KR-102962830-B1 - Variable Dual Wireless Charging Apparatus for a Mobile Robot and Wireless Charging Control System

KR102962830B1KR 102962830 B1KR102962830 B1KR 102962830B1KR-102962830-B1

Abstract

The present invention provides a variable dual wireless charging device and a wireless charging control system for a mobile robot, comprising: a charging drive unit configured in a mobile robot and having a dual receiver unit having a different frequency and phase, which is exposed to the outside only during wireless charging, a dual transmitter unit providing wireless power to the dual receiver unit, a lifting/lowering unit for raising and lowering the dual receiver unit to the dual transmitter unit, and a charging cover to which the dual receiver unit is mounted and the lifting/lowering unit is connected; and a control unit that controls the driving of the charging drive unit, sets the usage frequency and relative phase difference of the dual receiver unit, and adjusts the separation distance between the dual receiver unit and the dual transmitter unit.

Inventors

심재익
안재현
김호군

Assignees

주식회사 세오로보틱스

Dates

Publication Date: 20260511
Application Date: 20260223

Claims (14)

Mobile robot; A charging drive unit comprising: a dual receiver having different frequencies and phases, configured in the above mobile robot and exposed to the outside only during wireless charging; a dual transmitter providing wireless power to the dual receiver; a lifting/lowering unit for raising and lowering the dual receiver toward the dual transmitter; and a charging cover to which the dual receiver is mounted and the lifting/lowering unit is connected; and A control unit that controls the operation of the charging drive unit, sets the usage frequency and relative phase difference of the dual receiver, and adjusts the separation distance between the dual receiver and the dual transmitter; A variable dual wireless charging device for a mobile robot characterized by including
In paragraph 1, The above dual receiver is, A first receiver comprising a first receiving antenna receiving wireless power from the dual transmitting unit and a first wireless power receiving unit outputting wireless power received from the first receiving antenna; and A second receiver comprising a second receiving antenna that receives wireless power from the dual transmitting unit, and a second wireless power receiving unit that outputs wireless power received from the second receiving antenna; A variable dual wireless charging device for a mobile robot characterized by including
In paragraph 2, The above dual transmitter is, A first transmitter that transmits wireless power to the first receiver side; and A second transmitter configured to correspond to the first transmitter and transmitting wireless power to the second receiver; and A charging controller that controls the operation of the first and second transmitting units according to the control of the above control unit; A variable dual wireless charging device for a mobile robot characterized by including
In paragraph 3, The above charging controller is A variable dual wireless charging device for a mobile robot, characterized by receiving information regarding the required power for wireless charging from the control unit and controlling the first and second transmitters to operate simultaneously, or controlling either the first transmitter or the second transmitter to operate.
In paragraph 1, The above control unit is, A variable dual wireless charging device for a mobile robot, characterized by controlling the positions of the first receiver and the second receiver of the dual receiver so that they are located at different distances from each other.
In paragraph 5, The above control unit A variable dual wireless charging device for a mobile robot, characterized by controlling the first receiver and the second receiver to maintain different separation distance values formed between the first and second transmitters of the dual transmitter, respectively.
In paragraph 6, The above control unit is, A variable dual wireless charging device for a mobile robot, characterized by controlling the first receiver to form a low-frequency band and controlling the second receiver to form a high-frequency band.
In paragraph 1, The above control unit is, A variable dual wireless charging device for a mobile robot, characterized by controlling the formation of a predetermined space between the dual receiver and the dual transmitter so that air can flow in and circulate, thereby enabling heat dissipation of the dual receiver.
In paragraph 1, The variable dual wireless charging device of the above-mentioned mobile robot includes, A temperature sensing unit that detects the heat generation temperature of the dual receiver and transmits the detected heat generation temperature information to the control unit; and A distance sensing unit that measures the separation distance value between the dual receiver and the dual transmitter and transmits the measured separation distance value to the control unit; Variable dual wireless charging device for a mobile robot characterized by further including
In paragraph 1, The above mobile robot is, A base frame on which the above-mentioned charging drive unit is configured; comprising The above base frame is, A base plate that supports the operation of the above-mentioned charging drive unit, and A base plate configured to be spaced apart from the lower portion above, and A drive guide hole that guides the above-mentioned charging drive unit to perform stable up-and-down operation. A variable dual wireless charging device for a mobile robot characterized by including
In paragraph 1, The above charging cover is, A receiving portion in which the above-mentioned dual receiver is seated and fixed, and A connecting unit connecting the above lifting/lowering unit and the charging cover, and Support flanges configured on each side of the above-mentioned receiving portion and to which the connecting unit is connected Variable dual wireless charging device for a mobile robot characterized by further including
In a wireless charging control system for a variable dual wireless charging device of a mobile robot, A dual receiver composed of a first and a second receiver having different frequencies and phases, which is exposed to the outside of the mobile robot only during wireless charging; A dual transmitter comprising a first and a second transmitter that respectively provide wireless power to the first and second receivers; A lifting/lowering unit for raising and lowering the dual receiver to the dual transmitter side; A temperature sensing unit that detects the heat generation temperature of the first and second receiving units and transmits the detected heat generation temperature information; A distance sensing unit that measures the separation distance value between the dual receiver and the dual transmitter and transmits the measured separation distance value; A rechargeable battery charged by the output power of the dual receiver; and A control unit that controls the operation of a wireless charging control system, sets the usage frequency and relative phase difference of the dual receiver, and receives information regarding the heat temperature and separation distance value from the temperature sensing unit and the distance sensing unit, respectively, to control the operation of the lifting/lowering unit; A wireless charging control system for a variable dual wireless charging device of a mobile robot, characterized by including
In Paragraph 11, The above control unit is, A wireless charging control system for a variable dual wireless charging device of a mobile robot, characterized by controlling the formation of a predetermined space between the dual receiver and the dual transmitter so that air can flow in and circulate, thereby enabling heat dissipation of the dual receiver.
In Paragraph 11, The above control unit is, A wireless charging control system for a variable dual wireless charging device of a mobile robot, characterized by controlling the positions of the first receiver and the second receiver to be located at different distances from each other, or controlling the separation distance values formed between the first receiver and/or the second receiver and the first and second transmitters to be maintained differently from each other.

