null depth, as shown in FIG. 32. In the case of (Equation 328) described above, the amount of attenuation of the intensity of the radio wave 2000 W can be estimated from the distance d i to the null target. The preprocessing unit 19 calculates the absolute value |ε i | using a table of distances d i and absolute values |ε i | based on the results measured in advance. The absolute value |ε i | may be changed for each direction θ i of the object 5000, for example, taking into account the directivity of the antenna element itself.
　図３２の１９Ａに示す多点ヌル拘束方式の場合、前処理部１９は、距離ｄ１，ｄ２，・・・，ｄＭと、広角度Ｌ１，Ｌ２，・・・，ＬＭとを用いて、例えば、同一のヌル対象に対して全て同じ値でヌル深度の大きさを示すベクトルＰ１を求める処理を実行する。ベクトルＰ１は、例えば、［｜ε１｜，｜ε１｜，・・・，｜ε１｜，｜ε２｜，｜ε２｜，・・・，｜ε２｜，・・・．｜εＭ｜，｜εＭ｜，・・・，｜εＭ｜］Ｔである。 In the case of the multi- point null constraint method shown in 19A of FIG . For example, a process is performed to obtain a vector P1 indicating the magnitude of the null depth with the same value for the same null target. The vector P1 is, for example, [|ε 1 |, |ε 1 |, ..., |ε 1 |, |ε 2 |, |ε 2 |, ..., |ε 2 |, .... |ε M |, |ε M |, ..., |ε M |] T.
　図３２の１９Ｂに示す微係数拘束方式の場合、前処理部１９は、距離ｄ１，ｄ２，・・・，ｄＭと、広角度Ｌ１，Ｌ２，・・・，ＬＭを用いて、Ｖｉ （０）に対応するヌル深度の大きさを｜εｉ｜とし、Ｖｉ （ｌ）（ｌ＝１，・・・，Ｌｉ）に対応するヌル深度の大きさをゼロとし、ヌル深度の大きさを示すベクトルＰ２を求める処理を実行する。ベクトルＰ２は、例えば、［｜ε１｜，０，・・・，０，｜ε２｜，０，・・・，０，・・・．｜εＭ｜，０，・・・，０］Ｔである。 In the case of the differential coefficient constraint method shown in 19B of FIG . Let the magnitude of the null depth corresponding to V i (0) be |ε i |, and let the magnitude of the null depth corresponding to V i (l) (l=1,...,L i ) be zero. , executes processing to obtain a vector P2 indicating the magnitude of the null depth. The vector P2 is, for example, [|ε 1 |,0,...,0, |ε 2 |,0,...,0,... |ε M |, 0, ..., 0] T.
　送電装置１０が上述した（式３２８）を用いる場合、前処理部１９は、求めた拘束ベクトルＶｉ （ｌ）を用いて、（Ｉ－ＡＡ＋）、Ａ＋等の行列演算を行い、ヌル深度の大きさを示すベクトルＰ１，Ｐ２の演算を行い、演算結果を記憶部１７Ｄに記憶してウェイト生成部１７に供給する。 When the power transmission device 10 uses the above-mentioned (Equation 328), the preprocessing unit 19 uses the obtained constraint vector V i (l) to perform matrix operations such as (I-AA + ), A +, etc. Vectors P1 and P2 indicating the magnitude of the depth are calculated, and the calculation results are stored in the storage section 17D and supplied to the weight generation section 17.
　図３３は、前処理部１９のヌル深度の他の処理例を示す図である。図３３に示す一例は、前処理部１９が上述した（式３３１）を用いる場合の処理例を示している。前処理部１９は、図３３に示すように、ヌル深度の大きさについての処理を行うことができる。上述した（式３３１）の場合、前処理部１９は、事前に測定した結果に基づく距離ｄｉと重み係数αｉのテーブルを用いて、重み係数αｉを求める。重み係数αｉは、例えば、アンテナ素子自体の指向性を考慮し、物体５０００の方向θｉごとに変更してもよい。 FIG. 33 is a diagram showing another example of processing of the null depth by the preprocessing unit 19. An example shown in FIG. 33 shows a processing example when the preprocessing unit 19 uses the above-mentioned (Formula 331). The preprocessing unit 19 can perform processing regarding the size of the null depth, as shown in FIG. 33. In the case of (Equation 331) described above, the preprocessing unit 19 calculates the weighting coefficient α i using a table of the distance d i and the weighting coefficient α i based on the results measured in advance. The weighting coefficient α i may be changed for each direction θ i of the object 5000, for example, taking into account the directivity of the antenna element itself.
　図３３の１９Ｃに示す多点ヌル拘束方式の場合、前処理部１９は、距離ｄ１，ｄ２，・・・，ｄＭと、広角度Ｌ１，Ｌ２，・・・，ＬＭを用いて、同一のヌル対象に対して同じ値でヌル深度の大きさを示すベクトルＰ３を求める処理を実行する。ベクトルＰ３は、例えば、［α１，α１，・・・，α１，α２，α２，・・・，α２，・・・．αＭ，αＭ，・・・，αＭ］Ｔである。 In the case of the multi- point null constraint method shown in 19C of FIG . Then, a process is executed to obtain a vector P3 indicating the magnitude of the null depth with the same value for the same null target. The vector P3 is, for example, [α 1 , α 1 , ..., α 1 , α 2 , α 2 , ..., α 2 , ... α M , α M , ..., α M ] T .
　図３３の１９Ｄに示す微係数拘束方式の場合、前処理部１９は、距離ｄ１，ｄ２，・・・，ｄＭと、広角度Ｌ１，Ｌ２，・・・，ＬＭを用いて、Ｖｉ （０）に対応するヌル深度の大きさをαｉとし、Ｖｉ （ｌ）（ｌ＝１，・・・，Ｌｉ）に対応するヌル深度の大きさを固定値（α０＞＞１）とし、ヌル深度の大きさを示すベクトルＰ４を求める処理を実行する。ベクトルＰ４は、例えば、［α１，α０，・・・，α０，α２，α０，・・・，α０，・・・．αＭ，α０，・・・，α０］Ｔである。 In the case of the differential coefficient constraint method shown in 19D in FIG . Let α i be the size of the null depth corresponding to V i (0) , and let the size of the null depth corresponding to V i (l) (l=1,...,L i ) be a fixed value (α 0 >> 1) and executes processing to obtain a vector P4 indicating the magnitude of the null depth. The vector P4 is, for example, [α 1 , α 0 , ..., α 0 , α 2 , α 0 , ..., α 0 , .... α M , α 0 , ..., α 0 ] T .
　送電装置１０が上述した（式３３１）を用いる場合、前処理部１９は、求めた拘束ベクトルＶｉ （ｌ）とヌル深度の大きさを示すベクトルＰ３，Ｐ４を用いて、（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）の行列演算を行い、演算結果を記憶部１７Ｄに記憶してウェイト生成部１７に供給する。 When the power transmission device 10 uses the above-mentioned (Equation 331), the preprocessing unit 19 uses the obtained constraint vector V i (l) and vectors P3 and P4 indicating the magnitude of the null depth to calculate (IA' A matrix calculation of (I+A' H A') -1 A' H ) is performed, and the calculation result is stored in the storage section 17D and supplied to the weight generation section 17.
　ウェイト生成部１７は、推定部１４の推定結果である受電装置２０に対するアレー応答ベクトルＶｄと、記憶部１７Ｄに記憶された情報を用いて、最適なウェイトベクトルＷｏｐｔを、上述した（式３２９）または（式３３３）によって求める。 The weight generation unit 17 uses the array response vector V d for the power receiving device 20, which is the estimation result of the estimation unit 14, and the information stored in the storage unit 17D to generate the optimal weight vector W opt as described above (Equation 329 ) or (Equation 333).
　ウェイト生成部１７は、生成した方向、領域及び距離に適したウェイトベクトルを識別可能なウェイト情報を記憶部１７Ｄに記憶できる。なお、送電装置１０は、広角度Ｌｉをヌル対象ごとに設定できる。送電装置１０は、ヌルを向ける方向、領域及び距離から算出する行列やベクトルと、規定信号１０００の伝搬チャネル特性とを独立して算出できる。 The weight generation unit 17 can store weight information that allows identification of a weight vector suitable for the generated direction, area, and distance in the storage unit 17D. Note that the power transmission device 10 can set the wide angle L i for each null target. The power transmission device 10 can independently calculate the matrix or vector calculated from the direction, area, and distance in which the null is directed, and the propagation channel characteristics of the specified signal 1000.
　図２７に示すように、乗算部１８は、ウェイト生成部１７のウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの送信信号２０００にウェイトを乗算する。乗算部１８は、例えば、乗算器を有する。乗算部１８は、アンテナ素子１１Ａに対応するウェイトを乗算した送信信号２０００を、当該アンテナ素子１１Ａの送受信回路１３Ａに供給する。 As shown in FIG. 27, the multiplication section 18 multiplies the transmission signal 2000 from the transmission signal generation section 12 by a weight for each of the plurality of antenna elements 11A based on the weight information of the weight generation section 17. The multiplication unit 18 includes, for example, a multiplier. The multiplier 18 supplies the transmission signal 2000 multiplied by the weight corresponding to the antenna element 11A to the transmitting/receiving circuit 13A of the antenna element 11A.
　以上、本実施形態に係る送電装置１０の機能構成例について説明した。なお、図２７を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る送電装置１０の機能構成は係る例に限定されない。本実施形態に係る送電装置１０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 The functional configuration example of the power transmission device 10 according to the present embodiment has been described above. Note that the above configuration described using FIG. 27 is just an example, and the functional configuration of the power transmission device 10 according to the present embodiment is not limited to the example. The functional configuration of the power transmission device 10 according to this embodiment can be flexibly modified according to specifications and operation.
［実施形態３に係る受電装置］
　図３４は、実施形態３に係る受電装置２０の構成の一例を示す図である。図３４に示すように、受電装置２０は、アンテナ２１と、送受信部２２と、信号発生部２３と、受電部２４と、を備える。本開示の受電装置２０は、移動可能な装置であるとしてよい。例えば、このような受電装置２０として、モバイルバッテリー、スマートフォン、カメラ、振動センサ、生体センサ、温度センサ、警報などのドローンや車などの移動体に搭載される機器、自動運転車両、設置位置が可変な振動センサ、生体センサ、温度センサ、警報などとしてよい。本開示では、受電装置２０は、移動可能な装置であるため、規定信号に基づく伝搬チャネルの特性が受電装置２０の位置に応じて変化しうるとしてよい。 [Power receiving device according to Embodiment 3]
FIG. 34 is a diagram illustrating an example of the configuration of the power receiving device 20 according to the third embodiment. As shown in FIG. 34, the power receiving device 20 includes an antenna 21, a transmitting/receiving section 22, a signal generating section 23, and a power receiving section 24. The power receiving device 20 of the present disclosure may be a movable device. For example, such a power receiving device 20 may include a mobile battery, a smartphone, a camera, a vibration sensor, a biological sensor, a temperature sensor, a device mounted on a mobile body such as a drone or a car, such as an alarm, an automatic driving vehicle, and a variable installation position. It may be used as a vibration sensor, biological sensor, temperature sensor, alarm, etc. In the present disclosure, since the power receiving device 20 is a movable device, the characteristics of the propagation channel based on the prescribed signal may change depending on the position of the power receiving device 20.
　アンテナ２１は、送受信部２２と電気的に接続されている。アンテナ２１は、送電装置１０からの電波２０００Ｗを受電可能な受電アンテナである。アンテナ２１は、例えば、パッチアンテナ、ダイポールアンテナ、パラボラアンテナ等を用いることができる。アンテナ２１は、例えば、規定信号１０００を含む電波を放射し、送電装置１０からの送信信号２０００を含む電波２０００Ｗを受信する。アンテナ２１は、受信した電波２０００Ｗの受信信号を送受信部２２に供給する。 The antenna 21 is electrically connected to the transmitting/receiving section 22. The antenna 21 is a power receiving antenna that can receive 2000 W of radio waves from the power transmitting device 10. As the antenna 21, for example, a patch antenna, a dipole antenna, a parabolic antenna, etc. can be used. For example, the antenna 21 emits a radio wave containing the prescribed signal 1000, and receives a radio wave 2000W containing the transmission signal 2000 from the power transmission device 10. The antenna 21 supplies the received signal of 2000 W of radio waves to the transmitting/receiving section 22 .
　送受信部２２は、信号発生部２３及び受電部２４と電気的に接続されている。送受信部２２は、信号発生部２３からの規定信号１０００を含む電波をアンテナ２１から放射させる。送受信部２２は、アンテナ２１で受信した電波の受信信号を受電部２４に供給する。 The transmitting/receiving section 22 is electrically connected to the signal generating section 23 and the power receiving section 24. The transmitter/receiver 22 causes the antenna 21 to radiate radio waves containing the prescribed signal 1000 from the signal generator 23 . The transmitter/receiver 22 supplies the received radio signal received by the antenna 21 to the power receiver 24 .
　信号発生部２３は、規定信号１０００を生成する。信号発生部２３は、送受信部２２を介して、該規定信号１０００を含む電波をアンテナ２１に放射させる。信号発生部２３は、送信周期に基づいて規定信号１０００を生成できる。信号発生部２３は、規定信号１０００とは異なる信号を生成する構成としてもよい。 The signal generating section 23 generates a regulation signal 1000. The signal generator 23 causes the antenna 21 to radiate radio waves containing the specified signal 1000 via the transmitter/receiver 22 . The signal generator 23 can generate the regulation signal 1000 based on the transmission cycle. The signal generating section 23 may be configured to generate a signal different from the prescribed signal 1000.
