Mobility charging robot, charging system including mobility charging robot, mobility charging system, method for controlling mobility charging system, vertiport charging system, and method for controlling vertiport charging system

Abstract

According to an embodiment of the present invention, the mobility charging robot comprises: a movable main body; a multi-joint body coupled to the movable main body and equipped with a gripper; and a transportation device coupled to the movable main body to transport the movable main body. The transportation device includes a vertical transportation unit for moving the movable main body in the vertical direction.

Description

Mobility charging robot, charging system including mobility charging robot, mobility charging system, mobility charging system control method, vertiport charging system and vertiport charging system control method

[0001] The present invention relates to a mobility charging robot, a charging system including a mobility charging robot, a mobility charging system, a mobility charging system control method, a vertiport charging system, and a vertiport charging system control method.

[0002]

[0003] The demand to reduce emissions to combat global warming is growing. New technologies and a revolution in the transportation sector are needed to reduce emissions from ground transportation, which accounts for approximately 16% of carbon dioxide emissions.

[0004] Accordingly, Urban Air Mobility (UAM) is emerging as an alternative to current ground transportation, capable of quickly moving passengers and cargo through the air in urban areas.

[0005] Urban air mobility is expected to help solve urban traffic congestion and environmental problems because it uses electricity, and the related market is rapidly forming.

[0006] A vertical takeoff and landing airfield (Vertiport) may include a runway where urban air mobility vehicles can take off or land, and a hangar where urban air mobility vehicles can be parked or charged.

[0007] One of the key performance indicators for vertiports, a core infrastructure for urban air mobility, is the number of takeoffs and landings per minute. This number can impact passenger traffic, operating costs, and ground traffic congestion, making improving it crucial.

[0008] To improve the number of takeoffs and landings per minute, high-capacity rapid charging is crucial for urban air mobility. For example, a megawatt-class charging system (MCS) could be used to charge urban air mobility vehicles.

[0009] Meanwhile, high-capacity rapid chargers have problems such as the heavy weight of the charging cable and charging plug, making them difficult for people to handle directly, and the inherent safety risks due to high voltage.

[0010] Additionally, various mobility systems utilizing electric energy, including electric vehicles, are being developed, but there is a problem in that it is difficult to charge multiple parked vehicles at high voltage.

[0011]

[0012] The present invention provides a mobility charging system that improves the number of takeoffs and landings per minute of mobility by facilitating the movement of a charging robot between hangars.

[0013] The present invention provides a mobility charging system that can perform high-capacity rapid charging more safely using a charging robot including a multi-joint body.

[0014] The present invention provides a charging system using a mobility charging robot capable of rapidly charging various types of mobility through vertical and horizontal movement.

[0015] The present invention provides a mobility charging system and a control method thereof that can improve the charging effect of mobility through linked control with a parking robot.

[0016] The present invention provides a vertiport charging system capable of charging each aircraft mobility parked on each floor of a vertiport hangar, and a control method thereof.

[0017] The present invention provides a vertiport charging system and a control method thereof that can efficiently implement charging progress and charging management by utilizing the air mobility parking of the vertiport, the remaining charge amount of the air mobility, and the operation information.

[0018] The present invention provides an aviation mobility charging system and a control method thereof that can effectively implement charging-related control through the interlocking control of an aviation mobility transport device and a mobile charging unit within a vertiport and improve the number of takeoffs and landings per minute of an aviation mobility.

[0019]

[0020] A mobility charging robot according to one embodiment of the present invention includes a movable main body, a multi-joint body coupled to the movable main body and equipped with a gripper, and a transport device coupled to the movable main body to transport the movable main body, wherein the transport device includes a vertical transport unit that moves the movable main body in a vertical direction.

[0021] Additionally, in the mobility charging robot, the gripper may be equipped with a charging plug and a position confirmation unit for confirming the position of the mobility charging port.

[0022] Additionally, in the mobility charging robot, the vertical transport unit may include a ball screw, a ball nut engaged with the ball screw, and a vertical transport motor that rotates the ball screw.

[0023] Additionally, in the mobility charging robot, the vertical transport unit further includes a transport body coupled to the ball nut, and the movable main body can be coupled to the transport body.

[0024] Additionally, in the mobility charging robot, the transport device may further include a horizontal transport unit that moves the movable main body horizontally.

[0025] Additionally, in the mobility charging robot, the horizontal transport unit may include a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear.

[0026] According to one embodiment of the present invention, a mobility charging system comprises a mobility charging robot including a gripper, a movable main body equipped with the gripper, and a vertical transport unit for moving the movable main body in a vertical direction in a floor-by-floor direction of a hangar; and a charger dispenser located on each floor of the hangar, wherein the mobility charging robot is moved to each floor of the hangar via the vertical transport unit, and a charging plug of the charger dispenser is coupled to a charging port of a mobility parked in the hangar by the mobility charging robot.

[0027] Additionally, in the mobility charging system, the gripper may be equipped with a position confirmation unit that confirms the position of the charging plug and the charging port of the mobility.

[0028] Additionally, in the mobility charging system, a horizontal transport unit for moving the movable main body horizontally may be further included.

[0029] A mobility charging system according to one embodiment of the present invention includes a mobility charging device that charges mobility, a mobility parking robot that transports the mobility, and a mobility charging management unit that transmits and receives charging-related information between the mobility charging device and the mobility parking robot and manages charging of the mobility.

[0030] In addition, in the mobility charging system, the mobility charging management unit includes a control unit, and the control unit uses the operation information of the mobility and the remaining charge amount information of the mobility, and the operation of the mobility charging device is controlled by the control unit, and the operation of the mobility parking robot can be controlled by the control unit.

[0031] In addition, in the mobility charging system, the mobility charging device includes a charging robot wireless transmission / reception module, the mobility parking robot includes a parking robot wireless transmission / reception module, the mobility charging management unit includes a charging management unit wireless transmission / reception module, and the charging management unit wireless transmission / reception module can transmit and receive parking and charging-related information with the charging robot wireless transmission / reception module and the parking robot wireless transmission / reception module.

[0032] Additionally, in the mobility charging system, the mobility parking robot may include a loading unit that holds and supports the mobility, and a driving unit that transports the mobility.

[0033] In addition, in the mobility charging system, the mobility charging device includes a mobility charging robot and a charger dispenser, the mobility charging robot includes a movable main body, a multi-joint arm coupled to the movable main body and equipped with a gripper, and a transport device for moving the movable main body, the transport device includes a vertical transport module for moving the movable main body in a vertical direction, and power for charging the mobility can be supplied to the charger dispenser.

[0034] Additionally, in the mobility charging system, the gripper may be equipped with a position confirmation unit for confirming the position of the charging plug of the charger dispenser and the charging port of the mobility.

[0035] Additionally, in the mobility charging system, the transport device may further include a horizontal transport unit that moves the movable main body horizontally.

[0036] Additionally, in the mobility charging system, the horizontal transport unit may include a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear.

[0037] In addition, in the mobility charging system, the vertical transport module may be coupled to the pinion gear, and the vertical transport module may include a ball screw, a ball nut meshed with the ball screw, and a vertical transport motor that rotates the ball screw.

[0038] Additionally, in the mobility charging system, the vertical transport module further includes a transport body coupled to a ball nut, and the movable main body can be coupled to the transport body.

[0039] Additionally, in the mobility charging system, the charger dispenser may include a charging plug coupled to a charging port of the mobility by the gripper, and a charging cable coupled to the charging plug.

[0040] A control method of a mobility charging system according to one embodiment of the present invention includes a charging target mobility confirmation step of confirming a mobility to be charged, a charging target mobility transfer step of having a mobility parking robot transfer the mobility to be charged to a charging area of ​​a hangar, a mobility charging robot transfer step of having the mobility charging robot transfer the mobility to the charging area, and a mobility charging step of having the mobility charging robot connect a charging plug of a charger dispenser to a charging port of the mobility.

[0041] In addition, in the control method of the mobility charging system, in the step of transferring the mobility to be charged, the mobility parking robot transmits information on the transfer time and transfer distance to the mobility charging management unit, and the mobility charging management unit can transmit charging-related information using the information to the mobility charging robot in real time.

[0042] A vertiport charging system according to one embodiment of the present invention includes a mobile charging unit that includes a charging unit wireless communication module and charges an air mobility parked in a vertiport, a charger dispenser that supplies power for charging the air mobility and is located in a hangar of the vertiport, an air mobility transport unit that includes a transport unit wireless communication module and transports the air mobility within the vertiport, and a vertiport charging management unit that includes a charging management unit wireless communication module and controls charging of the air mobility through control of the mobile charging unit and the air mobility transport unit.

[0043] In addition, in the vertiport charging system, the vertiport charging management unit may include a vertiport operation management unit that checks and manages information on air mobility landing at or taking off from the vertiport according to an operation schedule for charging management of the air mobility, a vertiport charging management unit that checks the remaining charge amount for air mobility parked in the hangar of the vertiport or calculates an expected charging time, and a vertiport hangar management unit that assigns a parking area of ​​the hangar to the air mobility.

[0044] Additionally, in the vertiport charging system, the air mobility transport unit may further include a loading unit that supports and holds the air mobility, and a driving unit that transports the air mobility to a hangar and a takeoff field.