Description

Variable Dual Wireless Charging Apparatus for a Mobile Robot and Wireless Charging Control System The present invention relates to a variable dual wireless charging device and a wireless charging control system for a mobile robot, and more specifically, to a variable dual wireless charging device and a wireless charging control system for a mobile robot that enables stable high-power charging by suppressing interference and heat generation even when a dual wireless charging receiver is applied. Generally, mobile robots perform repetitive tasks in factories, logistics centers, hospitals, offices, etc., and unmanned automatic charging is required to ensure operational efficiency. The charging methods of such mobile robots can be broadly classified into wired connector contact-based charging methods, battery replacement or swapping methods, and wireless charging methods such as induction or magnetic resonance. Here, since the wireless charging method does not use electrical contacts, it has the advantage of fundamentally avoiding reliability degradation caused by contact wear or oxidation, and as long as the docking alignment error is within a certain range, it does not require precise physical contact, which can improve the convenience of robot operation. However, wireless charging methods have a problem in that the coupling coefficient varies significantly depending on the alignment and separation distance between the transmitter and receiver, which makes it prone to fluctuations in received power, increased charging time, and increased heat generation. In particular, mobile robots are difficult to maintain a constant vertical gap between the receiver and the transmitter because the vehicle height changes due to floor level differences, wheel wear, changes in load capacity, etc., and slight changes in attitude occur even during docking. Therefore, in robots requiring high-output wireless charging, simply applying a fixed receiver coil leads to a decrease in average efficiency due to field variations and makes heat management difficult. In particular, recent mobile robots tend to be equipped with high-performance batteries and require high-power charging to minimize downtime; however, single-receiver coil and single-channel based wireless charging make it difficult to significantly increase charging power due to constraints on allowable current, heat generation, and coil area, or increasing the size encroaches on the space beneath the robot. Accordingly, a method of applying multiple receivers equipped with dual or multiple coils is being considered to increase the charging power of the mobile robot. However, when multiple receivers are applied to a mobile robot, interference caused by mutual induction between coils occurs when multiple coils operate simultaneously, which may lead to reduced power transfer efficiency or unstable power control of specific channels. Additionally, if each coil operates in the same or adjacent frequency bands, the coupling path becomes complex, causing the frequency resonance point to shift under certain conditions or phenomena where current or magnetic flux is strengthened or canceled out depending on the phase relationship, resulting in problems such as excessive heat generation in some channels or forced interruption of charging. The background technology or prior art mentioned herein is intended only to aid in understanding the technical significance of the present invention and does not refer to technology widely known in the technical field to which this invention belongs prior to the filing of the present invention. FIG. 1 is an exemplary diagram schematically illustrating a mobile robot according to one embodiment of the present invention. FIG. 2 is a perspective view showing a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention, FIG. 3 is a front view showing a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention, FIG. 4 is a cross-sectional view showing a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention, FIG. 5 is a drawing showing a charging drive unit of a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention. FIG. 6 is a schematic diagram showing the dual receiver and transmitter of a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention. FIG. 7 is a diagram showing the frequency change for the first and second receiving coils of the dual receiver of a variable dual wireless charging device of a mobile robot according to an embodiment of the present invention. FIG. 8 is a block diagram showing a variable dual wireless charging control system of a mobile robot according to one embodiment of the present invention. Hereinafter, preferred embodiments of the present invention will be described