　受電部２４は、アンテナ２１で受信した電波２０００Ｗを直流電流に変換し、この直流電流を利用して電力を受電する。受電部２４は、例えば、公知である整流回路等を用いて、電波を直流電流に変換する。受電部２４は、受電した電力を、例えば、Ｑｉ（ワイヤレス給電の国際標準規格）に対応したバッテリ、負荷等に供給する。負荷は、例えば、機械設備、ＩｏＴ（Internet　of　Things）センサ、電子機器、照明機器等を含む。 The power receiving unit 24 converts the 2000 W radio wave received by the antenna 21 into a direct current, and receives power using this direct current. The power receiving unit 24 converts the radio waves into direct current using, for example, a known rectifier circuit. The power receiving unit 24 supplies the received power to, for example, a battery, a load, etc. compatible with Qi (an international standard for wireless power supply). The loads include, for example, mechanical equipment, IoT (Internet of Things) sensors, electronic equipment, lighting equipment, and the like.
　以上、本実施形態に係る受電装置２０の機能構成例について説明した。なお、図３４を用いて説明した上記の構成はあくまで一例であり、本実施形態に係る受電装置２０の機能構成は係る例に限定されない。本実施形態に係る受電装置２０の機能構成は、仕様や運用に応じて柔軟に変形可能である。 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. 34 is just an example, and the functional configuration of the power receiving device 20 according to the present embodiment is not limited to the example. The functional configuration of the power receiving device 20 according to the present embodiment can be flexibly modified according to specifications and operation.
［実施形態３に係る送電装置の処理手順例］
　図３５は、図１に示すシステム１の送電装置１０の処理手順の一例を説明するための図である。図３６は、図３５に示す送電装置１０のデータフローの一例を説明するための図である。図３６は、送電装置１０が上述した（式３２８）を用いる場合を示している。 [Example of processing procedure of power transmission device according to Embodiment 3]
FIG. 35 is a diagram for explaining an example of a processing procedure of the power transmission device 10 of the system 1 shown in FIG. FIG. 36 is a diagram for explaining an example of the data flow of the power transmission device 10 shown in FIG. 35. FIG. 36 shows a case where the power transmission device 10 uses the above-mentioned (Formula 328).
　図３５に示すように、システム１において、受電装置２０は、規定信号１０００を含む電波を放射する。送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、受電装置２０に対応したアレー応答ベクトルＶｄを推定する（ステップＳ１１１）。例えば、図３６に示すように、送電装置１０は、推定部１４で、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。図３５に戻り、送電装置１０は、ステップＳ１１１の処理が終了すると、処理をステップＳ１３１に進める。 As shown in FIG. 35, in the system 1, the power receiving device 20 emits radio waves including a prescribed signal 1000. When the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111). For example, as shown in FIG. 36, the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do. Returning to FIG. 35, upon completion of the process in step S111, the power transmission device 10 advances the process to step S131.
　また、送電装置１０は、検出部１６で、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向、領域及び距離を検出する（ステップＳ１２１）。例えば、図３６に示すように、送電装置１０は、検出部１６がＭ個の物体５０００をヌル対象と検出している場合、複数の物体５０００の方向θ１，θ２，・・・，θＭを検出する。送電装置１０は、複数の物体５０００の領域δ１，δ２，・・・，δＭを検出する。送電装置１０は、複数の物体５０００の距離ｄ１，ｄ２，・・・，ｄＭを検出する。送電装置１０は、検出した物体５０００の方向θ１，θ２，・・・，θＭ、領域δ１，δ２，・・・，δＭ及び距離ｄ１，ｄ２，・・・，ｄＭを前処理部１９に供給する。図３５に戻り、送電装置１０は、ステップＳ１２１の処理が終了すると、処理をステップＳ１２２に進める。 Furthermore, the power transmitting device 10 uses the detection unit 16 to detect the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 36, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions θ 1 , θ 2 , ..., θ of the plurality of objects 5000. Detect M. The power transmission device 10 detects regions δ 1 , δ 2 , . . . , δ M of the plurality of objects 5000. The power transmission device 10 detects distances d 1 , d 2 , . . . , d M of the plurality of objects 5000. The power transmission device 10 detects the detected object 5000 in directions θ 1 , θ 2 , ..., θ M , areas δ 1 , δ 2 , ..., δ M and distances d 1 , d 2 , ..., d M is supplied to the preprocessing section 19. Returning to FIG. 35, when the process of step S121 is completed, the power transmitting device 10 advances the process to step S122.
　送電装置１０は、前処理を実行する（ステップＳ１２２）。例えば、微係数拘束方式を用いる場合、図３６に示すように、送電装置１０は、前処理部１９で、ベクトル化を行う（ステップＳ１９１）。例えば、送電装置１０は、方向θｉと領域δｉとを示す情報をテーブル１７０に適用して広角度Ｌｉを求め、広角度Ｌｉとアレー応答ベクトルＶｉとからベクトル化することで、ヌルに対応した拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。 The power transmission device 10 performs preprocessing (step S122). For example, when using the differential coefficient constraint method, as shown in FIG. 36, the power transmission device 10 performs vectorization in the preprocessing unit 19 (step S191). For example, the power transmission device 10 applies information indicating the direction θ i and the region δ i to the table 170 to obtain the wide angle L i , and vectorizes the wide angle L i and the array response vector V i . A constraint vector V i (l) (l=0, . . . , L i ) corresponding to the null is determined.
　送電装置１０は、前処理部１９が行列演算を行う（ステップＳ１９２）。詳細には、送電装置１０は、ヌルに対応した拘束ベクトルＶｉ （ｌ）を用いて（Ｉ－ＡＡ＋）、Ａ＋の行列演算を行い、演算結果を記憶部１７Ｄに記憶する。ただし、Ａ＝［Ｖ（０） １，・・・，Ｖ（L1） １，Ｖ（０） ２，・・・，Ｖ（L２） ２，・・・，Ｖ（０） M，・・・，Ｖ（LＭ） M］である。 In the power transmission device 10, the preprocessing unit 19 performs matrix calculation (step S192). Specifically, the power transmission device 10 performs a matrix operation of A + (I-AA + ) using the constraint vector V i (l) corresponding to the null, and stores the operation result 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 ].
　送電装置１０は、前処理部１９がヌル深度の大きさを算出する（ステップＳ１９３）。詳細には、送電装置１０は、検出部１６からの距離ｄｉとステップＳ１９１で求めた広角度Ｌｉとに基づいて、微係数拘束に対応する箇所をゼロとし、ヌル深度の大きさを示すベクトルＰ２を求めて記憶部１７Ｄに記憶する。図３５に戻り、送電装置１０は、ステップＳ１２２の処理が終了すると、処理をステップＳ１３１に進める。 In the power transmission device 10, the preprocessing unit 19 calculates the size of the null depth (step S193). Specifically, the power transmission device 10 sets the portion corresponding to the differential coefficient constraint to zero based on the distance d i from the detection unit 16 and the wide angle L i determined in step S191, and indicates the size of the null depth. A vector P2 is obtained and stored in the storage section 17D. Returning to FIG. 35, when the process of step S122 is completed, the power transmitting device 10 advances the process to step S131.
　送電装置１０は、送信ウェイトを生成する（ステップＳ１３１）。例えば、図３６に示すように、送電装置１０は、ウェイト生成部１７が行列とベクトルの積算を行う（ステップＳ１７１）。詳細には、送電装置１０は、ウェイト生成部１７が演算結果（Ｉ－ＡＡ＋）とアレー応答ベクトルＶｄの積算を行う。例えば、送電装置１０は、記憶部１７Ｄの（Ｉ－ＡＡ＋）の演算結果と推定部１４からのアレー応答ベクトルＶｄを積算してベクトルＶｄ’を求める。 The power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 36, in the power transmission device 10, the weight generation unit 17 performs matrix and vector integration (step S171). Specifically, in the power transmission device 10, the weight generation unit 17 integrates the calculation result (I-AA + ) and the array response vector V d . For example, the power transmission device 10 calculates the vector V d ′ by integrating the calculation result of (I−AA + ) in the storage unit 17D and the array response vector V d from the estimation unit 14.
　送電装置１０は、ウェイト生成部１７が行列とベクトルの積算を行う（ステップＳ１７２）。詳細には、送電装置１０は、ウェイト生成部１７が演算結果（Ａ＋）とアレー応答ベクトルＶｄの積算を行う（ステップＳ１７２）。例えば、送電装置１０は、記憶部１７Ｄの（Ａ＋）の演算結果と推定部１４からのアレー応答ベクトルＶｄを積算してベクトル（Ａ＋Ｖｄ）を求める。送電装置１０は、ウェイト生成部１７がベクトルεの生成を行う（ステップＳ１７３）。例えば、送電装置１０は、記憶部１７Ｄのヌル深度の大きさを示すベクトルＰ２とステップＳ１７２のベクトル（Ａ＋Ｖｄ）とに基づいて、ベクトルεを生成する。 In the power transmission device 10, the weight generation unit 17 performs matrix and vector multiplication (step S172). Specifically, in the power transmission device 10, the weight generation unit 17 integrates the calculation result (A + ) and the array response vector V d (step S172). For example, the power transmission device 10 calculates a vector (A + V d ) by integrating the calculation result of (A + ) in the storage unit 17D and the array response vector V d from the estimation unit 14. In the power transmission device 10, the weight generation unit 17 generates a vector ε (step S173). For example, the power transmission device 10 generates the vector ε based on the vector P2 indicating the magnitude of the null depth in the storage unit 17D and the vector (A + V d ) in step S172.
　送電装置１０は、ウェイト生成部１７がベクトルＶεの生成を行う（ステップＳ１７４）。例えば、送電装置１０は、記憶部１７Ｄの（Ａ＋）の演算結果とステップＳ１７３のベクトルεとに基づいてベクトルＶεを生成する。送電装置１０は、ウェイト生成部１７が係数演算を行う（ステップＳ１７５）。例えば、送電装置１０は、ステップＳ１７１のベクトルＶｄ’とステップＳ１７４のベクトルＶεとに基づいて係数αの演算を行う。 In the power transmission device 10, the weight generation unit 17 generates a vector V ε (step S174). For example, the power transmission device 10 generates the vector V ε based on the calculation result of (A + ) in the storage unit 17D and the vector ε in step S173. In the power transmission device 10, the weight generation unit 17 performs coefficient calculation (step S175). For example, the power transmission device 10 calculates the coefficient α based on the vector V d ′ in step S171 and the vector V ε in step S174.
　送電装置１０は、ウェイト生成部１７がウェイトベクトルＷｏｐｔの生成を行う（ステップＳ１７６）。例えば、送電装置１０は、ステップＳ１７１のＶｄ’とステップＳ１７４のＶεとステップＳ１７５のαとに基づいて、（式３２８）を用いた最適なウェイトベクトルＷｏｐｔ＝αＶｄ’＋Ｖεを生成する。図３５に戻り、送電装置１０は、ステップＳ１３１の処理が終了すると、処理をステップＳ１３２に進める。 In the power transmission device 10, the weight generation unit 17 generates a weight vector W opt (step S176). For example, the power transmission device 10 generates the optimal weight vector W opt =αV d ′+V ε using (Equation 328) based on V d ′ in step S171, V ε in step S174, and α in step S175. do. Returning to FIG. 35, when the process of step S131 is completed, the power transmitting device 10 advances the process to step S132.
　送電装置１０は、送信ウェイトを乗算する（ステップＳ１３２）。例えば、送電装置１０は、乗算部１８が最適なウェイトベクトルＷｏｐｔを示すウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの給電用の送信信号２０００にウェイトを乗算し、送受信回路１３Ａに供給する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。この場合、送電装置１０は、ヌル対象の物体５０００までの距離ｄｉから電波２０００Ｗの強度の減衰量を考慮して物体５０００の領域にヌルを向けているので、電波２０００Ｗは受電装置２０において強め合うように合成されるが、物体５０００においては弱め合うように合成される。 The power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, the power transmitting device 10 directs the null toward the area of the object 5000 considering the amount of attenuation of the intensity of the radio wave 2000W from the distance d i to the object 5000 to be nulled. They are combined so that they match each other, but in the case of the object 5000, they are combined so that they weaken each other.
　受電装置２０は、例えば、受信した給電用の電波２０００Ｗを直流電流に変換し、この直流電流を利用してバッテリを充電したり、充電した電力によって動作したりする。その後、受電装置２０は、規定信号１０００を送出する。 For example, the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
　送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、上述した処理手順を繰り返すことで、ウェイトベクトルＷｏｐｔを生成して送信信号２０００の電波２０００Ｗをアレーアンテナ１１から放射する。これにより、送電装置１０は、受電装置２０や物体５０００が移動しても、電波２０００Ｗは受電装置２０において強め合うように合成され、物体５０００においては弱め合うように合成されることを維持できる。 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
［実施形態３に係る送電装置の処理手順の他の例］
　図３７は、図３５に示す送電装置１０のデータフローの他の一例を説明するための図である。図３７は、送電装置１０が上述した（式３３１）を用いる場合を示している。なお、送電装置１０は、上述した図３５に示した処理手順と同一の処理手順を実行する。 [Other examples of processing procedures of power transmission device according to Embodiment 3]
FIG. 37 is a diagram for explaining another example of the data flow of the power transmission device 10 shown in FIG. 35. FIG. 37 shows a case where the power transmission device 10 uses the above-mentioned (Formula 331). Note that the power transmission device 10 executes the same processing procedure as the processing procedure shown in FIG. 35 described above.
　図３５に示すように、システム１において、受電装置２０は、規定信号１０００を含む電波を放射する。送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、受電装置２０に対応したアレー応答ベクトルＶｄを推定する（ステップＳ１１１）。例えば、図３７に示すように、送電装置１０は、推定部１４で、複数のアンテナ素子１１Ａで受信した受信信号に含まれる規定信号１０００の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定する。図３５に戻り、送電装置１０は、ステップＳ１１１の処理が終了すると、処理をステップＳ１３１に進める。 As shown in FIG. 35, in the system 1, the power receiving device 20 emits radio waves including a prescribed signal 1000. When the power transmitting device 10 receives the radio wave including the prescribed signal 1000 through the array antenna 11, it estimates the array response vector V d corresponding to the power receiving device 20 (step S111). For example, as shown in FIG. 37, the power transmission device 10 uses the estimation unit 14 to estimate the propagation channel characteristics of the specified signal 1000 included in the received signals received by the plurality of antenna elements 11A, and estimates the array response vector V d . do. Returning to FIG. 35, upon completion of the process in step S111, the power transmission device 10 advances the process to step S131.