[0045] In addition, in the vertiport charging system, the charging management unit wireless communication module is connected to the charging unit wireless communication module and the transport unit wireless communication module for transmitting and receiving parking and charging-related information of the air mobility, and at least one of movement information, charging-related information, and operation information of the air mobility can be used in the vertiport charging management unit.

[0046] In addition, in the vertiport charging system, the movable charging unit may include a movable main body, a multi-joint body coupled to the movable main body and equipped with a gripper, and a transport device that moves the movable main body, and the transport device may include a vertical transport device that moves the movable main body in a vertical direction.

[0047] Additionally, in the vertiport charging system, the gripper may be equipped with a position confirmation unit for confirming the position of the charging plug of the charger dispenser and the charging port of the air mobility.

[0048] Additionally, in the vertiport charging system, the transport device may further include a horizontal transport unit that moves the movable main body horizontally.

[0049] Additionally, in the vertiport charging system, the horizontal transport unit may include a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear.

[0050] In addition, in the vertiport charging system, the vertical transport unit may be coupled to the pinion gear, and the vertical transport unit may include a ball screw, a ball nut meshed with the ball screw, and a vertical transport motor that rotates the ball screw.

[0051] Additionally, in the vertiport charging system, the vertical transport unit further includes a transport body coupled to a ball nut, and the movable main body can be coupled to the transport body.

[0052] A control method of a vertiport charging system according to an embodiment of the present invention may include a vertiport charging target aircraft mobility confirmation step in which a vertiport charging management unit confirms an aircraft mobility to be charged, a charging target aircraft mobility hangar transfer step in which the vertiport charging management unit transfers the aircraft mobility to be charged to a charging area of ​​a hangar through an aircraft mobility transfer unit, a mobile charging unit hangar transfer step in which the vertiport charging management unit transfers a mobile charging unit to the charging area, and a hangar aircraft mobility charging step in which the mobile charging unit connects a charging plug of a charger dispenser to a charging port of the aircraft mobility parked in the charging area of ​​the hangar of the vertiport.

[0053] In addition, in the control method of the vertiport charging system, the charging target aircraft mobility hangar transfer step transmits information on the transfer time and transfer distance of the aircraft mobility transfer unit to the vertiport charging management unit, and the vertiport charging management unit can transmit charging-related information using the information to the mobile charging unit in real time.

[0054] In addition, in the control method of the above-mentioned vertiport charging system, the mobile charging unit hangar transfer step can cause the vertiport charging management unit to move the mobile charging unit to a charging area of ​​an air mobility that needs to be charged first, by considering at least one of the location information, expected arrival information, and flight schedule of the air mobility transfer unit.

[0055] A vertiport charging system according to one embodiment of the present invention includes a charging unit wireless communication module, a mobile charging unit for charging an air mobility parked in a vertiport, a charger dispenser that supplies power for charging the air mobility and is located in a hangar of the vertiport, and a charging management unit wireless communication module, and a vertiport charging management unit for controlling charging of the air mobility through control of the mobile charging unit.

[0056] In addition, in the vertiport charging system, the vertiport charging management unit may include a vertiport operation management unit that checks and manages information on air mobility landing at or taking off from the vertiport according to an operation schedule for charging management of the air mobility, a vertiport charging management unit that checks the remaining charge amount for air mobility parked in the hangar of the vertiport or calculates an expected charging time, and a vertiport hangar management unit that assigns a parking area of ​​the hangar to the air mobility.

[0057] In addition, in the vertiport charging system, the mobile charging unit includes a mobile main body, a multi-joint body coupled to the mobile main body and equipped with a gripper, and a transport device for moving the mobile main body, the transport device includes a vertical transport unit for vertically moving the mobile main body, and the gripper may be equipped with a position confirmation unit for confirming the position of the charging plug of the charger dispenser and the charging port of the air mobility.

[0058] In addition, in the vertiport charging system, the transport device may further include a horizontal transport unit that moves the movable main body horizontally, and the horizontal transport unit may include a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear.

[0059]

[0060] According to the present invention, high-capacity rapid charging, charging control, and charging management of air mobility parked in a vertiport can be efficiently implemented.

[0061] In detail, the charging robot can quickly move between each hangar of the vertiport through the vertical transport section, enabling faster charging of parked mobility vehicles and improving the number of takeoffs and landings per minute.

[0062] In addition, by implementing the multi-joint structure and vertical and horizontal movement of the charging robot, a simpler, safer, and more reliable vertiport air mobility charging system can be provided.

[0063] Additionally, high-speed charging of various mobility devices is possible using charging robots capable of vertical and horizontal movement.

[0064] According to the present invention, faster, safer, and more efficient charging can be performed through the linked control of a parking robot and a charging robot.

[0065] According to the present invention, efficient and accurate charging of air mobility can be performed within a vertiport.

[0066] According to the present invention, the flight schedule of an air mobility taking off or landing at a vertiport is matched with the charging schedule, thereby enabling effective charging of the air mobility, and integrated management of charging, transport, and parking of the air mobility at the vertiport is enabled.

[0067] According to the present invention, rapid charging is possible through high-capacity rapid charging, charging control, and charging management for the air mobility of the vertiport, thereby improving the number of takeoffs and landings per minute of the vertiport.

[0068] According to the present invention, carbon reduction is possible by implementing efficient transport, charging, and operation schedules of air mobility located at a vertiport, and can contribute to ESG management.

[0069]

[0070] Figure 1 is a schematic diagram illustrating the technical concept of a mobility charging system according to the present invention.

[0071] Figure 2 is a schematic diagram illustrating a mobility charging system according to one embodiment of the present invention.

[0072] FIG. 3 is a schematic diagram of a transport device according to a first embodiment of the mobility charging robot illustrated in FIG. 2.

[0073] FIG. 4 is a schematic diagram of a transport device according to a second embodiment of the mobility charging robot illustrated in FIG. 2.

[0074] Figure 5 is a schematic first usage state diagram of the mobility charging system illustrated in Figure 2.

[0075] Figure 6 is a schematic diagram of the second use state of the mobility charging system illustrated in Figure 2.

[0076] Figure 7 is a schematic diagram illustrating the technical concept of a mobility charging system according to one embodiment of the present invention.

[0077] Fig. 8 is a schematic diagram illustrating the technical concept of a charging device in the mobility charging system illustrated in Fig. 7.

[0078] FIG. 9 is a schematic diagram of a mobility charging robot, a charger dispenser, and a mobility parking robot in the mobility charging system illustrated in FIG. 7.

[0079] FIG. 10 is a schematic diagram of a transport device according to a first embodiment of the mobility charging robot illustrated in FIG. 9.

[0080] FIG. 11 is a schematic diagram of a transport device according to a second embodiment of the mobility charging robot illustrated in FIG. 9.

[0081] Figure 12 is a schematic first usage state diagram of a mobility charging system according to one embodiment of the present invention.

[0082] Figure 13 is a schematic diagram of a second use state of a mobility charging system according to an embodiment of the present invention.

[0083] Figure 14 is a flowchart schematically illustrating a control method of a mobility charging system according to one embodiment of the present invention.

[0084] Fig. 15 is a schematic diagram illustrating the technical concept of a vertiport charging system according to one embodiment of the present invention.

[0085] FIG. 16 is a schematic diagram illustrating a portion of a vertiport charging system according to one embodiment of the present invention.

[0086] FIG. 17 is a schematic diagram illustrating a portion of a vertiport charging system according to another embodiment of the present invention.

[0087] Fig. 18 is a schematic diagram illustrating the technical concept of a movable charging unit in a vertiport charging system according to one embodiment of the present invention.

[0088] Fig. 19 is a schematic diagram of a transport device according to the first embodiment in the mobile charging unit illustrated in Fig. 18.

[0089] FIG. 20 is a schematic diagram of a transport device according to a second embodiment in the mobile charging unit illustrated in FIG. 18.

[0090] Figure 21 is a schematic first usage state diagram of a vertiport charging system according to one embodiment of the present invention.

[0091] Figure 22 is a schematic diagram of a second use state of a vertiport charging system according to one embodiment of the present invention.

[0092] Figure 23 is a flowchart schematically illustrating a control method of a vertiport charging system according to one embodiment of the present invention.

[0093]

[0094] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

[0095] And in order to clearly explain the present invention in the drawings, parts unrelated to the explanation are omitted, and similar parts are given similar drawing reference numerals throughout the specification.

[0096] Throughout the specification, whenever a part is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0097] It should be understood that the present invention is not intended to be limited to a particular embodiment, but rather encompasses various modifications, equivalents, and / or alternatives of the embodiments of the present invention.

[0098] The expression "configured to" used in the present invention can be used interchangeably with, for example, "suitable for", "having the capacity to", "designed to", "adapted to", "made to", or "capable of" depending on the context. The term "configured to" may not necessarily mean only something "specifically designed to" in terms of hardware. Instead, in some contexts, the expression "a device configured to" may mean that the device is "capable of" together with other devices or components.

[0099] The prior art documents described in the present invention are incorporated herein by reference in their entirety, and it will be understood that the contents of the prior art documents can be applied to the briefly described portions of the present invention by a person having general knowledge in the art.

[0100]

[0101] Figure 1 is a schematic diagram illustrating the technical concept of a mobility charging system according to the present invention.