　また、送電装置１０は、検出部１６で、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向、領域及び距離を検出する（ステップＳ１２１）。例えば、図３７に示すように、送電装置１０は、検出部１６がＭ個の物体５０００をヌル対象と検出している場合、複数の物体５０００の方向θ１，θ２，・・・，θＭを検出する。送電装置１０は、複数の物体５０００の領域δ１，δ２，・・・，δＭを検出する。送電装置１０は、複数の物体５０００の距離ｄ１，ｄ２，・・・，ｄＭを検出する。送電装置１０は、検出した物体５０００の方向θ１，θ２，・・・，θＭ、領域δ１，δ２，・・・，δＭ及び距離ｄ１，ｄ２，・・・，ｄＭを前処理部１９に供給する。図３５に戻り、送電装置１０は、ステップＳ１２１の処理が終了すると、処理をステップＳ１２２に進める。 Furthermore, the power transmitting device 10 uses the detection unit 16 to detect the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15 (step S121). For example, as shown in FIG. 37, when the detection unit 16 detects M objects 5000 as null targets, the power transmission device 10 detects the directions θ 1 , θ 2 , ..., θ of the plurality of objects 5000. Detect M. The power transmission device 10 detects regions δ 1 , δ 2 , . . . , δ M of the plurality of objects 5000. The power transmission device 10 detects distances d 1 , d 2 , . . . , d M of the plurality of objects 5000. The power transmission device 10 detects the detected object 5000 in directions θ 1 , θ 2 , ..., θ M , areas δ 1 , δ 2 , ..., δ M and distances d 1 , d 2 , ..., d M is supplied to the preprocessing section 19. Returning to FIG. 35, when the process of step S121 is completed, the power transmitting device 10 advances the process to step S122.
　送電装置１０は、前処理を実行する（ステップＳ１２２）。例えば、微係数拘束方式を用いる場合、図３７に示すように、送電装置１０は、前処理部１９で、ベクトル化を行う（ステップＳ１９４）。例えば、送電装置１０は、方向θｉと領域δｉとを示す情報をテーブル１７０に適用して広角度Ｌｉを求め、広角度Ｌｉとアレー応答ベクトルＶｉとからベクトル化することで、ヌルに対応した拘束ベクトルＶｉ （ｌ）（ｌ＝０，・・・，Ｌｉ）を求める。 The power transmission device 10 performs preprocessing (step S122). For example, when using the differential coefficient constraint method, as shown in FIG. 37, the power transmission device 10 performs vectorization in the preprocessing unit 19 (step S194). For example, the power transmission device 10 applies information indicating the direction θ i and the region δ i to the table 170 to obtain the wide angle L i , and vectorizes the wide angle L i and the array response vector V i . A constraint vector V i (l) (l=0, . . . , L i ) corresponding to the null is determined.
　送電装置１０は、前処理部１９がヌル深度の大きさを算出する（ステップＳ１９５）。詳細には、送電装置１０は、検出部１６からの距離ｄｉとステップＳ１９４で求めた広角度Ｌｉとに基づいて、微係数拘束に対して固定値としてヌル深度の大きさを示すベクトルＰ４を求める。 In the power transmission device 10, the preprocessing unit 19 calculates the size of the null depth (step S195). Specifically, the power transmission device 10 uses a vector P4 that indicates the magnitude of the null depth as a fixed value for the differential coefficient constraint, based on the distance d i from the detection unit 16 and the wide angle L i obtained in step S194. seek.
　送電装置１０は、前処理部１９が行列演算を行う（ステップＳ１９６）。詳細には、送電装置１０は、ヌルに対応した拘束ベクトルＶｉ （ｌ）とステップＳ１９５のベクトルＰ４を用いて、（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）の行列演算を行い、演算結果を記憶部１７Ｄに記憶する。ただし、Ａ’＝［α１Ｖ（０） １α０Ｖ（１） １・・・α０Ｖ（Ｌ１） １　α２Ｖ（０） １α０Ｖ（１） ２・・・α０Ｖ（Ｌ２） ２　・・・　αＭＶ（０） Ｍα０Ｖ（１） Ｍ・・・α０Ｖ（ＬＭ） Ｍ］である。図３５に戻り、送電装置１０は、ステップＳ１２２の処理が終了すると、処理をステップＳ１３１に進める。 In the power transmission device 10, the preprocessing unit 19 performs matrix calculation (step S196). Specifically, the power transmission device 10 uses the constraint vector V i (l) corresponding to the null and the vector P4 of step S195 to create a matrix of (IA'(I+A' H A') -1 A' H ). The calculation is performed and the calculation result is stored in the storage section 17D. However, A'=[α 1 V (0) 1 α 0 V (1) 1 ...α 0 V (L1) 1 α 2 V (0) 1 α 0 V (1) 2... α 0 V (L2) 2 ... α MV (0) M α 0 V (1) M ... α 0 V (LM) M ]. Returning to FIG. 35, when the process of step S122 is completed, the power transmitting device 10 advances the process to step S131.
　送電装置１０は、送信ウェイトを生成する（ステップＳ１３１）。例えば、図３７に示すように、送電装置１０は、ウェイト生成部１７が行列とベクトルの積算を行う（ステップＳ１７７）。詳細には、送電装置１０は、ウェイト生成部１７が演算結果（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）とアレー応答ベクトルＶｄの積算を行う。例えば、送電装置１０は、記憶部１７Ｄの（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）の演算結果と推定部１４からのアレー応答ベクトルＶｄを積算してアレー応答ベクトルＶｄ’’＝（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）Ｖｄを求める。 The power transmission device 10 generates transmission weights (step S131). For example, as shown in FIG. 37, in the power transmission device 10, the weight generation unit 17 performs matrix and vector integration (step S177). Specifically, in the power transmission device 10, the weight generation unit 17 integrates the calculation result (I−A′(I+ A′H A′) −1 A′H ) and the array response vector V d . For example, the power transmission device 10 integrates the calculation result of (IA'(I+A' H A') -1 A' H ) in the storage unit 17D and the array response vector V d from the estimation unit 14 to obtain the array response vector. V d ''=(I-A'(I+A' H A') -1 A' H ) Find V d .
　送電装置１０は、ウェイト生成部１７が算出したアレー応答ベクトルＶｄ’’を正規化する（ステップＳ１７８）。例えば、送電装置１０は、（式３３３）を用いて最適なウェイトベクトルＷｏｐｔを生成する。図３５に戻り、送電装置１０は、ステップＳ１３１の処理が終了すると、処理をステップＳ１３２に進める。 The power transmission device 10 normalizes the array response vector V d '' calculated by the weight generation unit 17 (step S178). For example, the power transmission device 10 generates the optimal weight vector W opt using (Equation 333). Returning to FIG. 35, when the process of step S131 is completed, the power transmitting device 10 advances the process to step S132.
　送電装置１０は、送信ウェイトを乗算する（ステップＳ１３２）。例えば、送電装置１０は、乗算部１８が最適なウェイトベクトルＷｏｐｔを示すウェイト情報に基づいて、複数のアンテナ素子１１Ａごとに、送信信号発生部１２からの給電用の送信信号２０００にウェイトを乗算し、送受信回路１３Ａに供給する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。この場合、送電装置１０は、ヌル対象の物体５０００までの距離ｄｉから電波２０００Ｗの強度の減衰量を考慮して物体５０００の領域にヌルを向けているので、電波２０００Ｗは受電装置２０において強め合うように合成されるが、物体５０００においては弱め合うように合成される。 The power transmission device 10 multiplies the transmission weight (step S132). For example, in the power transmission device 10, the multiplication unit 18 multiplies the power feeding transmission signal 2000 from the transmission signal generation unit 12 by a weight for each of the plurality of antenna elements 11A based on the weight information indicating the optimal weight vector W opt. and supplies it to the transmitter/receiver circuit 13A. Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. In this case, the power transmitting device 10 directs the null toward the area of the object 5000 considering the amount of attenuation of the intensity of the radio wave 2000W from the distance d i to the object 5000 to be nulled. They are combined so that they match each other, but in the case of the object 5000, they are combined so that they weaken each other.
　受電装置２０は、例えば、受信した給電用の電波２０００Ｗを直流電流に変換し、この直流電流を利用してバッテリを充電したり、充電した電力によって動作したりする。その後、受電装置２０は、規定信号１０００を送出する。 For example, the power receiving device 20 converts the received electric wave of 2000 W for power feeding into a direct current, uses this direct current to charge a battery, and operates using the charged power. After that, the power receiving device 20 sends out the regulation signal 1000.
　送電装置１０は、アレーアンテナ１１で規定信号１０００を含む電波を受信すると、上述した処理手順を繰り返すことで、ウェイトベクトルＷｏｐｔを生成して送信信号２０００の電波２０００Ｗをアレーアンテナ１１から放射する。これにより、送電装置１０は、受電装置２０や物体５０００が移動しても、電波２０００Ｗは受電装置２０において強め合うように合成され、物体５０００においては弱め合うように合成されることを維持できる。 When the power transmitting device 10 receives a radio wave including the prescribed signal 1000 at the array antenna 11, it repeats the above-described processing procedure to generate a weight vector W opt and radiates the radio wave 2000 W of the transmission signal 2000 from the array antenna 11. As a result, even if the power receiving device 20 or the object 5000 moves, the power transmitting device 10 can maintain that the radio waves 2000 W are constructively combined in the power receiving device 20 and destructively combined in the object 5000.
　図３５に示す送電装置１０の処理手順は、規定信号１０００に応じたアレー応答ベクトルＶｄの推定（ステップＳ１１１）と物体５０００の方向、領域及び距離に応じた前処理（ステップＳ１２２）は同期する必要がない。よって、例えば、規定信号１０００を受信する周期と検出部１６が情報を提供する周期が異なっていてもよい。また、例えば、物体５０００の方向、領域及び距離に変化がない場合、送電装置１０は、過去の拘束ベクトルＶｉ （ｌ）、類似した環境下の過去の拘束ベクトルＶｉ （ｌ）等を用いてもよい。 In the processing procedure of the power transmission device 10 shown in FIG. 35, the estimation of the array response vector V d according to the specified signal 1000 (step S111) and the preprocessing according to the direction, area, and distance of the object 5000 (step S122) are synchronized. There's no need. Therefore, for example, the cycle at which the regulation signal 1000 is received and the cycle at which the detection unit 16 provides information may be different. Further, for example, when there is no change in the direction, area, and distance of the object 5000, the power transmission device 10 uses the past constraint vector V i (l) , the past restraint vector V i (l) under a similar environment, etc. You can.
　図３８は、実施形態３に係る送電装置１０の動作例を説明するための図である。図３９は、実施形態３に係る送電装置１０の電波２０００Ｗの指向性パターンを計算機シミュレーションによって計算した結果の一例を示す図である。図４０は、実施形態３に係る送電装置１０の電波２０００Ｗの指向性パターンを計算機シミュレーションによって計算した結果の他の一例を示す図である。 FIG. 38 is a diagram for explaining an operation example of the power transmission device 10 according to the third embodiment. FIG. 39 is a diagram illustrating an example of the result of calculating the directivity pattern of 2000 W of radio waves of the power transmission device 10 according to the third embodiment by computer simulation. FIG. 40 is a diagram showing another example of the result of calculating the directivity pattern of the radio wave 2000 W of the power transmission device 10 according to the third embodiment by computer simulation.
　図３８に示すように、システム１は、送電装置１０と受電装置２０との間の近傍に物体５０００が存在する場合、送電装置１０がセンサ部１５のセンサ情報に基づいて物体５０００の方向を検出できる。受電装置２０が放射した規定信号１０００を含む電波は、送電装置１０に直接向かうパスと、物体５０００で反射して送電装置１０に向かうパスが存在する。送電装置１０は、アレーアンテナ１１で受信した規定信号１０００を含む電波の伝搬チャネル特性を推定し、アレー応答ベクトルＶｄを推定するが、当該アレー応答ベクトルＶｄには、受電装置２０に直接向かうパスと、物体５０００に向かうパスの特性を含む。 As shown in FIG. 38, in the system 1, when an object 5000 exists in the vicinity between the power transmitting device 10 and the power receiving device 20, the power transmitting device 10 detects the direction of the object 5000 based on sensor information of the sensor unit 15. can. The radio wave including the prescribed signal 1000 emitted by the power receiving device 20 has a path that goes directly to the power transmitting device 10 and a path that is reflected by an object 5000 and goes to the power transmitting device 10 . The power transmitting device 10 estimates the propagation channel characteristics of the radio wave including the specified signal 1000 received by the array antenna 11 and estimates the array response vector V d . It includes the path and the characteristics of the path toward the object 5000.
　送電装置１０は、センサ部１５からのセンサ情報に基づいて、電波伝搬環境における受電装置２０とは異なる物体５０００の方向、領域及び距離を検出し、複数の物体５０００の方向θ１，θ２，・・・，θＭ、領域δ１，δ２，・・・，δＭ及び距離ｄ１，ｄ２，・・・，ｄＭを検出する。送電装置１０は、物体５０００の方向、すなわちヌル対象に対応したアレー応答ベクトルＶｉを計算するとともに、物体５０００の領域および距離に基づいて拘束ベクトルＶｉ （ｌ）を計算し、当該拘束ベクトルＶｉ （ｌ）とアレー応答ベクトルＶｄと用いて物体５０００の方向の電波強度を低減する最適なウェイトベクトルＷｏｐｔを生成する。送電装置１０からは、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。 The power transmitting device 10 detects the direction, area, and distance of an object 5000 different from the power receiving device 20 in the radio wave propagation environment based on the sensor information from the sensor unit 15, and determines the directions θ 1 , θ 2 , ..., θ M , areas δ 1 , δ 2 , ..., δ M and distances d 1 , d 2 , ..., d M are detected. The power transmission device 10 calculates the array response vector V i corresponding to the direction of the object 5000, that is, the null target, and also calculates the constraint vector V i (l) based on the area and distance of the object 5000, and calculates the constraint vector V i (l) based on the area and distance of the object 5000. An optimal weight vector W opt that reduces the radio field intensity in the direction of the object 5000 is generated using i (l) and the array response vector V d . From the power transmission device 10, a radio wave of 2000 W of the transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
　これにより、送電装置１０は、物体５０００の方向から規定信号１０００を受信しても、放射する電波２０００Ｗを受電装置２０において強め合うようにでき、かつ、物体５０００の領域及び距離に応じて広角化およびヌル深度を制御したヌルを形成することで、物体５０００に向かう電波２０００Ｗの放射を抑制することができる。その結果、送電装置１０は、受電装置２０からの規定信号１０００が人体等に反射して届く環境であっても、人体等に向かう電波２０００Ｗを抑制できるので、安全なワイヤレス電力伝送を実現することができる。 Thereby, even if the power transmitting device 10 receives the prescribed signal 1000 from the direction of the object 5000, the radiated radio waves of 2000 W can be reinforced at the power receiving device 20, and the angle can be widened according to the area and distance of the object 5000. By forming a null with a controlled null depth, it is possible to suppress radiation of the radio wave of 2000 W toward the object 5000. As a result, even in an environment where the specified signal 1000 from the power receiving device 20 is reflected by a human body, etc., the power transmitting device 10 can suppress 2000 W of radio waves directed toward the human body, etc., thereby realizing safe wireless power transmission. Can be done.
　送電装置１０は、伝搬環境に複数の物体５０００が存在しても、複数の物体５０００の方向、領域及び距離を検出し、複数の物体５０００の各々にヌルを向けるように、ウェイトベクトルＷｏｐｔを生成することができる。 Even if a plurality of objects 5000 exist in the propagation environment, the power transmission device 10 detects the direction, area, and distance of the plurality of objects 5000, and sets the weight vector W opt so as to direct a null to each of the plurality of objects 5000. can be generated.
　図３９に示すグラフは、例えば、２つの物体５０００が存在する場合における実施形態３に係る送電装置１０に多点ヌル拘束方式を用いた場合の送電装置１０から放射される電波２０００Ｗの指向性パターンの一例を示している。図３９に示すグラフは、縦軸がアレー応答値の電力（絶対値の２乗）［ｄＢ］、横軸が電波２０００Ｗの放射方向［°］をそれぞれ示している。図３９に示す一例では、送電装置１０は、アンテナ素子１１Ａの数が８、隣り合うアンテナ素子１１Ａ同士の間隔がλ／２であり、アンテナ配置が等間隔リニアアレーになっている。λは波長を表す。送電装置１０は、３０°の方向が受電装置２０への電波２０００Ｗの放射方向と推定し、放射方向における－１０°及び－４５°が２つの物体５０００の方向と検出している。送電装置１０は、－１０°の方向のヌル深度を０．００１、－４５°の方向のヌル深度を０．０１と算出している。送電装置１０は、３０°の方向の受電装置２０に対応したアレー応答ベクトルＶｄと、－１０°の方向の領域のヌルに対応したアレー応答ベクトルＶ１と、－４５°の方向の領域のヌルに対応したアレー応答ベクトルＶ２とに基づいてウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。 The graph shown in FIG. 39 shows, for example, the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 when the multi-point null restraint method is used in the power transmission device 10 according to the third embodiment when two objects 5000 are present. An example is shown. In the graph shown in FIG. 39, the vertical axis shows the power (square of the absolute value) [dB] of the array response value, and the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W. In the example shown in FIG. 39, the power transmission device 10 has eight antenna elements 11A, the interval between adjacent antenna elements 11A is λ/2, and the antenna arrangement is a uniformly spaced linear array. λ represents wavelength. The power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects −10° and −45° in the radiation direction as the directions of the two objects 5000. The power transmission device 10 calculates the null depth in the -10° direction as 0.001 and the null depth in the -45° direction as 0.01. The power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the −10° direction region, and an array response vector V 1 corresponding to the null in the −45° direction region. A weight vector W opt is generated based on the array response vector V 2 corresponding to the null. In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
　図３９に示す一例では、送電装置１０は、放射方向が３０°の方向付近でアレー応答値が高くなり、－１０°の方向Ｄ１及び－４５°の方向Ｄ２付近でアレー応答値が低くなっており、ヌルの深さが方向Ｄ１で－６０ｄＢ、方向Ｄ２で－４０ｄＢになっている。これにより、送電装置１０は、複数の物体５０００の方向から規定信号１０００を受信しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、複数の物体５０００に向かう電波２０００Ｗの放射を抑制することができる。 In the example shown in FIG. 39, in the power transmission device 10, the array response value becomes high near the direction where the radiation direction is 30°, and the array response value becomes low near the direction D1 of -10° and the direction D2 of -45°. The depth of the null is -60 dB in direction D1 and -40 dB in direction D2. As a result, even if the power transmitting device 10 receives the specified signal 1000 from the direction of the plurality of objects 5000, the power transmitting device 10 can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and the 2000 W radio waves directed toward the plurality of objects 5000. radiation can be suppressed.
　図４０に示すグラフは、例えば、２つの物体５０００が存在する場合における実施形態３に係る送電装置１０に微係数拘束方式を用いた場合の送電装置１０から放射される電波２０００Ｗの指向性パターンの一例を示している。図４０に示すグラフは、縦軸がアレー応答値の電力（絶対値の２乗）［ｄＢ］、横軸が電波２０００Ｗの放射方向［°］をそれぞれ示している。図４０に示すグラフは、図３９に示した測定条件と同一である。送電装置１０は、３０°の方向が受電装置２０への電波２０００Ｗの放射方向と推定し、放射方向における－１０°及び－４５°が２つの物体５０００の方向と検出している。送電装置１０は、－１０°の方向のヌル深度を０．００１、－４５°の方向のヌル深度を０．０１と算出している。送電装置１０は、３０°の方向の受電装置２０に対応したアレー応答ベクトルＶｄと、－１０°の方向の領域のヌルに対応したアレー応答ベクトルＶ１と、－４５°の方向の領域のヌルに対応したアレー応答ベクトルＶ２とに基づいてウェイトベクトルＷｏｐｔを生成する。送電装置１０は、最適なウェイトベクトルＷｏｐｔを乗算した送信信号２０００の電波２０００Ｗがアレーアンテナ１１の複数のアンテナ素子１１Ａから放射される。 The graph shown in FIG. 40 shows, for example, the directivity pattern of 2000 W of radio waves emitted from the power transmission device 10 when the differential coefficient constraint method is used in the power transmission device 10 according to the third embodiment when two objects 5000 exist. An example is shown. In the graph shown in FIG. 40, the vertical axis shows the power (square of the absolute value) [dB] of the array response value, and the horizontal axis shows the radiation direction [°] of the radio wave of 2000 W. The graph shown in FIG. 40 is the same as the measurement conditions shown in FIG. 39. The power transmitting device 10 estimates that the direction of 30° is the radiation direction of the radio wave 2000W to the power receiving device 20, and detects −10° and −45° in the radiation direction as the directions of the two objects 5000. The power transmission device 10 calculates the null depth in the -10° direction as 0.001 and the null depth in the -45° direction as 0.01. The power transmitting device 10 has an array response vector V d corresponding to the power receiving device 20 in the 30° direction, an array response vector V 1 corresponding to the null in the −10° direction region, and an array response vector V 1 corresponding to the null in the −45° direction region. A weight vector W opt is generated based on the array response vector V 2 corresponding to the null. In the power transmission device 10, a radio wave of 2000 W of a transmission signal 2000 multiplied by the optimal weight vector W opt is radiated from the plurality of antenna elements 11A of the array antenna 11.
　図４０に示す一例では、送電装置１０は、放射方向が３０°の方向付近でアレー応答値が高くなり、－１０°の方向Ｄ１及び－４５°の方向Ｄ２付近でアレー応答値が低くなっており、ヌルの深さが方向Ｄ３で－６０ｄＢ、方向Ｄ４で－４０ｄＢになっている。これにより、送電装置１０は、複数の物体５０００の方向から規定信号１０００を受信しても、放射する電波２０００Ｗを受電装置２０の方向に向けることができ、かつ、複数の物体５０００に向かう電波２０００Ｗの放射を抑制することができる。 In the example shown in FIG. 40, in the power transmission device 10, the array response value becomes high near the direction where the radiation direction is 30°, and the array response value becomes low near the direction D1 of -10° and the direction D2 of -45°. The depth of the null is -60 dB in direction D3 and -40 dB in direction D4. As a result, even if the power transmitting device 10 receives the specified signal 1000 from the direction of the plurality of objects 5000, the power transmitting device 10 can direct the emitted radio waves of 2000 W in the direction of the power receiving device 20, and the 2000 W radio waves directed toward the plurality of objects 5000. radiation can be suppressed.
　以上により、送電装置１０は、多点ヌル拘束方式を用いても、微係数拘束方式を用いても、同様の作用効果を得ることができる。その結果、システム１において、送電装置１０は、受電装置２０からの規定信号１０００の電波伝搬チャネルの特定結果に基づいてアンテナ指向性を制御しても、安全性を向上させることができる。なお、一般にマルチパス環境における受電装置２０に対するアレー応答ベクトルＶｄは指向性パターンにおいて特定の方向にならないが、図３９および図４０の例では、理解しやすいように３０°の方向のアレー応答ベクトルとした。 As described above, the power transmission device 10 can obtain similar effects whether using the multi-point null constraint method or the differential coefficient constraint method. As a result, in the system 1, the power transmitting device 10 can improve safety even if the antenna directivity is controlled based on the identification result of the radio wave propagation channel of the prescribed signal 1000 from the power receiving device 20. Generally, the array response vector V d for the power receiving device 20 in a multipath environment does not have a specific direction in the directivity pattern, but in the examples of FIGS. And so.
　上記した実施形態３では、送電装置１０は、アレーアンテナ１１の複数のアンテナ素子１１Ａが等間隔のリニアアレーである場合について説明したが、これに限定されない。送電装置１０は、物体５０００の方向からアレー応答ベクトルＶｉを算出可能であれる場合、複数のアンテナ素子１１Ａの配置は、等間隔リニアアレーでなくてもよい。 In the above-mentioned third embodiment, the power transmission device 10 is described as being a linear array in which the plurality of antenna elements 11A of the array antenna 11 are arranged at equal intervals, but the power transmission device 10 is not limited to this. If the power transmission device 10 is capable of calculating the array response vector V i from the direction of the object 5000, the arrangement of the plurality of antenna elements 11A does not need to be an equally spaced linear array.
［実施形態３に係る送電装置の変形例］
　図４１及び図４２は、実施形態３の変形例に係る送電装置１０の構成の一例を示す図である。図４１に示すように、送電装置１０は、センサ部１５と検出部１６と前処理部１９とを、送電装置１０の外部の電子機器３０に設けてもよい。この場合、送電装置１０は、電子機器３０からデータの受信が可能な構成とし、電子機器３０から物体５０００の検出結果を取得してもよい。図４２に示すように、送電装置１０は、センサ部１５のみを装置の外部に設けてもよい。この場合、送電装置１０は、外部のセンサ部１５からセンサ情報等を取得可能な構成とし、センサ部１５からのセンサ情報等に基づいて検出部１６が物体５０００を検出してもよい。 [Modification of power transmission device according to Embodiment 3]
41 and 42 are diagrams illustrating an example of a configuration of a power transmission device 10 according to a modification of the third embodiment. As shown in FIG. 41 , the power transmission device 10 may include the sensor section 15 , the detection section 16 , and the preprocessing section 19 in an electronic device 30 outside the power transmission device 10 . In this case, the power transmission device 10 may be configured to be able to receive data from the electronic device 30 and obtain the detection result of the object 5000 from the electronic device 30. As shown in FIG. 42, the power transmission device 10 may have only the sensor section 15 provided outside the device. In this case, the power transmission device 10 may be configured to be able to acquire sensor information etc. from the external sensor section 15, and the detection section 16 may detect the object 5000 based on the sensor information etc. from the sensor section 15.
　上述した送電装置１０は、ヌル広角化を多点ヌル拘束方式と微係数拘束方式とを組み合わせてもよい。上述した送電装置１０は、ヌル広角化を多点ヌル拘束方式と微係数拘束方式との少なくとも一方を用いる構成としてもよい。上述した送電装置１０は、ヌル広角化を、ヌル対象の領域に渡って複数のヌルを設定する方法と微係数拘束による方法とを組み合わせてもよい。 The power transmission device 10 described above may combine a multi-point null constraint method and a differential coefficient constraint method for null widening. The power transmission device 10 described above may be configured to use at least one of a multi-point null constraint method and a differential coefficient constraint method for null widening. The above-described power transmission device 10 may combine a method of setting a plurality of nulls over a region to be nulled and a method using differential coefficient constraint to widen the null angle.
　上述した送電装置１０は、（式３３１）の場合、Ｗ≒γＶｄをＷ≒Ｗ０と置き換えてもよい。すなわち、ある条件下で導出した送信ウェイトＷ０にも適用できることを意味する。ある条件下で導出した送信ウェイトＷ０は、ヌルを形成していないなどの複数のウェイトを含む。このとき、上述した（式３３２）は、以下の（式３３４）に置き換えればよい。これにより、送電装置１０は、送信ウェイトＷ０に近いウェイトで、人体への影響を低減することができる。
Figure JPOXMLDOC01-appb-M000093
 In the above-described power transmission device 10, in the case of (Formula 331), W≒γV d may be replaced with W≒W 0 . That is, it means that it can also be applied to the transmission weight W 0 derived under certain conditions. The transmission weight W 0 derived under certain conditions includes a plurality of weights that do not form a null. At this time, the above-mentioned (Formula 332) may be replaced with the following (Formula 334). Thereby, the power transmission device 10 can reduce the influence on the human body with a transmission weight W close to 0 .