[0102] As shown, the mobility charging system (1000) includes a charging robot (1100) and a charger dispenser (1200).

[0103] More specifically, the charging robot (1100) includes a movable main body (1110), a multi-joint body (1120), a gripper (1130), and a transport device (1140, 1150).

[0104] The charger dispenser (1200) is intended to supply power to the battery part of the mobility and includes a charging plug (1210).

[0105] The transport device (1140, 1150) is for transporting the mobile main body (1110) of the mobility charging robot.

[0106] The transport device (1140, 1150) is mounted on the movable main body (1110) and can move the movable main body (1110).

[0107] The transport device (1140, 1150) is installed on the outside of the movable main body (1110) and can transport the movable main body (1110).

[0108] The transport device (1140, 1150) may include a vertical transport unit (1140) and a horizontal transport unit (1150).

[0109] The vertical transport unit (1140) is designed to transport the mobility charging robot vertically. Accordingly, the vertical transport unit (1140) can transport the mobility charging robot between each floor of the storage facility of the vertiport.

[0110] The vertical transport unit (1140) can be implemented in various ways, such as a ball screw or time belt method.

[0111] The horizontal transport unit (1150) is designed to transport the mobility charging robot horizontally. Accordingly, the horizontal transport unit (1150) can charge multiple mobility devices while moving the mobility charging robot horizontally on the corresponding floor of the storage facility.

[0112] Next, the multi-joint body (1120) includes a body drive unit (1121).

[0113] The body drive unit (1121) is for moving each joint of the multi-joint body (1120).

[0114] The gripper (1130) is for connecting the charging plug (1210) of the charger dispenser (1200) to the charging port of the mobility.

[0115] The gripper (1130) is mounted on the multi-joint body (1120).

[0116] The gripper (1130) can be mounted on an end of the multi-joint body (1120).

[0117] The gripper (1130) may include a positioning unit (1131).

[0118] The location confirmation unit (1131) is for confirming the location of the charging plug (1210) of the charger dispenser (1200) and the charging port of the mobility.

[0119] The location confirmation unit (1131) may be composed of a camera module or a proximity sensor.

[0120]

[0121] Figure 2 is a schematic diagram illustrating a mobility charging system according to a first embodiment of the present invention.

[0122] As shown, the mobility charging system (1000) includes a charging robot (1100) and a charger dispenser (1200).

[0123] The charging robot (1100) is for connecting the charging plug (1210 in FIG. 5) of the charger dispenser (1200) to the charging port of the mobility.

[0124] For this purpose, the charging robot (1100) includes a mobile main body (1110), a multi-joint body (1120), a gripper (1130), and a transport device (1140 of FIG. 3 or 1140' of FIG. 4).

[0125] A multi-joint body (1120) is connected to the movable main body (1110).

[0126] A body drive unit (1121 in FIG. 1) for driving a multi-joint body (1120) can be combined with the movable main body (1110).

[0127] That is, the body drive unit is for selectively moving a multi-joint body (1120) composed of a plurality of multi-joint members.

[0128] For this purpose, a servo motor, a stepper motor, etc. may be placed between each of the multi-joint members. Through this, the multi-joint body (1120) can implement various movements at various angles in a three-dimensional space, and the charging plug (1210) of the charger dispenser (1200) can be easily connected to the charging port of the mobility.

[0129] The movable main body (1110) is connected to a transport device, and the movable main body (1110) can be transported horizontally or vertically by the transport device.

[0130] Additionally, the movable main body (1110) can be guided along the vertical path (T1) and horizontal path (T2) of the parking building of the mobility.

[0131] Mobility parking structures can be implemented as vertiports.

[0132] The transport device may include a vertical transport unit (1140, see FIG. 1) and a horizontal transport unit (1150, see FIG. 1).

[0133] The vertical transport unit can move the movable main body (1110) along a vertical path (T1), and the horizontal transport unit can move the movable main body (1110) along a horizontal path (T2).

[0134] In this embodiment, when the horizontal transport unit moves the movable main body (1110) along the horizontal path (T2), the movable charging unit (1100) can control the position of the multi-joint body (1120) so that the horizontal movement of the movable charging unit (1100) is not interfered with by the charger dispenser (1200).

[0135] However, as another embodiment, the charger dispenser (1200) may be positioned so as not to interfere with the horizontal movement of the movable charging unit (1100) when the movable main body (1110) moves along the horizontal path (T2).

[0136] A gripper (1130) can be coupled to an end of the multi-joint body (1120).

[0137] The gripper (1130) may be equipped with a camera module or proximity sensor to check the position of the charger plug of the charger dispenser (1200) and the charging port of the mobility.

[0138] The gripper (1130) may be equipped with a gripper operating unit (not shown).

[0139] The gripper operating part is for operating the movement of the gripper (1130), and a servo motor, stepper motor, DC motor, etc. can be applied, and the gripper (1130) can hold the charging plug (1210) by driving the gripper operating part.

[0140]

[0141] FIG. 3 is a schematic diagram of a transport device according to a first embodiment of the mobility charging robot illustrated in FIG. 2.

[0142] More specifically, the transport device is a vertical transport unit (1140) for moving the movable main body (1110 in FIG. 2) in the vertical direction (V).

[0143] That is, the vertical transport unit (1140) is for transporting the movable main body to each floor of the hangar of the vertiport.

[0144] For this purpose, the vertical transport unit (1140) may include a ball screw (1141), a ball nut (1142), and a vertical transport motor (1143).

[0145] The ball screw (1141) is arranged to extend in the vertical direction (V) of the vertiport layer by layer.

[0146] A ball nut (1142) is combined with a ball screw (1141).

[0147] The ball screw (1141) is coupled to the vertical transport motor (1143).

[0148] The ball screw (1141) rotates by the operation of the vertical transport motor (1143), and the ball nut (1142) is raised and lowered by the rotation of the ball screw (1141).

[0149] A movable main body (1110 in Fig. 2) is coupled to a ball nut (1142), so that the movable main body can be raised and lowered together with the ball nut (1142).

[0150] Additionally, the vertical transport unit (1140) may further include a transport body (1144) coupled to a ball nut (1142).

[0151] A movable main body (1110) is coupled to a transport body (1144), and the transport body (1144) and the movable main body (1110) can be elevated by the operation of a vertical transport motor (1143).

[0152]

[0153] Figure 4 is a schematic diagram of a transport device according to a second embodiment of the mobility charging robot illustrated in Figure 2.

[0154] More specifically, the transport device (1140') includes a horizontal transport unit in addition to the vertical transport unit (1140) illustrated in FIG. 3.

[0155] As shown, the transport device (1140) includes a ball screw (1141'), a ball nut (1142'), a vertical transport motor (1143'), a transport body (1144'), a rack gear (1145'), a pinion gear (1146'), and a horizontal transport motor (1151, see FIG. 1).

[0156] In addition, the ball screw (1141'), ball nut (1142'), vertical transport motor (1143'), and transport body (1144') are the same as the ball screw (1141'), ball nut (1142'), vertical transport motor (1143'), and transport body (1144') illustrated in FIG. 3, and a detailed description thereof is omitted as described above.

[0157] The vertical transport motor (1143') is coupled to the rack gear (1145').

[0158] The rack gear (1145') is engaged with the pinion gear (1146'), and the pinion gear (1146') is coupled to the horizontal transport motor (see Fig. 1, 1151).

[0159] The transport device (1140') according to the second embodiment is configured as described above, and by driving the horizontal transport motor (1151), the pinion gear (1146') rotates, and the rack gear (1145') can move linearly, i.e., in the horizontal direction (H) in conjunction with the pinion gear (1146'). In addition, the vertical transport motor (1143'), the ball screw (1141'), the ball nut (1142'), and the transport body (1144') move horizontally in conjunction with the movement of the rack gear (1145').

[0160] Accordingly, the transport device (1140') can transport the transport body (1144') in a horizontal direction (H) or a vertical direction (V).

[0161] That is, the movable main body (2110') is connected to the transfer body (1144') and can be transferred vertically (V) to each floor of the hangar of the vertiport, and can be transferred horizontally (H) on the corresponding floor.

[0162]

[0163] Figure 5 is a schematic first usage state diagram of the mobility charging system illustrated in Figure 2.

[0164] As shown, the mobility (100) is charged by the mobility charging system (1000) while parked in the hangar.

[0165] More specifically, the mobility charging robot (1100) connects the charging plug (1210) of the charger dispenser (1200) to the mobility charging port (not shown).

[0166] To this end, the mobile main body (1110) of the mobility charging robot (1100) can be vertically transported toward the corresponding floor of the hangar where the mobility (100) is parked, and can be transported horizontally on the corresponding floor.

[0167] At this time, the mobile main body (1110) can be moved to an optimal position to connect the charging plug of the charger dispenser (1200) to the charging port of the mobility on the corresponding floor of the hangar.

[0168] The position confirmation unit (2131 in FIG. 8) mounted on the gripper (1130) of the mobility charging robot (1100) can confirm the position of the charging plug (1210) of the charger dispenser (1200) and the charging port of the mobility (100).

[0169] The gripper (1130) withdraws the charging plug (1210) from the charger dispenser (1200) and connects the charging plug (1210) to the charging port of the mobility (100) with the charging cable (1220) connected to the charging plug (1210).