Figure JPOXMLDOC01-appb-M000093
　図４３は、実施形態３の変形例に係る送電装置１０の構成の一例を示す図である。図４３に示すように、送電装置１０は、アレーアンテナ１１と、送信信号発生部１２と、送受信部１３と、センサ部１５と、検出部１６と、ウェイト生成部１７と、乗算部１８と、前処理部１９と、生成部１０Ａと、を備える。 FIG. 43 is a diagram illustrating an example of the configuration of the power transmission device 10 according to a modification of the third embodiment. As shown in FIG. 43, the power transmission device 10 includes an array antenna 11, a transmission signal generation section 12, a transmission/reception section 13, a sensor section 15, a detection section 16, a weight generation section 17, a multiplication section 18, It includes a preprocessing section 19 and a generation section 10A.
　生成部１０Ａは、ある条件下で送信ウェイトＷ０を生成する。生成部１０Ａは、生成した送信ウェイトＷ０をウェイト生成部１７に供給する。例えば、ある条件下での送信ウェイトＷ０は記憶部１７Ｄに記憶されたウェイトでもよい。ウェイト生成部１７は、送信ウェイトＷ０を（式３３４）に適用してウェイトベクトルＷｏｐｔを生成する。これにより、送電装置１０は、給電用の送信信号２０００を含む電波２０００Ｗを複数のアンテナ素子１１Ａから放射させる。その結果、送電装置１０は、物体５０００の領域に電波２０００Ｗが向かわないので、物体５０００に向かう放射を減少させることができる。このように、送電装置１０は、送信ウェイトＷ０を用いる構成に変更しても、上述した作用効果を得ることができる。 The generation unit 10A generates the transmission weight W 0 under certain conditions. The generation unit 10A supplies the generated transmission weight W 0 to the weight generation unit 17. For example, the transmission weight W 0 under certain conditions may be a weight stored in the storage unit 17D. The weight generation unit 17 applies the transmission weight W 0 to (Equation 334) to generate a weight vector W opt . Thereby, the power transmitting device 10 radiates a radio wave of 2000 W including a transmission signal 2000 for power feeding from the plurality of antenna elements 11A. As a result, in the power transmission device 10, the radio waves of 2000 W are not directed toward the region of the object 5000, so that the radiation directed toward the object 5000 can be reduced. In this way, the power transmission device 10 can obtain the above-mentioned effects even if the configuration is changed to use the transmission weight W 0 .
　上述した送電装置１０は、検出した物体５０００を、例えば人体、動物、植物等のカテゴリ分けすることで、カテゴリごとにヌル深度を調整する構成としてもよい。送電装置１０は、物体５０００が人体、動物等の場合にヌル深度を深くし、植物等の場合にヌル深度を浅くするように制御してもよい。 The above-described power transmission device 10 may be configured to classify the detected object 5000 into categories such as human body, animal, plant, etc., and adjust the null depth for each category. The power transmission device 10 may be controlled to increase the null depth when the object 5000 is a human body, an animal, etc., and to decrease the null depth when the object 5000 is a plant or the like.
［実施形態３に係る微係数拘束条件の変換］
　上述した（式３２５）のＤ（ｌ）(θｉ）＝ＷＨＶ（ｌ）(θｉ）＝０は、上述した（式３２６）のＷＨ（ＱｌＶｉ）＝ＷＨ（ＱｌＶ（θｉ））＝０と等価になることを以下に証明する。ただし、（式３２５）及び（式３２６）は、ｌ＝１，・・・，Ｌｉである。ここで、Ｑｌ＝ｄｉａｇ［０ｌ　１ｌ　・・・　（Ｋ－１）ｌ］である。 [Conversion of differential coefficient constraint according to Embodiment 3]
D (l) (θ i )=W H V (l) (θ i )=0 in (Equation 325) described above is equivalent to W H (Q l V i )=W H (Q It will be proven below that it is equivalent to l V (θ i ))=0. However, in (Formula 325) and (Formula 326), l=1, . . . , Li . Here, Q l =diag[0 l 1 l ... (K-1) l ].
　まず、以下の（式３Ｃ１）、（式３Ｃ２）となるθの関数Ｆｌ，ｎ（θ）が存在することを示す。（式３Ｃ１）を満たせば、以下の（式３Ｃ３）となる。
Figure JPOXMLDOC01-appb-M000094
 　Ｆｌ，ｌ（θ）≠０　・・・（式３Ｃ２）
Figure JPOXMLDOC01-appb-M000095
 First, it will be shown that there is a function F l,n (θ) of θ that satisfies the following (Formula 3C1) and (Formula 3C2). If (Formula 3C1) is satisfied, the following (Formula 3C3) is obtained.
Figure JPOXMLDOC01-appb-M000094
 F l,l (θ)≠0...(Formula 3C2)
Figure JPOXMLDOC01-appb-M000095
　（式３Ｃ３）と（式３Ｃ２）にθ＝θｉを代入すると、以下の（式３Ｃ３１）、（式３Ｃ３２）が得られる。
Figure JPOXMLDOC01-appb-M000096
 　Ｆｌ，ｌ（θｉ）≠０　・・・（式３Ｃ３２） By substituting θ=θ i into (Formula 3C3) and (Formula 3C2), the following (Formula 3C31) and (Formula 3C32) are obtained.
Figure JPOXMLDOC01-appb-M000096
 F l,l (θ i )≠0...(Formula 3C32)
　これらを利用して数学的帰納法により、以下の（式３Ｃ３３）を示す。
Figure JPOXMLDOC01-appb-M000097
 Using these, the following (Formula 3C33) is shown by mathematical induction.
Figure JPOXMLDOC01-appb-M000097
［３－１］ｌ＝１のときを考える。
　（式３２０）をθで微分すると、以下の（式３Ｃ４）になる。
Figure JPOXMLDOC01-appb-M000098
 [3-1] Consider the case when l=1.
When (Formula 320) is differentiated by θ, the following (Formula 3C4) is obtained.
Figure JPOXMLDOC01-appb-M000098
　ここで、以下の（式３Ｃ５）とおくと、（式３Ｃ５）は（式３Ｃ２）を満足する。
Figure JPOXMLDOC01-appb-M000099
 Here, if we set the following (Formula 3C5), (Formula 3C5) satisfies (Formula 3C2).
Figure JPOXMLDOC01-appb-M000099
　そして、（式３Ｃ４）は、以下の（式３Ｃ６）のように表せる。
Figure JPOXMLDOC01-appb-M000100
 Then, (Formula 3C4) can be expressed as (Formula 3C6) below.
Figure JPOXMLDOC01-appb-M000100
　（式３１９）をθで微分すると、（式３Ｃ６）により以下の（式３Ｃ７）で表せる。よって、ｌ＝１の時は、（式３Ｃ１）を満足する。
Figure JPOXMLDOC01-appb-M000101
 When (Formula 319) is differentiated with respect to θ, it can be expressed as the following (Formula 3C7) using (Formula 3C6). Therefore, when l=1, (Formula 3C1) is satisfied.
Figure JPOXMLDOC01-appb-M000101
　ここで、（式３Ｃ７）にθ＝θｉを代入すると、Ｖ’（θｉ）＝Ｆ１．１（θｉ）・Ｑ１Ｖ（θｉ）となる。よって、Ｄ’（θｉ）＝ＷＨＶ’（θｉ）＝Ｆ１．１（θｉ）・ＷＨＱ１Ｖ（θｉ）となる。（式３Ｃ５）より、Ｆ１．１（θｉ）≠０から、以下の（式３Ｃ７１）が成立する。
Figure JPOXMLDOC01-appb-M000102
 Here, when θ=θ i is substituted into (Formula 3C7), V'(θ i )=F 1.1 (θ i )·Q 1 V(θ i ). Therefore, D'(θ i )=W H V'(θ i )=F 1.1 (θ i )·W H Q 1 V(θ i ). From (Formula 3C5), since F1.1(θ i )≠0, the following (Formula 3C71) holds true.
Figure JPOXMLDOC01-appb-M000102
［３－２］ｌ＝ｐ（＜Ｌｉ）のとき、（式３Ｃ１）及び（式３Ｃ２）が、以下の（式３Ｃ８）及び（式３Ｃ９）のように成立しているとする。
Figure JPOXMLDOC01-appb-M000103
 　Ｆｐ，ｐ（θ）≠０　・・・（式３Ｃ９） [3-2] When l=p (<L i ), it is assumed that (Formula 3C1) and (Formula 3C2) are established as in (Formula 3C8) and (Formula 3C9) below.
Figure JPOXMLDOC01-appb-M000103
 F p,p (θ)≠0...(Formula 3C9)
　（式３Ｃ８）をθで微分し、（式３Ｃ７）により以下の（式３Ｃ８１）となる。
Figure JPOXMLDOC01-appb-M000104
 (Formula 3C8) is differentiated by θ, and (Formula 3C7) becomes the following (Formula 3C81).
Figure JPOXMLDOC01-appb-M000104
　定義によりＱｎＱ１＝Ｑｎ＋１となることから、以下の（式３Ｃ８２）となる。
Figure JPOXMLDOC01-appb-M000105
 Since Q n Q 1 =Q n+1 by definition, the following (Formula 3C82) is obtained.
Figure JPOXMLDOC01-appb-M000105
　ここで、以下の（式３Ｃ８３）とすると、（式３Ｃ５）及び（式３Ｃ９）より、以下の（式３Ｃ１０）となる。
　Ｆｐ＋１，１（θ）＝Ｆ’　ｐ，１（θ）
　Ｆｐ＋１，ｎ（θ）＝Ｆ’　ｐ，ｎ（θ）＋Ｆｐ，ｎ－１（θ）Ｆ１，１（θ）
　　　　　　　　　　　　　　　　　　　　　　　（ｎ＝２，・・・，ｐ）
　Ｆｐ＋１，ｐ＋１（θ）＝Ｆｐ，ｐ（θ）Ｆ１，１（θ）　・・・（式３Ｃ８３）
 
　Ｆｐ＋１，ｐ＋１（θ）≠０　・・・（式３Ｃ１０） Here, when the following (Formula 3C83) is used, the following (Formula 3C10) is obtained from (Formula 3C5) and (Formula 3C9).
F p+1,1 (θ)=F' p,1 (θ)
F p+1,n (θ)=F' p,n (θ)+F p,n-1 (θ)F 1,1 (θ)
(n=2,...,p)
F p+1, p+1 (θ) = F p, p (θ) F 1,1 (θ) ... (Formula 3C83)

F p+1, p+1 (θ)≠0 ... (Formula 3C10)
　よって、ｌ＝ｐ＋１の時も（式３Ｃ２）を満足する。また、（式３Ｃ８２）は（式３Ｃ８３）より以下の（式３Ｃ１１）となり、ｌ＝ｐ＋１の時も（式３Ｃ１）を満足する。
Figure JPOXMLDOC01-appb-M000106
 Therefore, (Formula 3C2) is also satisfied when l=p+1. Further, (Formula 3C82) becomes the following (Formula 3C11) from (Formula 3C83), and (Formula 3C1) is also satisfied when l=p+1.
Figure JPOXMLDOC01-appb-M000106
　ここで、（式３Ｃ１１）にθ=θｉを代入すると、以下の（式３Ｃ１２）が得られる。
Figure JPOXMLDOC01-appb-M000107
 Here, by substituting θ=θ i into (Formula 3C11), the following (Formula 3C12) is obtained.
Figure JPOXMLDOC01-appb-M000107
　（式３Ｃ１２）より、ＷＨＱｌＶｉ＝０（ｌ＝１，・・・，ｐ＋１）ならば、Ｄ（ｐ＋１）（θｉ）＝０となる。これにより、ＷＨＱｌＶｉ＝０（ｌ＝１，・・・，ｐ）ならばＤ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ）が成り立っているとすると、ＷＨＱｌＶｉ＝０（ｌ＝１，・・・，ｐ＋１）ならばＤ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ＋１）が成り立つことになる。 From (Formula 3C12), if W H Q l V i =0 (l=1, . . . , p+1), then D (p+1) (θ i )=0. As a result, if W H Q l V i =0 (l=1,..., p), then D (l) (θ i )=0 (l=1,..., p) holds. Then, if W H Q l V i =0 (l=1, . . . , p+1), then D (l) (θ i )=0 (l=1, . . . , p+1) holds true.
　逆に、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ）ならばＷＨＱｌＶｉ＝０（ｌ＝１，・・・，ｐ）が成り立っているとすると、Ｄ（ｌ）（θｉ）＝０（ｌ＝１，・・・，ｐ＋１）ならば、（式３Ｃ１２）より、以下の（式３Ｃ１３）となる。
Figure JPOXMLDOC01-appb-M000108
 Conversely, if D (l) (θ i ) = 0 (l = 1, ..., p), W H Q l V i =0 (l = 1, ..., p) holds. Then, if D (l) (θ i )=0 (l=1, . . . , p+1), the following (Formula 3C13) is obtained from (Formula 3C12).
Figure JPOXMLDOC01-appb-M000108
　（式３Ｃ１０）より、Ｆｐ＋１，ｐ＋１（θｉ）≠０からＷＨＱｐ＋１Ｖ（θｉ）＝０が得られる。これにより、以下の（式３Ｃ１４）が成り立つ。
Figure JPOXMLDOC01-appb-M000109
 From (Formula 3C10), W H Q p+1 V(θ i )=0 is obtained from F p+1,p+1 (θ i )≠0. As a result, the following (Formula 3C14) holds true.
Figure JPOXMLDOC01-appb-M000109
　上記の［３－１］及び［３－２］から、以下の（式３Ｃ１５）が成立することが証明された。
Figure JPOXMLDOC01-appb-M000110
 From [3-1] and [3-2] above, it was proven that the following (Formula 3C15) holds true.