[0170] As implemented as described above, the mobility charging robot can safely and quickly charge mobility.

[0171]

[0172] Figure 6 is a schematic diagram of the second use state of the mobility charging system illustrated in Figure 2.

[0173] More specifically, the mobility charging system (1000) can be applied to a vertical takeoff and landing airfield (Vertiport), which is a takeoff and landing field for urban air mobility.

[0174] A vertical take-off and landing airfield (Vertiport) may include a take-off field (T), a landing field (L), and a hangar (P).

[0175] Vertical take-off and landing airfields can be constructed on the rooftops of buildings.

[0176] Additionally, the hangar of the vertical take-off and landing airfield is made of two floors, and the take-off and landing pads can be optionally located on the roof of the building or the roof of the hangar.

[0177] Mobility can be moved to the landing pad (L), hangar (P) and takeoff pad (T) by the mobility transport device and can be parked in the hangar (P).

[0178] The mobility charging robot (1100) can charge the parked mobility (100) by moving vertically in the direction of each floor of the hangar (P) through the vertical transport unit.

[0179] At this time, a charger dispenser (1200) can be installed in the hangar on each floor.

[0180] The mobility charging robot (1100) can be moved to a charging area for charging the mobility (100) while being guided along the vertical path (T1) and horizontal path (T2) of the vertiport.

[0181] In this embodiment, the mobility charging robot (1100) is described as an example applied to a vertiport.

[0182] Meanwhile, as another embodiment, the mobility charging robot (1100) can be applied to a parking tower for automobiles and can also perform automobile charging.

[0183] In addition, the mobility charging robot (1100) can be applied as a charging device for various mobility devices.

[0184]

[0185] Figure 7 is a schematic diagram illustrating the technical concept of a mobility charging system according to one embodiment of the present invention.

[0186] As shown, the mobility charging system (2000) may include a mobility charging robot (2100), a charger dispenser (2200), a mobility charging management unit (2300), and a mobility parking robot (2400).

[0187] More specifically, the mobility charging device may include a mobility charging robot (2100) and a charger dispenser (2200).

[0188] The charger dispenser (2200) is intended to supply power for charging mobility.

[0189] The mobility charging robot (2100) may include a charging robot wireless communication module (2160) and a sensing unit (2170).

[0190] The charging robot wireless communication module (2160) is for transmitting and receiving location information and charging-related information with the mobility parking robot (2400) and the mobility charging management unit (2300).

[0191] The sensing unit (2170) is used to determine the location of the mobility and may be composed of a camera module or a proximity sensor.

[0192] The mobility parking robot (2400) is for transporting mobility.

[0193] A mobility parking robot (2400) may include a loading unit (2410), a driving unit (2420), and a parking robot wireless communication module (2430).

[0194] The mounting part (2410) is for mounting and supporting the mobility.

[0195] The driving unit (2420) is for moving the mobility parking robot (2400) to a hangar, takeoff area, landing area, etc.

[0196] The parking robot wireless communication module (2430) is for transmitting and receiving location information, parking and charging-related information with the mobility charging robot (2100) and the mobility charging management unit (2300).

[0197] The mobility charging management unit (2300) can perform charging-related control for the mobility charging robot (2100) and the charger dispenser (2200).

[0198] The mobility charging management unit (2300) can control the operation of the mobility parking robot (2400).

[0199] To this end, the mobility charging management unit (2300) may include a control unit (2310) and a charging management unit wireless communication module (2320).

[0200] The control unit (2310) can control the operation of the mobility charging device (2100, 2200) and the operation of the mobility parking robot (2400) using information such as operation information and the remaining charge amount of the mobility.

[0201] The charging management unit wireless communication module (2320) can transmit and receive charging-related information to and from the mobility charging robot (2100) and the mobility parking robot (2400).

[0202] The control unit (2310) can selectively control the output power for multiple charger dispensers (2200) for ultra-fast charging.

[0203] For example, if it is composed of a 3MW power conversion device and 3 sets of dispensers, instead of setting each dispenser to 1MW charging, the control unit (2310) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0204] Accordingly, the mobility charging management unit (2300) can efficiently charge mobility.

[0205] According to an embodiment of the present invention, a mobility charging system according to an embodiment of the present invention is configured as described above, so that a mobility charging robot (2100) can transmit and receive charging-related information with a mobility parking robot (2400), and perform charging of mobility through control of a mobility charging management unit (2300) while confirming the location of mobility.

[0206]

[0207] Fig. 8 is a schematic diagram illustrating the technical concept of a charging device in the mobility charging system illustrated in Fig. 7.

[0208] As shown, the mobility charging device includes a mobility charging robot (2100) and a charger dispenser (2200).

[0209] More specifically, the mobility charging robot (2100) includes a mobile main body (2110), a multi-joint body (2120), a gripper (2130), a transport device (2140, 2150), a charging robot wireless communication module (2160), and a sensing unit (2170).

[0210] The charger dispenser (2200) is intended to supply power to the mobility and includes a charging plug (2210).

[0211] The transport device (2140, 2150) of the mobility charging robot (2100) is for transporting the mobile main body (2110).

[0212] The transport device (2140, 2150) is mounted on the movable main body (2110) and can move the movable main body (2110).

[0213] The transport device (2140, 2150) is installed on the outside of the movable main body (2110) and can transport the movable main body (2110).

[0214] The transport device (2140, 2150) may include a vertical transport unit (2140) and a horizontal transport unit (2150).

[0215] The vertical transport unit (2140) is designed to transport the mobility charging robot vertically. Accordingly, the vertical transport unit (2140) can transport the mobility charging robot between each floor of the storage facility of the vertiport.

[0216] The vertical transport unit (2140) can be implemented in various ways, such as a ball screw or time belt method.

[0217] The horizontal transport unit (2150) is designed to transport the mobility charging robot horizontally. Accordingly, the horizontal transport unit (2150) can charge multiple mobility devices while moving the mobility charging robot horizontally on the corresponding floor of the storage facility.

[0218] The horizontal transport unit (2150) includes a horizontal transport motor (2151).

[0219] Next, the multi-joint body (2120) includes a body drive unit (2121).

[0220] The body drive unit (2121) is for moving each joint of the multi-joint body (2120).

[0221] That is, the body driving unit is for selectively moving a multi-joint body (2120) composed of a plurality of multi-joint members. A servo motor, a stepper motor, etc. may be arranged between each multi-joint member. Accordingly, the multi-joint body (2120) can implement various movements at various angles in a three-dimensional space, and the charging plug (2210) of the charger dispenser (2200) can be easily connected to the charging port of the mobility.

[0222] The gripper (2130) is for connecting the charging plug (2210) of the charger dispenser (2200) to the charging port of the mobility.

[0223] The gripper (2130) is mounted on the multi-joint body (2120).

[0224] A gripper (2130) can be mounted on the end of the multi-joint body (2120).

[0225] The gripper (2130) can be rotatably coupled to the multi-joint body (2120).

[0226] The gripper (2130) may include a positioning unit (2131).

[0227] The location confirmation unit (2131) is for confirming the location of the charging plug (2210) of the charger dispenser (2200) and the charging port of the mobility.

[0228] The location confirmation unit (2131) may be composed of a camera module or a proximity sensor.

[0229] As described above, the charging robot wireless communication module (2160) is for transmitting and receiving location information and charging-related information with the mobility parking robot (2400) and the mobility charging management unit (2300).

[0230] The sensing unit (2170) is used to determine the location of the mobility and may be composed of a camera module or a proximity sensor.

[0231] The gripper (2130) may be equipped with a gripper operating unit (not shown).

[0232] The gripper operating part is for operating the operation of the gripper (2130), and a servo motor, stepper motor, DC motor, etc. can be applied, and thus, the gripper (2130) can hold the charging plug (2210).

[0233]

[0234] FIG. 9 is a schematic diagram of a mobility charging robot, a charger dispenser, and a mobility parking robot in the mobility charging system illustrated in FIG. 7.

[0235] As shown, the mobility charging system includes a mobility charging device (2100, 2200) and a mobility parking robot (2400).

[0236] The mobility charging device may include a mobility charging robot (2100) and a charger dispenser (2200).

[0237] The mobility charging robot (2100) may include a multi-joint body (2120) and a gripper (2130) to connect the charging plug (2210, see FIG. 8) of the charger dispenser (2200) to the charging port of the mobility (100).

[0238] As described above, the mobility parking robot (2400) can be moved to be adjacent to the mobility charging device (2100, 2200) while the mobility (100) is mounted thereon.

[0239] That is, the mobility parking robot (2400) moves the mobility (100) mounted on the vehicle to a location where it can be charged by the mobility charging device (2100, 2200).

[0240] At this time, a mobility parking robot (2400) equipped with mobility can be positioned within the charging range of the multi-joint body (2120) and gripper (2130) of the mobility charging robot (2100).

[0241] For example, a mobility parking robot (2400) can position a mobility (100) in a preset parking area within a hangar. A charger dispenser (2200) can be installed in the preset parking area, and the available charging distance can refer to a distance at which a charging plug (2210) can be connected to the mobility (100) by a multi-joint body (2120) and a gripper (2130).

[0242] The mobility charging robot (2100) can be moved to a charging area for charging the mobility (100) while being guided along the vertical path (T1) and horizontal path (T2) of the vertiport.