Figure JPOXMLDOC01-appb-M000110
［実施形態３に係るヌル深度制御の最適ウェイト］
　ウェイトベクトルＷとヌルの拘束ベクトルＶｉ（ｉ＝１，・・・，Ｍ＜Ｋ）の内積の大きさ｜ＷＨＶｉ｜を｜εｉ｜２に拘束する最適化問題の最適ウェイトは以下の（式Ｎ１）としてもよいことを以下に証明する。
Figure JPOXMLDOC01-appb-M000111
 [Optimal weight for null depth control according to Embodiment 3]
The size of the inner product of the weight vector W and the null constraint vector Vi (i=1,...,M<K) |W H V i | is constrained to |ε i | 2 The optimal weight for the optimization problem is as follows. It will be proven below that (Equation N1) can be used.
Figure JPOXMLDOC01-appb-M000111
　ここで、Ｖ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄ，Ｖε＝（Ａ＋）Ｈεである。Ａは、Ｍ個の複素列の拘束ベクトルＶ１，Ｖ２，・・・，ＶＭを並べた行列であり、Ａ＋は、Ａのムーア・ペンローズ一般逆行列である。また、ε＝［ε１　ε２　・・・　εＭ］Ｔであり、εｉの偏角はＡ＋Ｖｄの各要素と同じ値とする。αは、上述した（式３３０）を満たす。 Here, V' d = (I-AA + )V d , V ε = (A + ) H ε. A is a matrix in which M complex column constraint vectors V 1 , V 2 , . . . , V M are arranged, and A + is a Moore-Penrose general inverse matrix of A. Further, ε=[ε 1 ε 2 ... ε M ] T , and the argument angle of ε i has the same value as each element of A + V d . α satisfies (Equation 330) described above.
　まず、条件｜ＷＨＶｉ｜２＝｜εｉ｜２に対するラグランジュ乗数をλｉ、||Ｗ||２＝１に対する乗数をμとし、以下の（式Ｎ２）とおく。なお、λｉ、μは、実数である。
Figure JPOXMLDOC01-appb-M000112
 First, let the Lagrange multiplier for the condition |W H V i | 2 = |ε i | 2 be λ i and the multiplier for ||W || Note that λ i and μ are real numbers.
Figure JPOXMLDOC01-appb-M000112
　ラグランジュの未定乗数法により、以下の（式Ｎ３）から以下の（式Ｄ１）、（式Ｄ２）、（式Ｄ３）が得られる。ただし、ｉ＝１，・・・，Ｍである。
Figure JPOXMLDOC01-appb-M000113
Figure JPOXMLDOC01-appb-M000114
Figure JPOXMLDOC01-appb-M000115
 　ＷＨＷ＝１　・・・（式Ｄ３） By Lagrange's undetermined multiplier method, the following (Formula D1), (Formula D2), and (Formula D3) are obtained from the following (Formula N3). However, i=1,...,M.
Figure JPOXMLDOC01-appb-M000113
Figure JPOXMLDOC01-appb-M000114
Figure JPOXMLDOC01-appb-M000115
 W H W=1...(Formula D3)
　ＶＨ ｄＷ及びＶＨ ｉＷは、複素スカラであるので、α、βｉを使ってＶＨ ｄＷ＝μα、λｉＶＨ ｉＷ＝μβｉとおくと、（式Ｄ１）は、以下の（式Ｄ４）となる。
Figure JPOXMLDOC01-appb-M000116
 Since V H d W and V H i W are complex scalars, by using α and β i and setting V H d W=μα, λ i V H i W=μβ i , (Formula D1) becomes, The following (Formula D4) is obtained.
Figure JPOXMLDOC01-appb-M000116
　ここで、（式Ｄ４）は、Ａ＝［Ｖ１　Ｖ２　・・・　ＶM］とｂ＝［β１　β２　・・・　βＭ］Ｔを用いて以下の（式Ｄ５）と書き換えられる。
　Ｗ＝αＶｄ－Ａｂ　・・・（式Ｄ５） Here, (Formula D4) can be rewritten as the following (Formula D5) using A=[V 1 V 2 . . . VM ] and b=[β 1 β 2 . . . β M ] T.
W=αV d −Ab (Formula D5)
　（式Ｄ５）を（式Ｄ２）に代入すると、以下の（式Ｄ５１）が得られる。よって、（式Ｄ５１）は、αＶＨ ｉＶｄ－ＶＨ ｉＡｂ＝εｉとしてもよい。
Figure JPOXMLDOC01-appb-M000117
 By substituting (Formula D5) into (Formula D2), the following (Formula D51) is obtained. Therefore, (Formula D51) may be set as αV H i V d −V H i Ab=ε i .
Figure JPOXMLDOC01-appb-M000117
　これは、Ａ＝［Ｖ１　Ｖ２　・・・　ＶM］とε＝［ε１　ε２　・・・　εＭ］Ｔを使うと、以下の（式Ｄ６）と表せる。よって、以下の（式Ｄ７）が得られる。
　αＡＨＶｄ－ＡＨＡｂ＝ε　・・・（式Ｄ６）
　ＡＨＡｂ＝αＡＨＶｄ－ε　・・・（式Ｄ７） This can be expressed as the following (Formula D6) using A=[V 1 V 2 ... VM ] and ε=[ε 1 ε 2 ... ε M ] T . Therefore, the following (Formula D7) is obtained.
αA H V d −A H Ab=ε (Formula D6)
A H Ab=αA H V d -ε...(Formula D7)
　（式Ｄ７）より、ｂの一般解は、（式Ｄ７１）で与えられる。なお、ｚは任意の複素ベクトル、Ｉは単位行列、（）＋はムーア・ペンローズ一般逆行列である。
Figure JPOXMLDOC01-appb-M000118
 From (Formula D7), the general solution of b is given by (Formula D71). Note that z is an arbitrary complex vector, I is an identity matrix, and () + is a Moore-Penrose general inverse matrix.
Figure JPOXMLDOC01-appb-M000118
　一般に、Ａ＋＝（ＡＨＡ）＋ＡＨであるから、以下の（式Ｄ８）となるが、（式Ｄ８）を（式Ｄ７）に代入すると、以下の（式Ｄ８１）であり、ＡＨ＝ＡＨ（ＡＨ）＋ＡＨ＝ＡＨＡ（ＡＨＡ）＋ＡＨ＝ＡＨＡＡ＋より、ＡＨＡ（ＡＨＡ）＋ε＝εを満足する必要がある。よって、ＡＨ（ＡＨ）＋ε＝εとなる。
Figure JPOXMLDOC01-appb-M000119
Figure JPOXMLDOC01-appb-M000120
 Generally, since A + = ( AH Since H = A H (A H ) + A H = A H A (A H A) + A H = A H AA + , it is necessary to satisfy A H A (A H A) + ε=ε. Therefore, A H (A H ) + ε=ε.
Figure JPOXMLDOC01-appb-M000119
Figure JPOXMLDOC01-appb-M000120
　これは、ε＝ＡＨｘのとき成り立つ。すなわち、εｉ＝ＶＨ ｉｘを満たす複素ベクトルｘが存在する必要がある。Ｖｉが線形従属の場合、等式ε＝ＡＨｘを満たさない場合があり、そのときは解が存在しないことを意味する。 This holds true when ε=A H x. That is, there needs to be a complex vector x that satisfies ε i =V H i x. If V i is linearly dependent, the equation ε=A H x may not be satisfied, which means that there is no solution.
　ところで、（式Ｄ８）を（式Ｄ５）に代入すると、以下の（式Ｄ９）が得られる。
Figure JPOXMLDOC01-appb-M000121
 By the way, by substituting (Formula D8) into (Formula D5), the following (Formula D9) is obtained.
Figure JPOXMLDOC01-appb-M000121
　（式Ｄ９）を（式Ｄ３）に代入すると、ＷＨＷ＝｜α｜２ＶＨ ｄ（Ｉ－ＡＡ＋）Ｖｄ＋εＨＡ＋（Ａ＋）Ｈε＝１より、以下の（式Ｄ９１）となる。
Figure JPOXMLDOC01-appb-M000122
 Substituting (Formula D9) into (Formula D3), W H W=|α| 2 V H d (I-AA + )V d +ε H A + (A + ) H ε=1, the following (Formula D91).
Figure JPOXMLDOC01-appb-M000122
　（式Ｄ９１）を満足するαとして以下の（式Ｄ１０）を選んでもよい。
Figure JPOXMLDOC01-appb-M000123
 The following (Formula D10) may be selected as α that satisfies (Formula D91).
Figure JPOXMLDOC01-appb-M000123
　ところで、ＷＨＶｄに（式Ｄ９）を代入すると、以下の（式Ｄ１１）となる。　
Figure JPOXMLDOC01-appb-M000124
 By the way, when (Formula D9) is substituted for W H V d , the following (Formula D11) is obtained.
Figure JPOXMLDOC01-appb-M000124
　複素数の三角不等式より、以下の（式Ｄ１１ａ）という関係が成り立つ。
Figure JPOXMLDOC01-appb-M000125
 From the trigonometric inequality of complex numbers, the following relationship (formula D11a) holds true.
Figure JPOXMLDOC01-appb-M000125
　等号は、εＨＡ＋ＶｄがαＶＨ ｄ（Ｉ－ＡＡ＋）Ｖｄの正の実数倍のときに成り立つ。（式Ｄ１０）よりαは非負の実数であり、（Ｉ－ＡＡ＋）がエルミート行列であるから、ＶＨ ｄ（Ｉ－ＡＡ＋）Ｖｄも非負の実数である。よって、εＨＡ＋Ｖｄが非負の実数になるように複素数のベクトルεの各要素の偏角を調整すればよい。具体的には、εの各要素の偏角がＡ＋Ｖｄの各要素の偏角と一致するようにする。 The equality sign holds when ε H A + V d is a positive real number multiple of αV H d (I-AA + )V d . From (Formula D10), α is a non-negative real number, and since (I-AA + ) is a Hermitian matrix, V H d (I-AA + )V d is also a non-negative real number. Therefore, the argument angle of each element of the complex vector ε may be adjusted so that ε H A + V d becomes a non-negative real number. Specifically, the argument angle of each element of ε is made to match the argument angle of each element of A + V d .
　ここで、Ｖ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄ、Ｖε＝（Ａ＋）Ｈεとすると、（式Ｄ９）より、以下の（式Ｄ１２）となる。
　Ｗｏｐｔ＝αＶ’ｄ＋Ｖε　・・・（式Ｄ１２） Here, if V' d = (I-AA + )V d and V ε = (A + ) H ε, the following (Formula D12) is obtained from (Formula D9).
W opt = αV' d +V ε ... (Formula D12)
　また、（式Ｄ１０）は、以下の（式Ｄ１３）になる。
Figure JPOXMLDOC01-appb-M000126
 Moreover, (Formula D10) becomes the following (Formula D13).
Figure JPOXMLDOC01-appb-M000126
　以下にウェイト算出手順を整理する。
（ＰＣ１）ＡからＡ＋を求める。
（ＰＣ２）Ａ＋Ｖｄから各要素の偏角を求め、この偏角と｜εｉ｜よりεを作る。
（ＰＣ３）Ｖ’ｄ＝（Ｉ－ＡＡ＋）ＶｄとＶε＝（Ａ＋）Ｈεを計算し、（式Ｄ１３）によりαを求める。
（ＰＣ４）（式Ｄ１２）を使ってαとＶ’ｄとＶεからＷｏｐｔを算出する。 The weight calculation procedure is summarized below.
(PC1) Find A + from A.
(PC2) Find the argument of each element from A + V d , and create ε from this argument and |ε i |.
(PC3) Calculate V' d = (I-AA + ) V d and V ε = (A + ) H ε, and find α using (Formula D13).
(PC4) W opt is calculated from α, V′ d , and V ε using (formula D12).
［実施形態３に係る近似解によるヌル深度制御］
　Ｗ≒γＶｄ及びＷＨＶｉ≒０（ｉ＝１，・・・，Ｍ＜Ｋ）を満足する最適なウェイトベクトルＷｏｐｔは、以下の（式Ｅ１）とすると、以下の（式Ｅ２）で与えられることを以下に証明する。ただし、||Ｗ||２＝１である。
Figure JPOXMLDOC01-appb-M000127
Figure JPOXMLDOC01-appb-M000128
 [Null depth control using approximate solution according to Embodiment 3]
The optimal weight vector W opt that satisfies W≒γV d and W H V i ≒0 (i=1,..., M<K) is given by the following (Formula E1), the following (Formula E2) We prove below that it is given by However, ||W|| 2 =1.
Figure JPOXMLDOC01-appb-M000127
Figure JPOXMLDOC01-appb-M000128
　ここで、Ａ’はＭ個の複素列ベクトルα１Ｖ１，α２Ｖ２，・・・，αＭＶＭを並べた以下の（式Ｅ３）であり、以下の（式Ｅ４）は重み係数である。
Figure JPOXMLDOC01-appb-M000129
Figure JPOXMLDOC01-appb-M000130
 Here, A' is the following (Formula E3) in which M complex column vectors α 1 V 1 , α 2 V 2 , ..., α M V M are arranged, and the following (Formula E4) is the weight It is a coefficient.
Figure JPOXMLDOC01-appb-M000129
Figure JPOXMLDOC01-appb-M000130
　まず、以下の（式Ｅ５）に示す評価関数Ｊ（Ｗ）を最小にすることを考える。
Figure JPOXMLDOC01-appb-M000131
 First, consider minimizing the evaluation function J(W) shown in (Equation E5) below.
Figure JPOXMLDOC01-appb-M000131
　以下の（式Ｅ６）により以下の（式Ｅ７）となるので、以下の（式Ｅ８）が得られる。
Figure JPOXMLDOC01-appb-M000132
Figure JPOXMLDOC01-appb-M000133
Figure JPOXMLDOC01-appb-M000134
 Since the following (Formula E6) yields the following (Formula E7), the following (Formula E8) is obtained.
Figure JPOXMLDOC01-appb-M000132
Figure JPOXMLDOC01-appb-M000133
Figure JPOXMLDOC01-appb-M000134
　（式Ｅ３）を使えば、以下の（式Ｅ９）が得られる。
　（Ｉ＋Ａ’Ａ’Ｈ）Ｗ＝γＶｄ　・・・（式Ｅ９） By using (Formula E3), the following (Formula E9) can be obtained.
(I+ A'A'H )W=γV d ...(Formula E9)
　（Ｉ＋Ａ’Ａ’Ｈ）は正定値行列であり、逆行列が存在するため、最適なウェイトベクトルＷｏｐｔは、以下の（式Ｅ１０）が得られる。
Figure JPOXMLDOC01-appb-M000135
 (I+A'A' H ) is a positive definite matrix, and since an inverse matrix exists, the following (Formula E10) is obtained as the optimal weight vector W opt .
Figure JPOXMLDOC01-appb-M000135
　ここで、Ｖ’’ｄ＝（Ｉ－Ａ’（Ｉ＋Ａ’ＨＡ’）－１Ａ’Ｈ）Ｖｄとおくと、以下の（式Ｅ１１）となる。
Figure JPOXMLDOC01-appb-M000136
 Here, by setting V'' d = (IA'(I+A' H A') -1 A' H )V d , the following (Formula E11) is obtained.
Figure JPOXMLDOC01-appb-M000136
　最後に||Ｗ||２＝｜γ｜２||Ｖ’’ｄ||＝１を満足するγとして、γ＝１／||Ｖ’’ｄ||を選ぶことができる。よって（式Ｅ１１）は、上述した（式Ｅ２）となる。 Finally, as γ that satisfies ||W|| 2 = |γ| 2 ||V'' d ||=1, γ=1/||V'' d || can be selected. Therefore, (Formula E11) becomes the above-mentioned (Formula E2).
［実施形態１のシミュレーションによる効果確認］
　実施形態１に係る線形拘束付きレトロディレクティブ（ＬＣＲ：Linearly　Constrained　Retrodirective）方式の動作及び効果を、レイトレーシング法による計算機シミュレーションを用いて検証した。レイトレーシング法は、公知である電波伝搬解析のためのレイトレーシング法である。なお、レイトレーシング法によるシミュレーションでは、最大反射回数は４回、最大回析回数は２回、反射と回析の組み合わせは各１回とした。 [Effect confirmation by simulation of Embodiment 1]
The operation and effects of the linearly constrained retrodirective (LCR) method according to the first embodiment were verified using computer simulation using a ray tracing method. The ray tracing method is a well-known ray tracing method for radio wave propagation analysis. In the simulation using the ray tracing method, the maximum number of reflections was 4, the maximum number of diffraction was 2, and the combination of reflection and diffraction was 1 each.
　図４４は、実施形態１に係るシミュレーションの配置を示す上面図である。図４５は、実施形態１に係るシミュレーションの配置を示す側面図である。図４６は、実施形態１に係るシミュレーションの主要諸元を示す図である。図４７は、実施形態１に係る異なる方式による電力分布を示す図である。 FIG. 44 is a top view showing the simulation arrangement according to the first embodiment. FIG. 45 is a side view showing the simulation arrangement according to the first embodiment. FIG. 46 is a diagram showing main specifications of simulation according to the first embodiment. FIG. 47 is a diagram showing power distributions according to different methods according to the first embodiment.
　図４４及び図４５に示すように、幅３．０ｍ×奥行４．０ｍ×高さ３．０ｍのコンクリートの部屋の中央に、送電装置１０のアンテナ(Ｔｘ)と受電装置２０のアンテナ(Ｒｘ)を３．０ｍ離して配置する。アンテナ中心の高さは、送受電装置ともに床面から０．８ｍである。このマルチパス環境に疑似人体である物体５０００を置く。物体５０００の位置は、ｘｙ平面の座標で表す。座標原点は、図４４及び図４５に示すようにアンテナ（Ｔｘ）の中心とする。また、物体５０００は、直方体とする。物体５０００の形状によって結果が変わる可能性があるが、他の形状を使った検討は今後の課題とする。シミュレーションの主要諸元は、図４６に表している。図４６の（※）に示す疑似人体の比誘電率及び導電率は、「人体側頭部を除く人体に近接して使用する無線機器等に対する比吸収率の測定方法」（情報通信審議会，諮問第１１８号一部答申「携帯電話端末等に対する比吸収率の測定法」，２０１１年１０月）を参考にしている。シミュレーションは、比較のためマルチパス・レトロディレクティブ方式（ＭＲ方式）と線形拘束付きレトロディレクティブ方式（ＬＣＲ方式）の２方式を行う。２方式は、アンテナ（Ｒｘ）からパイロット信号を送出し、アンテナ（Ｔｘ）側でアレー応答ベクトルＶｄを抽出するまでは共通である。 As shown in FIGS. 44 and 45, the antenna (Tx) of the power transmitting device 10 and the antenna (Rx) of the power receiving device 20 are installed in the center of a concrete room with a width of 3.0 m x depth of 4.0 m x height of 3.0 m. are placed 3.0 m apart. The height of the center of the antenna is 0.8 m from the floor surface for both power transmitting and receiving devices. An object 5000, which is a pseudo human body, is placed in this multipath environment. The position of the object 5000 is expressed by coordinates on the xy plane. The coordinate origin is set at the center of the antenna (Tx) as shown in FIGS. 44 and 45. Furthermore, the object 5000 is a rectangular parallelepiped. The results may change depending on the shape of the object 5000, but studies using other shapes will be left as future work. The main specifications of the simulation are shown in FIG. The relative permittivity and conductivity of the simulated human body shown in (*) in Figure 46 are based on the "Method for measuring specific absorption rate for wireless equipment, etc. used in close proximity to the human body, excluding the temporal region" (Information and Communications Council, Reference is made to Partial Report of Consultation No. 118, ``Measurement method of specific absorption rate for mobile phone terminals, etc.'' (October 2011). The simulation is performed using two methods for comparison: a multipath retrodirective method (MR method) and a retrodirective method with linear constraints (LCR method). The two methods are the same until the pilot signal is sent from the antenna (Rx) and the array response vector V d is extracted on the antenna (Tx) side.
　その後、ＭＲ方式は以下の(式４０１)、ＬＣＲ方式は以下の(式４０２)より求めたウェイトを使ってアンテナ（Ｔｘ）から送信し、アンテナ（Ｒｘ）での受信電力などを求める。このときＬＣＲ方式では物体５０００の中心点から方向を計算し、Ａ＝［Ｖ１］を導出する。アレー応答ベクトルＶｄとＶ１はともに推定誤差なしとする。
Ｗｏｐｔ＝αＶｄ，α＝１／||Ｖｄ||・・・（式４０１）
Ｗｏｐｔ＝αＶ’ｄ，α＝１／||Ｖ’ｄ||，Ｖ’ｄ＝（Ｉ－ＡＡ＋）Ｖｄ・・・（式４０２） Thereafter, transmission is performed from the antenna (Tx) using the weights obtained from the following (Formula 401) for the MR method and from the following (Formula 402) for the LCR method, and the received power at the antenna (Rx) is determined. At this time, in the LCR method, the direction is calculated from the center point of the object 5000, and A=[V 1 ] is derived. It is assumed that both array response vectors V d and V 1 have no estimation error.
W opt = αV d , α=1/||V d ||... (Formula 401)
W opt = αV' d , α=1/||V' d ||, V' d = (I-AA + )V d ... (Formula 402)
　疑似人体である物体５０００を座標（ｘ，ｙ）＝（１．０ｍ，１．５ｍ）に置き、アンテナ（Ｔｘ）から送信した時のｘｙ平面の電力分布（ｚ＝０）を図４７に示す。ただし、電力は、各観測点に０ｄＢｉ無指向性アンテナを配置したときの受信電力である。図４７に示すように、ＭＲ方式は、物体５０００に向けて電波を放射しているが、ＬＣＲ方式は、物体５０００に向かう放射が抑圧されていることが確認できる。 FIG. 47 shows the power distribution (z=0) on the xy plane when an object 5000, which is a pseudo human body, is placed at the coordinates (x, y) = (1.0 m, 1.5 m) and transmitted from the antenna (Tx). . However, the power is the received power when a 0 dBi omnidirectional antenna is placed at each observation point. As shown in FIG. 47, it can be confirmed that in the MR method, radio waves are emitted toward the object 5000, but in the LCR method, the radiation directed toward the object 5000 is suppressed.
　図４４の中の疑似人体である物体５０００のＡ面・Ｂ面における電力分布を図４８及び図４９に示す。図４８は、送電装置１０に近い２表面の疑似人体のＭＲ方式による電力分布を示す図である。図４９は、送電装置１０に近い２表面の疑似人体のＬＣＲ方式による電力分布を示す図である。なお、図４８及び図４９のカラーバーは、図４７と同一である。図４８では、縦軸のｚ＝０付近の電力がＡ面及びＢ面で大きくなっている。これに対し、図４９では、縦軸のｚ＝０付近の電力が抑えられており、これからもＬＣＲ方式の効果が確認できる。 FIGS. 48 and 49 show power distributions on the A side and B side of the object 5000, which is a pseudo human body, in FIG. 44. FIG. 48 is a diagram showing the power distribution of the two surfaces of the pseudo human body near the power transmission device 10 according to the MR method. FIG. 49 is a diagram showing the power distribution of the two surfaces of the pseudo human body near the power transmission device 10 according to the LCR method. Note that the color bars in FIGS. 48 and 49 are the same as in FIG. 47. In FIG. 48, the power near z=0 on the vertical axis is large on the A side and the B side. On the other hand, in FIG. 49, the power near z=0 on the vertical axis is suppressed, and the effect of the LCR method can be confirmed from this.
　本出願の提案方式の効果を検証する。ＬＣＲ方式では人体を反射板として利用しないため、人体への放射が減少するとともにアンテナ（Ｒｘ）での受信電力も減少すると考えられる。そこで、人体放射回避効果の評価指標として「アンテナ（Ｒｘ）での受信電力」と「疑似人体での電力」の比を用いる。ここで「疑似人体での電力」は、図４８及び図４９の電力分布の中央値とする。図５０は、図４８及び図４９の疑似人体の電力の累積相対度数のグラフである。図５０では、累積相対度数が５０％になる電力を「疑似人体での電力」とする。そして、「ＬＣＲ方式の電力比（ｄＢ）」－「ＭＲ方式の電力比（ｄＢ）」を方式利得と呼び、最終的にこれで評価する。 The effectiveness of the proposed method of this application will be verified. Since the LCR method does not use the human body as a reflector, it is thought that the radiation to the human body is reduced and the received power at the antenna (Rx) is also reduced. Therefore, the ratio of "received power at the antenna (Rx)" to "power at the simulated human body" is used as an evaluation index of the human body radiation avoidance effect. Here, the "power in the pseudo human body" is the median value of the power distributions in FIGS. 48 and 49. FIG. 50 is a graph of the cumulative relative power of the pseudo human body shown in FIGS. 48 and 49. FIG. In FIG. 50, the power at which the cumulative relative frequency is 50% is defined as "power in the pseudo human body." Then, "power ratio of LCR method (dB)" - "power ratio of MR method (dB)" is called method gain, and this is finally evaluated.
　図５１は、実施形態１に係るシミュレーションの物体５０００の移動例を示す図である。図５２は、図５１のｘ方向移動（ｙ＝１．５ｍ）時の結果を示すグラフである。図５３は、図５１のｙ方向移動（ｘ＝１．０ｍ）時の結果を示すグラフである。 FIG. 51 is a diagram showing an example of movement of the object 5000 in the simulation according to the first embodiment. FIG. 52 is a graph showing the results when moving in the x direction (y=1.5 m) in FIG. 51. FIG. 53 is a graph showing the results when moving in the y direction (x=1.0 m) in FIG. 51.
　まず、図５１のＭ１のように、物体５０００のｙ座標を１．５ｍに固定し、ｘ座標を０．６ｍ～１．４ｍまで変化させる。このときの結果が図５２である。図５２では、ｘ方向移動時、物体５０００の中心はアンテナ（Ｔｘ）とアンテナ（Ｒｘ）の二等分線上にあり、いずれも物体５０００は反射板になっている。ｘ方向移動時の方式利得は、２．２～６．２ｄＢであり、その分人体への放射が抑えられている。 First, as shown by M1 in FIG. 51, the y-coordinate of the object 5000 is fixed at 1.5 m, and the x-coordinate is changed from 0.6 m to 1.4 m. The result at this time is shown in FIG. In FIG. 52, when moving in the x direction, the center of the object 5000 is on the bisector of the antenna (Tx) and the antenna (Rx), and the object 5000 is a reflecting plate in both cases. The method gain when moving in the x direction is 2.2 to 6.2 dB, and radiation to the human body is suppressed accordingly.