[0243] In this embodiment, when the horizontal transport unit moves the movable main body (2110) along the horizontal path (T2), the movable charging unit (2100) can control the position of the multi-joint body (2120) so that the horizontal movement of the movable charging unit (2100) is not interfered with by the charger dispenser (2200).

[0244] However, as another embodiment, the charger dispenser (2200) may be positioned so as not to interfere with the horizontal movement of the movable charging unit (2100) when the movable main body (2110) moves along the horizontal path (T2).

[0245]

[0246] FIG. 10 is a schematic diagram of a transport device according to a first embodiment of the mobility charging robot illustrated in FIG. 9.

[0247] More specifically, the transport device is a vertical transport unit (2140) for moving the movable main body (2110, see FIG. 8) in the vertical direction (V).

[0248] That is, the vertical transport unit (2140) is for transporting the movable main body (2110) to each floor of the hangar of the vertiport.

[0249] For this purpose, the vertical transport unit (2140) may include a ball screw (2141), a ball nut (2142), and a vertical transport motor (2143).

[0250] The ball screw (2141) is arranged to extend in the vertical direction (V) of the vertiport layer by layer.

[0251] A ball nut (2142) is combined with a ball screw (2141).

[0252] The ball screw (2141) is coupled to the vertical transport motor (2143).

[0253] The ball screw (2141) rotates by the operation of the vertical transport motor (2143), and the ball nut (2142) is raised and lowered by the rotation of the ball screw (2141).

[0254] A movable main body (2110) is coupled to a ball nut (2142), so that the movable main body (2110) can be raised and lowered together with the ball nut (2142).

[0255] Additionally, the transport device (2140) may further include a transport body (2144) coupled to a ball nut (2142).

[0256] A movable main body (2110) is coupled to a transport body (2144), and the transport body (2144) and the movable main body (2110) can be elevated by the operation of a vertical transport motor (2143).

[0257]

[0258] FIG. 11 is a schematic diagram of a transport device according to a second embodiment of the mobility charging robot illustrated in FIG. 9.

[0259] More specifically, the transport device (2140') includes a horizontal transport unit in addition to the vertical transport unit (2140') illustrated in FIG. 10.

[0260] As shown, the transport device (2140') includes a ball screw (2141'), a ball nut (2142'), a vertical transport motor (2143'), a transport body (2144'), a rack gear (2145'), a pinion gear (2146'), and a horizontal transport motor (2151, see FIG. 8).

[0261] In addition, the ball screw (2141'), ball nut (2142'), vertical transport motor (2143'), and transport body (2144') are the same as the ball screw (2141), ball nut (2142), vertical transport motor (2143), and transport body (2144) illustrated in FIG. 10, and a detailed description thereof is omitted as described above.

[0262] The vertical transport motor (2143') is coupled to the rack gear (2145').

[0263] The rack gear (2145') is engaged with the pinion gear (2146'), and the pinion gear (2146') is coupled to the horizontal transport motor (2151, see Fig. 8).

[0264] The transport device (2140') according to the second embodiment is configured as described above, and by driving the horizontal transport motor, the pinion gear (2146') rotates, and the rack gear (2145') can move linearly, i.e., in the horizontal direction (H, see FIG. 4) in conjunction with the pinion gear (2146'). In addition, the vertical transport motor (2143'), the ball screw (2141'), the ball nut (2142'), and the transport body (2144') move horizontally in conjunction with the movement of the rack gear (2145').

[0265] Accordingly, the transport device (2140') can transport the transport body (2144') in a horizontal direction (H) or a vertical direction (V).

[0266] That is, the movable main body (2110) is connected to the transfer body (2144') and can be transferred in the vertical direction (V) of the hangar floor of the vertiport, and can be transferred in the horizontal direction (H) on the corresponding floor.

[0267]

[0268] Figure 12 is a schematic first usage state diagram of a mobility charging system according to one embodiment of the present invention.

[0269] As shown, the mobility (100) is charged by a mobility charging device (2100, 2200) while parked in the hangar.

[0270] To this end, the mobility charging management unit (see Fig. 7, 2300) moves the mobility parking robot (2400) equipped with mobility (100) to a charging area.

[0271] At this time, the mobility charging management unit can control the movement of the mobility parking robot (2400) to the corresponding location in the hangar by considering the operation information and the remaining charge amount of the mobility.

[0272] Mobility (100) is mounted on a mobility parking robot (2400), and the mobility parking robot (2400) is moved to the charging area of ​​the mobility charging robot (2100).

[0273] Next, the mobile main body (2110) of the mobility charging robot (2100) is vertically transported to the floor where the mobility is parked.

[0274] Additionally, the mobile main body (2110) can be horizontally moved to an optimal position to connect the charging plug of the charger dispenser (2200) to the charging port of the mobility on the corresponding floor.

[0275] The mobility charging robot (2100) connects the charging plug of the charger dispenser (2200) to the mobility charging port (not shown).

[0276] At this time, the camera module or sensor, which is a position confirmation unit (2131, see Fig. 8) mounted on the gripper (2130) of the mobility charging robot (2100), confirms the position of the charging plug (2210) of the charger dispenser.

[0277] And when the gripper (2130) withdraws the charging plug (2210) through the charger dispenser (2200), the charging plug (2210) is connected to the charging port of the mobility (100) while being connected to the charging cable (2220).

[0278] As implemented as described above, the mobility charging system can safely and quickly charge mobility using a mobility charging robot.

[0279]

[0280] Figure 13 is a schematic diagram of a second use state of a mobility charging system according to an embodiment of the present invention.

[0281] More specifically, the mobility charging system (2000) can be applied to a vertical takeoff and landing airfield (Vertiport), which is a takeoff and landing field for urban air mobility.

[0282] A vertical take-off and landing airfield (Vertiport) may include a take-off field (T), a landing field (L), and a hangar (P).

[0283] Vertical take-off and landing airfields can be constructed on the rooftops of buildings.

[0284] Additionally, the hangar of the vertical take-off and landing airfield is made of two floors, and the take-off and landing fields can be selectively located on the roof of the building or the roof of the hangar, respectively.

[0285] Mobility (100) can be moved to the landing area (L), hangar (P) and takeoff area (T) by a mobility parking robot (see 2400 in FIG. 7), and can be parked in the hangar (P).

[0286] The mobility charging robot (2100) can charge a parked mobility (100) by moving vertically in the direction of each floor of the hangar (P) through a vertical transport unit.

[0287] At this time, a charger dispenser (2200) can be installed in the hangar on each floor.

[0288] The mobility charging robot (2100) can be moved to a charging area for charging the mobility (100) while being guided along the vertical path (T1) and horizontal path (T2) of the vertiport.

[0289]

[0290] Figure 14 is a flowchart schematically illustrating a control method of a mobility charging system according to one embodiment of the present invention.

[0291] As illustrated, the control method (S1000) of the mobility charging system includes a step of confirming the mobility to be charged (S1100), a step of transporting the mobility to be charged (S1200), a step of transporting the mobility charging robot (S1300), and a step of charging the mobility (S1400).

[0292] More specifically, the charging target mobility confirmation step (S1100) is a step of confirming the mobility to be charged among the mobilities located at the landing site.

[0293] The mobility charging management unit (see 2300 in FIG. 7) can identify mobility requiring charging and transmit information about the same to the mobility parking robot (see 2400 in FIG. 7) and the mobility charging robot (see 2100 in FIG. 7), respectively.

[0294] The mobility transport stage (S1200) for charging is the stage where the mobility parking robot transports the mobility to be charged to the charging area of ​​the hangar.

[0295] At this time, the mobility charging robot (see 2400 in Fig. 7) can obtain charging information from the mobility charging management unit and transport the mobility to the corresponding charging area of ​​the hangar.

[0296] In addition, the mobility parking robot can transmit information about the transfer time and distance to the mobility charging management unit, and the mobility charging management unit can transmit charging-related information in real time using the information to the mobility charging robot.

[0297] That is, the mobility charging management unit can control the transport and charging operations of the mobility charging robot by considering the time information of the mobility parking robot arriving at the charging area and the target of mobility that needs to be charged first.

[0298] The mobility charging robot transfer step (S1300) is a step for transferring the mobility charging robot to the charging area.

[0299] The mobility charging stage (S1400) is the stage of connecting the charging plug to the mobility charging port.

[0300] At this time, the mobility charging step (S1400) may include a charging plug location confirmation step and a charging port location confirmation step.

[0301] That is, the position confirmation unit (2131, see FIG. 8) mounted on the gripper (2130) of the mobility charging robot (2100) can confirm the position of the charging plug (2210) of the charger dispenser (2200) and the charging port of the mobility (100).

[0302] And the gripper (2130) withdraws the charging plug (2210) from the charger dispenser (2200) and connects the charging plug (2210) to the charging port of the mobility (100) with the charging cable (2220) connected to the charging plug (2210).

[0303] Additionally, in the mobility charging stage (S1400), the control unit (2310, see FIG. 7) of the mobility charging management unit can control the power of the charging device.

[0304] That is, the control unit (2310) can selectively provide output power to multiple charger dispensers (2200) for ultra-fast charging.

[0305] For example, if it is composed of a 3MW power conversion device and 3 sets of dispensers, instead of setting each dispenser to 1MW charging, the control unit (2310) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0306] Accordingly, charging stages for multiple mobility modes can be implemented more efficiently.