　次に、図５１のＭ２のように、物体５０００のｘ座標を１．０ｍに固定し、ｙ座標を１．１ｍ～１．９ｍまで変化させる。このときの結果が図５３である。図５３では、方式利得が２．０ｄＢになることもあるが、マイナスになることはなかった。図５３において、ｙ方向移動時の方式利得が減少した原因として、ｙ座標が１．２ｍ以下あるいは１．８ｍ以上では、物体５０００が反射板の役目を担っていないためと考えられる。シミュレーション結果より、アンテナ（Ｔｘ）－アンテナ（Ｒｘ）間の１回反射の素波のうち物体５０００で反射した素波数を確認したところ、図５１のＭ１ではすべて６４（Ｔｘのアンテナ素子数と同じ）であったが、図５１のＭ２では図５４の表に示すように、ｙ座標によって異なった。図５４は、ｙ座標と疑似人体で反射する素波数の関係を示す表である。図５４に示すように、ｙ座標が１．２ｍ以下あるいは１．８ｍ以上でゼロとなっており、これは幾何学的位置関係からアンテナ（Ｔｘ）－疑似人体－アンテナ（Ｒｘ）の伝搬経路が存在していないことを意味する。一方、ｙ座標が１．９ｍのときは、図５３に示すように、方式利得が４．０になった。このケースは、アンテナ（Ｔｘ）－疑似人体の後、壁などに多重反射し、アンテナ（Ｒｘ）に到達する伝搬経路が影響しており、ＬＣＲ方式はその放射を抑えているためと考えられる。 Next, as shown by M2 in FIG. 51, the x-coordinate of the object 5000 is fixed at 1.0m, and the y-coordinate is changed from 1.1m to 1.9m. The result at this time is shown in FIG. In FIG. 53, although the method gain sometimes reached 2.0 dB, it never became negative. In FIG. 53, the reason why the method gain decreases when moving in the y direction is considered to be that the object 5000 does not play the role of a reflector when the y coordinate is 1.2 m or less or 1.8 m or more. From the simulation results, we confirmed the number of elementary waves reflected by an object of 5000 among the elementary waves reflected once between the antenna (Tx) and the antenna (Rx), and found that for M1 in Figure 51, all 64 (same as the number of antenna elements for Tx). ), but as shown in the table of FIG. 54, M2 in FIG. 51 differed depending on the y coordinate. FIG. 54 is a table showing the relationship between the y-coordinate and the number of elementary waves reflected by the pseudo-human body. As shown in Figure 54, the y-coordinate becomes zero when it is 1.2 m or less or 1.8 m or more, and this is because the propagation path of the antenna (Tx) - pseudo human body - antenna (Rx) is due to the geometric positional relationship. means it doesn't exist. On the other hand, when the y-coordinate was 1.9 m, the system gain was 4.0, as shown in FIG. This case is considered to be due to the influence of the propagation path from the antenna (Tx) to the pseudo human body, multiple reflections on walls, etc., and reaching the antenna (Rx), and the LCR method suppresses this radiation.
　以上により、屋内有人環境での空間伝送型ワイヤレス電力伝送システムにおいて、人体での反射に着目し、レトロディレクティブ方式の課題について述べ、対策として人体方向にヌルを形成する線形拘束付きレトロディレクティブ方式を提案した。そして、計算機シミュレーションにより動作および効果を検証し、人体に向かって放射される場合、従来方式と比較して人体への放射が抑圧されることを確認した。なお、実施形態２及び実施形態３についても、同様に、計算機シミュレーションにより動作および効果を検証することができる。 Based on the above, we focus on reflections from the human body in spatial transmission type wireless power transmission systems in indoor manned environments, discuss the issues with the retrodirective method, and propose a retrodirective method with linear constraint that forms a null in the direction of the human body as a countermeasure. did. They then verified the operation and effectiveness using computer simulations and confirmed that when radiation is directed toward the human body, the radiation toward the human body is suppressed compared to conventional methods. Note that the operations and effects of Embodiments 2 and 3 can be similarly verified by computer simulation.
　添付の請求項に係る技術を完全かつ明瞭に開示するために特徴的な実施形態に関し記載してきた。しかし、添付の請求項は、上記実施形態に限定されるべきものでなく、本明細書に示した基礎的事項の範囲内で当該技術分野の当業者が創作しうるすべての変形例及び代替可能な構成を具現化するように構成されるべきである。本開示の内容は、当業者であれば本開示に基づき種々の変形および修正を行うことができる。したがって、これらの変形および修正は本開示の範囲に含まれる。例えば、各実施形態において、各機能部、各手段、各ステップなどは論理的に矛盾しないように他の実施形態に追加し、若しくは、他の実施形態の各機能部、各手段、各ステップなどと置き換えることが可能である。また、各実施形態において、複数の各機能部、各手段、各ステップなどを１つに組み合わせたり、或いは分割したりすることが可能である。また、上述した本開示の各実施形態は、それぞれ説明した各実施形態に忠実に実施することに限定されるものではなく、適宜、各特徴を組み合わせたり、一部を省略したりして実施することもできる。 Specific embodiments have been described to provide a complete and clear disclosure of the technology as claimed below. However, the appended claims should not be limited to the above-mentioned embodiments, but include all modifications and substitutions that can be created by a person skilled in the art within the scope of the basic matters presented in this specification. should be configured to embody a specific configuration. Those skilled in the art can make various changes and modifications to the contents of the present disclosure based on the present disclosure. Accordingly, these variations and modifications are included within the scope of this disclosure. For example, in each embodiment, each functional unit, each means, each step, etc. may be added to other embodiments so as not to be logically contradictory, or each functional unit, each means, each step, etc. of other embodiments may be added to other embodiments to avoid logical contradiction. It is possible to replace it with Further, in each embodiment, it is possible to combine or divide a plurality of functional units, means, steps, etc. into one. Further, each embodiment of the present disclosure described above is not limited to being implemented faithfully to each described embodiment, but may be implemented by combining each feature or omitting a part as appropriate. You can also do that.
　１　システム
　１０　送電装置
　１０Ａ　生成部
　１１　アレーアンテナ
　１１Ａ　アンテナ素子
　１２　送信信号発生部
　１３　送受信部
　１４　推定部
　１５　センサ部
　１６　検出部
　１７　ウェイト生成部
　１７Ｄ　記憶部
　１８　乗算部
　１９　前処理部
　２０　受電装置
　２１　アンテナ
　２２　送受信部
　２３　信号発生部
　２４　受電部
　１００Ａ　従来のレトロディレクティブ方式を用いた参考用送電装置
　２００Ｂ　基準点
　２００Ｐ　受信点
　１０００　規定信号
　２０００　送信信号
　２０００Ｗ　電波
　３０００　参考用送電装置を用いた場合の電波の強度分布
　４０００　部屋
　５０００　物体
　Ｖｉ　ヌルに対応したアレー応答ベクトル
　Ｖｄ　受電装置に対応したアレー応答ベクトル
　Ｗｏｐｔ　ウェイトベクトル 1 System 10 Power transmission device 10A Generation section 11 Array antenna 11A Antenna element 12 Transmission signal generation section 13 Transmission/reception section 14 Estimation section 15 Sensor section 16 Detection section 17 Weight generation section 17D Storage section 18 Multiplication section 19 Preprocessing section 20 Power reception device 21 Antenna 22 Transmitting/receiving section 23 Signal generating section 24 Power receiving section 100A Reference power transmission device using the conventional retrodirective method 200B Reference point 200P Receiving point 1000 Standard signal 2000 Transmission signal 2000W Radio wave 3000 Radio wave intensity when using the reference power transmission device Distribution 4000 Room 5000 Object V Array response vector corresponding to i null V d Array response vector corresponding to power receiving device W opt weight vector

Claims (10)

  1. 　受電装置への送信信号の送信と前記受電装置から送信される受信信号の受信をアンテナにより行う送受信部と、
    　前記受信信号と、前記受電装置とは異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成部と、
    を備える、送電装置。     a transmitting/receiving unit that transmits a transmission signal to a power receiving device and receives a reception signal transmitted from the power receiving device using an antenna;
    Based on the received signal and information about an object different from the power receiving device, the directivity of the antenna that transmits the transmitted signal is such that the intensity of the radio wave that transmits the transmitted signal to the object is equal to or less than a predetermined value. a weight generation unit that controls the
    A power transmission device comprising:
  2. 　前記受電装置とは異なる前記物体の方向を検出するためセンサ部を備える、請求項１に記載の送電装置。 The power transmitting device according to claim 1, further comprising a sensor section for detecting a direction of the object different from the direction of the power receiving device.
  3. 　前記ウェイト生成部は、前記送信信号を送信する電波の、前記アンテナに対する前記物体の方向である第１方向への電波強度が所定以下となるように、前記指向性を制御する、請求項２に記載の送電装置。 3. The weight generation unit controls the directivity so that the radio wave intensity of the radio waves transmitting the transmission signal in a first direction, which is the direction of the object with respect to the antenna, is equal to or less than a predetermined value. The power transmission equipment described.
  4. 　前記受信信号は複数の伝搬チャネルの特性を推定するための規定信号を含み、
    　前記ウェイト生成部は、前記規定信号の前記伝搬チャネルの特性と、前記第１方向とに基づいて、前記指向性を制御するための送信ウェイトを生成する、請求項３に記載の送電装置。     The received signal includes a prescribed signal for estimating characteristics of a plurality of propagation channels,
    The power transmission device according to claim 3, wherein the weight generation unit generates a transmission weight for controlling the directivity based on characteristics of the propagation channel of the specified signal and the first direction.
  5. 　前記ウェイト生成部は、前記アンテナに対する前記物体の方向の利得がヌルから所定以内の利得範囲となるように送信ウェイトを生成する、請求項２に記載の送電装置。 The power transmission device according to claim 2, wherein the weight generation unit generates transmission weights such that a gain in the direction of the object with respect to the antenna is within a predetermined gain range from null.
  6. 　前記ウェイト生成部は、
    　前記受電装置から送信される規定信号により生成されたアレー応答ベクトルＶｄと、前記物体の方向のアレー応答ベクトルＶｉとに基づいて、前記アレー応答ベクトルＶｉのアレー応答値の大きさをゼロとし、この条件で前記アレー応答ベクトルＶｄのアレー応答値の大きさを最大化する送信ウェイトを生成する、請求項２に記載の送電装置。     The weight generation unit is
    Based on the array response vector V d generated by the specified signal transmitted from the power receiving device and the array response vector V i in the direction of the object, the magnitude of the array response value of the array response vector V i is set to zero. The power transmission device according to claim 2, which generates a transmission weight that maximizes the magnitude of the array response value of the array response vector Vd under this condition.
  7. 　前記ウェイト生成部は、
    　複数の前記アンテナを構成するアンテナ素子の数をＫとし、複数の前記アンテナ素子のうちヌルを形成する数をＭとし、ウェイトベクトルをＷとし、前記ウェイトベクトルの複素共役転置（エルミート転置）をＷＨとした場合に、アレー応答値の大きさ｜ＷＨＶｄ｜を最大にするウェイトベクトルＷｏｐｔを、条件式を示す下記（式１）により決定し、前記ウェイトベクトルＷｏｐｔを前記送信ウェイトとして生成する、請求項６に記載の送電装置。
    Figure JPOXMLDOC01-appb-M000001
         The weight generation unit is
    The number of antenna elements constituting the plurality of antennas is K, the number of antenna elements forming a null among the plurality of antenna elements is M, the weight vector is W, and the complex conjugate transpose (Hermitian transpose) of the weight vector is W. The weight vector W opt that maximizes the magnitude of the array response value |W H V d | is determined by the conditional expression (Equation 1 ) below, and the weight vector W opt is set to the transmission weight The power transmission device according to claim 6, wherein the power transmission device generates the power as a power transmission device.
    Figure JPOXMLDOC01-appb-M000001
  8. 　前記受電装置が移動可能な装置であり、規定信号に基づく伝搬チャネルの特性が前記受電装置の位置に応じて変化しうる、請求項３に記載の送電装置。 The power transmitting device according to claim 3, wherein the power receiving device is a movable device, and the characteristics of the propagation channel based on the prescribed signal can change depending on the position of the power receiving device.
  9. 　受電装置と、
    　前記受電装置から送信される受信信号の受信と送信信号の送信をアンテナにより行う送受信部、及び、
    　前記受信信号と前記受電装置とは異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成部を有する送電装置と、
    　を備えるワイヤレス電力伝送システム。     A power receiving device;
    a transmitting/receiving unit that receives a received signal transmitted from the power receiving device and transmits a transmitted signal using an antenna;
    Based on the received signal and information about an object different from the power receiving device, the directivity of the antenna that transmits the transmitted signal is adjusted so that the intensity of the radio wave that transmits the transmitted signal to the object is equal to or less than a predetermined value. a power transmission device having a weight generation unit to control;
    A wireless power transmission system comprising:
  10. 　受電装置への送信信号の送信と前記受電装置から送信される受信信号の受信をアンテナにより行う送受信工程と、
    　前記受信信号と前記受電装置と異なる物体に関する情報とに基づいて、前記送信信号を送信する電波の前記物体への強度が所定以下となるように、前記送信信号を送信するアンテナの指向性を制御するウェイト生成工程と、
    を備える、制御方法。     a transmission/reception step of transmitting a transmission signal to a power receiving device and receiving a reception signal transmitted from the power receiving device using an antenna;
    Based on the received signal and information regarding an object different from the power receiving device, the directivity of the antenna that transmits the transmitted signal is controlled so that the intensity of radio waves that transmit the transmitted signal to the object is equal to or less than a predetermined value. A weight generation process,
    A control method comprising:
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WO2018044509A1 (en) * 2016-09-02 2018-03-08 Motorola Solutions, Inc. System and method for determining a microwave beam and a power setting for wireless power transfer within a volume
JP2020005468A (en) * 2018-06-29 2020-01-09 オムロン株式会社 Wireless power supply device and wireless power supply method
JP2020048285A (en) * 2018-09-18 2020-03-26 株式会社東芝 Wireless power transmission device, wireless power transmission system, and wireless power transmission method
JP2020072492A (en) * 2018-10-29 2020-05-07 株式会社東芝 Wireless power supply device, wireless power supply system and wireless power supply method
KR20210033266A (en) * 2019-09-18 2021-03-26 한국전력공사 Method for transmitting wireless power and electronic device thereof

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Publication number Priority date Publication date Assignee Title
WO2018044509A1 (en) * 2016-09-02 2018-03-08 Motorola Solutions, Inc. System and method for determining a microwave beam and a power setting for wireless power transfer within a volume
JP2020005468A (en) * 2018-06-29 2020-01-09 オムロン株式会社 Wireless power supply device and wireless power supply method
JP2020048285A (en) * 2018-09-18 2020-03-26 株式会社東芝 Wireless power transmission device, wireless power transmission system, and wireless power transmission method
JP2020072492A (en) * 2018-10-29 2020-05-07 株式会社東芝 Wireless power supply device, wireless power supply system and wireless power supply method
KR20210033266A (en) * 2019-09-18 2021-03-26 한국전력공사 Method for transmitting wireless power and electronic device thereof

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