[0307]

[0308] Fig. 15 is a schematic diagram illustrating the technical concept of a vertiport charging system according to one embodiment of the present invention.

[0309] As illustrated, the vertiport charging system (3000) may include a mobile charging unit (3100), an air mobility transport unit (3400), and a vertiport charging management unit (3300).

[0310] More specifically, the aviation mobility charging device includes a mobile charging unit (3100) and a charger dispenser (3200).

[0311] The charger dispenser (3200) is intended to supply power for charging air mobility.

[0312] The mobile charging unit (3100) is for charging air mobility parked at the vertiport.

[0313] In this embodiment, the vertiport may include a hangar formed in multiple layers.

[0314] The mobile charging unit (3100) may include a sensing unit (3170) and a charging unit wireless communication module (3160) to charge air mobility parked on each floor of the vertiport.

[0315] The charging unit wireless communication module (3160) is for transmitting and receiving location information and charging-related information with the air mobility transport unit (3400) and the vertiport charging management unit (3300).

[0316] The sensing unit (3170) is for confirming the location of the air mobility and may be composed of a camera module or a proximity sensor.

[0317] The mobile charging unit (3100) may further include a transport device (3140, 3150: see FIG. 18) for transporting the mobile charging unit within the vertiport.

[0318] The transport device (3140, 3150) is for transporting the movable charging unit within the vertiport.

[0319] That is, the vertiport can be formed into a hangar in multiple layers, and the transport device (3140, 3150) is for transporting the movable charging unit in each layer.

[0320] Additionally, the transport device (3140, 3150) is for transporting the movable charging unit within each layer of the vertiport.

[0321] The transport device (3140, 3150) can be built into the movable main body (3110, see FIG. 18) of the movable charging unit.

[0322] Additionally, the transport device (3140, 3150) is located outside the movable main body and can move the movable main body.

[0323] The mobile charging unit (3100) can transmit and receive location-related and charging-related information to and from the air mobility transport unit (3400) by means of the charging unit wireless communication module (3160).

[0324] The mobile charging unit (3100) can charge the air mobility through the control of the vertiport charging management unit (3300) while checking the location of the air mobility within the vertiport.

[0325] The air mobility transport unit (3400) is for transporting air mobility.

[0326] For this purpose, the air mobility transport unit (3400) can be implemented as an air mobility parking robot.

[0327] The air mobility transport unit (3400) may include a loading unit (3410), a driving unit (3420), and a transport unit wireless communication module (3430).

[0328] The payload (3410) is for mounting and supporting the air mobility.

[0329] The driving unit (3420) is for moving the air mobility transfer unit (3400) to the hangar, takeoff field, landing field, etc. of the vertiport.

[0330] The transport unit wireless communication module (3430) is for transmitting and receiving location information, parking and charging-related information with the mobile charging unit (3100) and the vertiport charging management unit (1300).

[0331] Additionally, the air mobility transport unit (3400) can be implemented as a parking robot that moves air mobility to the landing pad, takeoff pad, and hangar of the vertiport.

[0332] The vertiport charging management unit (3300) is intended to control charging of air mobility by controlling the mobile charging unit (3100) and the air mobility transport unit (3400).

[0333] That is, the vertiport charging management unit (3300) is intended to control charging of air mobility by using at least one of location information, charging-related information, and operation information of air mobility.

[0334] To this end, the vertiport charging management unit (3300) may include a vertiport operation management unit (3310), an air mobility charging management unit (3320), a vertiport hangar management unit (3330), and a charging management unit wireless communication module (3340).

[0335] The vertiport operation management unit (3310) is intended to check and manage information on air mobility landing at or taking off from a vertiport according to the air mobility operation schedule.

[0336] The aviation mobility charging management unit (3320) can check the remaining charge amount of an aviation mobility parked in a hangar of a vertiport for charging management, calculate the expected charging time, and control charging using the information based on this.

[0337] That is, by considering the limited number of mobile charging stations and charging time within the vertiport and utilizing flight information, charging can be carried out differentially according to air mobility.

[0338] In order to more efficiently implement charging of air mobility, the Vertiport Hangar Management Department (3330) can assign the hangar parking area of ​​the air mobility to an area for efficiently implementing charging using flight information and charging information.

[0339] For example, when takeoff time is near and charging work must be carried out with the minimum charging time, the mobile charging unit and the air mobility transfer unit are moved to a charging area adjacent to the takeoff field where the mobile charging unit can be quickly positioned.

[0340] The charging management unit wireless communication module (3340) is for transmitting and receiving location information, transport information, and charging-related information with the charging unit wireless communication module (3160) and the transport unit wireless communication module (3430).

[0341] The Vertiport charging management unit (3320) can selectively control the output power for multiple charger dispensers (3200) for ultra-fast charging.

[0342] For example, if it is composed of a 3MW power conversion device and 3 sets of dispensers, instead of setting 1MW charging per dispenser, the vertiport charging management unit (1320) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0343] Accordingly, the vertiport charging management unit (3300) can efficiently charge air mobility.

[0344] According to an embodiment of the present invention, the aviation mobility charging system according to an embodiment of the present invention is configured as described above, so that the mobile charging unit (3100) transmits and receives charging-related information with the aviation mobility transfer unit (3400), and can perform charging of the aviation mobility through the control of the vertiport charging management unit (3300) while confirming the location of the aviation mobility.

[0345] In addition, a vertiport charging system (3000) according to one embodiment of the present invention includes a mobile charging unit (3100) and a vertiport charging management unit (3300), and the vertiport charging management unit (3300) can control charging of the mobile charging unit (3100) through the above-described configuration.

[0346]

[0347] FIG. 16 is a schematic diagram illustrating a portion of a vertiport charging system according to one embodiment of the present invention.

[0348] More specifically, the vertiport charging system (3000) can be applied to a vertical takeoff and landing airfield (Vertiport), which is a takeoff and landing field for air mobility.

[0349] A vertical take-off and landing airfield (Vertiport) may include a take-off field (T), a landing field (L), and a hangar (P).

[0350] Vertical take-off and landing airfields can be constructed on the rooftops of buildings.

[0351] Additionally, the hangar of the vertical take-off and landing airfield is made of two floors, and the take-off and landing fields can be selectively located on the roof of the building or the roof of the hangar, respectively.

[0352] The air mobility (100) can be moved to the landing area (L), hangar (P) and takeoff area (T) by the air mobility transport unit (3400, see FIG. 15), and can be parked in the hangar (P).

[0353] As shown, the charging device of the vertiport charging system (3000) may include a mobile charging unit (3100) and a charger dispenser (3200).

[0354] The mobile charging unit (3100) can charge a parked aircraft mobility (100) by moving vertically in the direction of each floor of the hangar (P) through the vertical transport unit.

[0355] At this time, a charger dispenser (3200) can be installed in the hangar on each floor.

[0356] The mobile charging unit (3100) can be moved to a charging area for charging the air mobility (100) by being guided along the vertical path (T1) and horizontal path (T2) of the vertiport.

[0357] In this embodiment, when the horizontal transport unit moves the movable main body (3110, see FIG. 18) along the horizontal path (T2), the movable charging unit (3100) can control the position of the multi-joint body (3120, see FIG. 18) so that the horizontal movement of the movable charging unit (3100) is not interfered with by the charger dispenser (1200).

[0358] However, as another embodiment, the charger dispenser (1200) may be positioned so as not to interfere with the horizontal movement of the movable charging unit (1100) when the movable main body (1110) moves along the horizontal path (T2).

[0359]

[0360] FIG. 17 is a schematic diagram illustrating a portion of a vertiport charging system according to another embodiment of the present invention.

[0361] As shown, the vertiport charging system (3000) includes a mobile charging unit (3100), a charger dispenser (3200), and an air mobility transport unit (3400).

[0362] The mobile charging unit (3100) is for connecting the charging plug (see 3210 of FIG. 18) of the charger dispenser (3200) to the charging port of the air mobility (100).

[0363] The mobile charging unit (3100) may include a mobile main body (3110), a multi-joint body (3120), and a gripper (3130).

[0364] The air mobility transport unit (3400) can be moved so as to be adjacent to the mobile charging unit (3100) and the charger dispenser (3200) while the air mobility (100) is mounted thereon.

[0365] That is, the air mobility transport unit (3400) moves the air mobility (100) loaded to a location where charging is possible by the mobile charging unit (3100) and the charger dispenser (3200).

[0366] At this time, the air mobility transport unit (3400) can be positioned within the charging available distance of the multi-joint body (3120) and gripper (3130) of the mobile charging unit (3100).

[0367] For example, the air mobility transport unit (3400) can position the urban air mobility (100) in a preset parking area within a hangar. A charger dispenser (3200) can be installed in the preset parking area, and the available charging distance can mean a distance at which a charging plug (see FIG. 18, 3210) can be connected to the urban air mobility (100) by a multi-joint body (3120) and a gripper (3130). In addition, the air mobility transport unit (3400) can move while transmitting and receiving information such as location information, charging area, and expected arrival time with the mobile charging unit (3100).

[0368]

[0369] Fig. 18 is a schematic diagram illustrating the technical concept of a movable charging unit in a vertiport charging system according to one embodiment of the present invention.

[0370] As shown, the aviation mobility charging device includes a mobile charging unit (3100) and a charger dispenser (3200).

[0371] More specifically, the mobile charging unit (3100) includes a mobile main body (3110), a multi-joint body (3120), a gripper (3130), a transport device (3140, 3150), a charging unit wireless communication module (3160), and a sensing unit (3170).

[0372] The charger dispenser (3200) is intended to supply power to air mobility and includes a charging plug (3210).

[0373] The transport device (3140, 3150) of the mobile charging unit (3100) is for transporting the mobile main body (3110).

[0374] The transport device (3140, 3150) is mounted on the movable main body (3110) and can move the movable main body (3110).

[0375] The transport device (3140, 3150) is installed on the outside of the movable main body (3110) and can transport the movable main body (3110).

[0376] The transport device (3140, 3150) may include a vertical transport unit (3140) and a horizontal transport unit (3150).

[0377] The vertical transport unit (3140) is for transporting the movable charging unit in a vertical direction. Accordingly, the vertical transport unit (3140) can transport the movable charging unit to each floor of the storage unit of the vertiport.

[0378] The vertical transport unit (3140) can be implemented in various ways, such as a ball screw or time belt method.

[0379] The horizontal transport unit (3150) is designed to transport the movable charging unit horizontally. Accordingly, the horizontal transport unit (3150) can charge multiple air mobility vehicles while moving the movable charging unit horizontally on the corresponding floor of the hangar.

[0380] The horizontal transport unit (3150) may include a horizontal transport motor (3151).

[0381] Next, the multi-joint body (3120) includes a body drive unit (3121).

[0382] The body drive unit (3121) is for moving each joint of the multi-joint body (3120).

[0383] That is, the body driving unit is for selectively moving a multi-joint body (3120) composed of a plurality of multi-joint members. A servo motor, a stepper motor, etc. may be arranged between each multi-joint member. Accordingly, the multi-joint body (1120) can implement various movements at various angles in a three-dimensional space, and the charging plug (3210) of the charger dispenser (3200) can be easily connected to the charging port of the urban air mobility.

[0384] The gripper (3130) is for connecting the charging plug (3210) of the charger dispenser (3200) to the charging port of the air mobility.

[0385] The gripper (3130) is mounted on the multi-joint body (3120).

[0386] A gripper (3130) may be mounted on an end of the multi-joint body (3120). The gripper (3130) may be rotatably coupled to the multi-joint body (3120).

[0387] The gripper (3130) may include a positioning unit (3131).

[0388] The location confirmation unit (3131) is for confirming the location of the charging plug (3210) of the charger dispenser (3200) and the charging port of the air mobility.

[0389] The location confirmation unit (3131) may be composed of a camera module or a proximity sensor.

[0390] As described above, the charging unit wireless communication module (3160) is for transmitting and receiving location information and charging-related information with the air mobility transport unit (3400) and the vertiport charging management unit (3300).

[0391] The sensing unit (3170) is for confirming the location of the air mobility and may be composed of a camera module or a proximity sensor.

[0392] The gripper (3130) may be equipped with a gripper operating unit (not shown).

[0393] The gripper operating part is for operating the operation of the gripper (3130), and a servo motor, stepper motor, DC motor, etc. can be applied, and thus, the gripper (3130) can hold the charging plug (3210).

[0394]

[0395] Fig. 19 is a schematic diagram of a transport device according to the first embodiment in the mobile charging unit illustrated in Fig. 18.

[0396] More specifically, the transport device is a vertical transport unit (3140) for moving the movable main body (1110, see FIG. 18) in the vertical direction (V).

[0397] That is, the vertical transport unit (3140) is for transporting the movable main body (3110) to each floor of the hangar of the vertiport.

[0398] For this purpose, the vertical transport unit (3140) may include a ball screw (3141), a ball nut (3142), and a vertical transport motor (3143).

[0399] The ball screw (3141) is arranged to extend in the vertical direction (V) of the vertiport layer by layer.

[0400] A ball nut (3142) is combined with a ball screw (3141).

[0401] The ball screw (3141) is coupled to the vertical transport motor (3143).

[0402] The ball screw (3141) rotates by the operation of the vertical transport motor (3143), and the ball nut (3142) is raised and lowered by the rotation of the ball screw (3141).

[0403] A movable main body (3110) is coupled to a ball nut (3142), so that the movable main body (3110) can be raised and lowered together with the ball nut (3142).

[0404] Additionally, the vertical transport unit (3140) may further include a transport body (3144) coupled to a ball nut (3142).

[0405] A movable main body (3110) is coupled to the transport body (3144), and the transport body (3144) and the movable main body (3110) can be elevated by the operation of the vertical transport motor (3143).

[0406]

[0407] FIG. 20 is a schematic diagram of a transport device according to a second embodiment in the mobile charging unit illustrated in FIG. 18.

[0408] More specifically, the transport device (3140') includes a horizontal transport unit in addition to the vertical transport unit (3140) illustrated in FIG. 18.

[0409] As shown, the transport device (3140) includes a ball screw (3141), a ball nut (3142), a vertical transport motor (3143), a transport body (3144), a rack gear (3145), a pinion gear (3146), and a horizontal transport motor (3151, see FIG. 18).

[0410] In addition, the ball screw (3141'), ball nut (3142'), vertical transport motor (3143'), and transport body (3144') are the same as the ball screw (3141), ball nut (3142), vertical transport motor (3143), and transport body (3144) illustrated in FIG. 19, and a detailed description thereof is omitted as described above.

[0411] The vertical transport motor (3143') is coupled to the rack gear (3145').

[0412] The rack gear (3145') is engaged with the pinion gear (3146'), and the pinion gear (3146') is coupled to the horizontal transport motor (3151, see Fig. 18).

[0413] The transport device (3140') according to the second embodiment is configured as described above, and by driving the horizontal transport motor, the pinion gear (3146') rotates, and the rack gear (3145') can move linearly, i.e., in the horizontal direction (H) in conjunction with the pinion gear (3146'). In addition, the vertical transport motor (3143'), the ball screw (3141'), the ball nut (3142'), and the transport body (3144') move horizontally in conjunction with the movement of the rack gear (3145').

[0414] Accordingly, the transport device (3140') can transport the transport body (3144') in a horizontal direction (H) or a vertical direction (V).

[0415] That is, the movable main body (3110) is connected to the transfer body (3144') and can be transferred in the vertical direction (V) of the hangar floor of the vertiport, and can be transferred in the horizontal direction (H) on the corresponding floor.

[0416]

[0417] Figure 21 is a schematic first usage state diagram of a vertiport charging system according to one embodiment of the present invention.

[0418] As shown, the aircraft mobility (100) is charged by the mobile charging unit (3100) and the aircraft mobility transport unit (3400), which are aircraft mobility charging devices, while parked in the hangar.

[0419] To this end, the vertiport charging management unit (3300, see FIG. 15) moves the air mobility transport unit (3400) equipped with the air mobility (100) to a charging area.

[0420] At this time, the vertiport charging management unit can move the air mobility transfer unit (3400) to the charging area of ​​the hangar by considering the flight information, the remaining charge amount of the air mobility, the expected charging time, and the hangar location information.

[0421] The air mobility (100) is mounted on the air mobility transport unit (3400), and the air mobility transport unit (3400) is moved to the charging area of ​​the mobile charging unit (1100).

[0422] Next, the movable main body (3110) of the movable charging unit (3100) is vertically transported to the floor where the air mobility is parked.

[0423] Additionally, the mobile main body (3110) can be horizontally moved to an optimal position to connect the charging plug of the charger dispenser (3200) to the charging port of the air mobility on the corresponding floor.

[0424] The mobile charging unit (3100) connects the charging plug of the charger dispenser (3200) to the charging port (not shown) of the air mobility.

[0425] At this time, the camera module or sensor, which is a position confirmation unit (3131, see Fig. 18) mounted on the gripper (3130) of the mobile charging unit (3100), confirms the position of the charging plug (3210) of the charger dispenser.

[0426] When the gripper (3130) withdraws the charging plug (3210) through the charger dispenser (3200), the charging plug (3210) is connected to the charging cable (3220) and is coupled to the charging port of the air mobility (100).

[0427] As implemented as described above, the Vertiport charging system can safely and quickly charge air mobility using a mobile charging unit.

[0428]

[0429] Figure 22 is a schematic diagram of a second use state of a vertiport charging system according to one embodiment of the present invention.

[0430] As shown, parking areas (P1…Pn) are formed on each floor (F1, F2, F3) in the hangar of the vertiport.

[0431] The air mobility is transported to the parking area by the air mobility transport unit (3400, see Fig. 21) and charged by the mobile charging unit (3100).

[0432] At this time, the movable main body (3110) of the movable charging unit (3100) can be vertically moved to each floor (F1, F2, F3) through a transfer device (3140') and horizontally moved in each floor through a rack gear (3145').

[0433] The vertiport charging management unit (3300, see Fig. 15) checks operation information through the vertiport operation management unit (3310), checks the optimal parking area through the vertiport hangar management unit (3330), and transports the air mobility to the corresponding parking area through the air mobility transfer unit (3400, see Fig. 21).

[0434] At this time, the parking area of ​​the hangar can be set by considering the remaining charge amount and charging time of the air mobility.

[0435] The Vertiport charging management unit can move the mobile charging unit to the corresponding parking area considering the transport time of the air mobility.

[0436] The vertiport charging system according to one embodiment of the present invention is implemented as described above, thereby enabling transport of air mobility, transport of a mobile charging unit, and setting of charging time and charging location.

[0437]

[0438] Figure 23 is a flowchart schematically illustrating a control method of a vertiport charging system according to one embodiment of the present invention.

[0439] As illustrated, the control method (S2000) of the vertiport charging system includes a step of confirming the target aircraft mobility for the vertiport charging (S2100), a step of transporting the target aircraft mobility to a hangar (S2200), a step of transporting the mobile charging unit to a hangar (S2300), and a step of charging the hangar aircraft mobility (S2400).

[0440] More specifically, the step of confirming the air mobility to be charged (S2100) is a step of confirming the air mobility to be charged among the air mobility located at the landing pad of the vertiport.

[0441] The Vertiport charging management unit (see 3300 in FIG. 15) can identify air mobility requiring charging and transmit information about the same to the air mobility transfer unit (see 3400 in FIG. 15) and the mobile charging unit (see 3100 in FIG. 15), respectively.

[0442] The Vertiport Operations Management Department (3310) can check the air mobility that needs to be charged first according to the operation schedule.

[0443] The Vertiport Operations Management Department (3310) can check the air mobility scheduled to land at the Vertiport according to the operation schedule and determine the air mobility to be charged first.

[0444] In addition, the step of confirming the air mobility to be charged at the vertiport (S2100) can confirm the air mobility to be charged among the air mobility located in the hangar of the vertiport.

[0445] The charging target aircraft mobility hangar transfer step (S2200) is a step in which the aircraft mobility transfer unit transfers the aircraft mobility to be charged to the charging area of ​​the hangar.

[0446] At this time, the air mobility transport unit (3400, see FIG. 15) can obtain information about charging from the air mobility charging management unit (3300, see FIG. 15) and transport the air mobility to the corresponding charging area of ​​the hangar.

[0447] In addition, the air mobility transport unit (3400) transmits information about the transport time and distance to the charging area to the vertiport charging management unit (3300) through the charging unit wireless communication module (3160), and the vertiport charging management unit (3300) can transmit the corresponding information to the mobile charging unit (3100) in real time.

[0448] That is, the vertiport charging management unit (3300) can control the transport of the air mobility transport unit (3400) by considering the time information when the air mobility transport unit (3400) arrives at the charging area and the target that should be charged first among multiple air mobility units.

[0449] In addition, in order to more efficiently implement charging of air mobility, the Vertiport hangar management unit (3330) can assign the hangar parking area of ​​the air mobility to the air mobility transfer unit (3400) as a charging area of ​​the hangar to efficiently implement charging using flight information and charging information.

[0450] The mobile charging unit hangar transfer step (S2300) is a step of transferring the mobile charging unit (3100) to the charging area of ​​the air mobility. At this time, the vertiport charging management unit (3300) can move the mobile charging unit (3100) to the charging area of ​​the air mobility that needs to be charged first by considering at least one of the location information, expected arrival information, and flight schedule of the air mobility transfer unit (3400).

[0451] The hangar aviation mobility charging stage (S2400) is a stage in which an aviation mobility parked in the hangar charging area of ​​a vertiport is charged using a mobile charging unit (3100).

[0452] That is, this is a step in which the mobile charging unit (3100) connects the charging plug of the charger dispenser (3200) to the charging port of the air mobility.

[0453] At this time, the aviation mobility charging step (S2400) may include a charging plug position confirmation step and a charging port position confirmation step.

[0454] To this end, the position confirmation unit (3131, see FIG. 18) mounted on the gripper (3130) of the mobile charging unit (3100) confirms the position of the charging plug (3210) of the charger dispenser (3200) and the charging port of the air mobility (100).

[0455] And the gripper (3130) withdraws the charging plug (3210) from the charger dispenser (3200) and connects the charging plug (3210) to the charging port of the air mobility (100).

[0456] Additionally, in the aviation mobility charging stage (S2400), the aviation mobility charging management unit (1320) may control the power of the charging device.

[0457] That is, the air mobility charging management unit (3320) can selectively provide output power to multiple charger dispensers (3200) for ultra-fast charging.

[0458] For example, if it is composed of a 3MW power conversion device and 3 sets of dispensers, instead of setting 1MW charging per dispenser, the air mobility charging management unit (1320) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0459] Accordingly, charging stages for multiple air mobility systems can be implemented more efficiently.

Claims

1. Movable main body; A multi-joint body coupled to the above movable main body and equipped with a gripper; and It includes a transport device that moves the above movable main body, The above transport device includes a vertical transport unit that moves the movable main body in a vertical direction. Mobility charging robot.

2. In paragraph 1, The above gripper is equipped with a positioning unit to check the position of the charging plug and the charging port of the mobility. Mobility charging robot.

3. In paragraph 1, The above vertical transport unit includes a ball screw, a ball nut engaged with the ball screw, and a vertical transport motor that rotates the ball screw. Mobility charging robot.

4. In paragraph 3, The above vertical transport section Further comprising a transfer body coupled to the above ball nut, The above-mentioned transport body is combined with the above-mentioned movable main body. Mobility charging robot.

5. In paragraph 1, The above transport device further includes a horizontal transport unit that moves the movable main body horizontally. Mobility charging robot.

6. In paragraph 5, The above horizontal transport unit includes a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear. Mobility charging robot.

7. A mobility charging robot including a gripper, a movable main body equipped with the gripper, and a vertical transport unit that moves the movable main body in a vertical direction, which is the floor-by-floor direction of the hangar; and Includes charger dispensers located on each floor of the above hangar, The above mobility charging robot is moved to each floor of the hangar through the above vertical transport unit, The charging plug of the charger dispenser is connected to the charging port of the mobility parked in the hangar by the mobility charging robot. Mobility charging system.

8. In paragraph 7, The above gripper is equipped with a positioning unit that checks the position of the charging plug and the charging port of the mobility. Mobility charging system.

9. In paragraph 7, Further comprising a horizontal transport unit for moving the above movable main body in a horizontal direction Mobility charging system.

10. Mobility charging device that charges mobility: A mobility parking robot that transports the above mobility; and A mobility charging management unit that transmits and receives charging-related information between the above mobility charging device and the above mobility parking robot and manages charging of the mobility. Mobility charging system.

11. In paragraph 10, The above mobility charging management unit includes a control unit, The above control unit uses the operation information of the mobility and the remaining charge information of the mobility, and the operation of the mobility charging device is controlled by the control unit, and the operation of the mobility parking robot is controlled by the control unit. Mobility charging system.

12. In paragraph 11, The above mobility charging device includes a charging robot wireless transmission / reception module, The above mobility parking robot includes a parking robot wireless transmission / reception module, The above mobility charging management unit includes a charging management unit wireless transmission / reception module, The above charging management unit wireless transmission / reception module transmits and receives parking and charging-related information with the charging robot wireless transmission / reception module and the parking robot wireless transmission / reception module. Mobility charging system.

13. In paragraph 10, The above mobility parking robot It includes a mounting part that supports and carries the above mobility, and a driving part that transports the above mobility. Mobility charging system.

14. In paragraph 10, The above mobility charging device includes a mobility charging robot and a charger dispenser, The above mobility charging robot includes a movable main body, a multi-joint arm coupled to the movable main body and equipped with a gripper, and a transport device for moving the movable main body. The above transport device includes a vertical transport module that moves the movable main body in a vertical direction, The above charger dispenser is supplied with power to charge the above mobility. Mobility charging system.

15. In paragraph 14, The above gripper is equipped with a positioning unit for checking the position of the charging plug of the above charger dispenser and the charging port of the above mobility. Mobility charging system.

16. In paragraph 14, The above transport device further includes a horizontal transport unit that moves the movable main body horizontally. Mobility charging system.

17. In paragraph 16, The above horizontal transport unit includes a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear. Mobility charging system.

18. In paragraph 17, The vertical transport module is coupled to the pinion gear, The above vertical transport module includes a ball screw, a ball nut engaged with the ball screw, and a vertical transport motor that rotates the ball screw. Mobility charging system.

19. In paragraph 18, The above vertical transport module further includes a transport body coupled to a ball nut, The above-mentioned transport body is combined with the above-mentioned movable main body. Mobility charging system.

20. In paragraph 14, The above charger dispenser is A charging plug coupled to a charging port of the mobility by the gripper, and a charging cable coupled to the charging plug. Mobility charging system.

21. Charging target mobility confirmation step to confirm the mobility to be charged; A mobility transport step in which a mobility parking robot transports a mobility to be charged to the charging area of ​​a hangar; A mobility charging robot transfer step for transferring the mobility charging robot to the charging area; and The above mobility charging robot includes a mobility charging step in which the charging plug of the charger dispenser is connected to the charging port of the mobility. Control method of a mobility charging system.

22. In paragraph 21, The above charging target mobility transfer stage is The above mobility parking robot transmits information about the transfer time and distance to the mobility charging management unit, and the mobility charging management unit transmits charging-related information using the above information to the mobility charging robot in real time. Control method of a mobility charging system.

23. A mobile charging unit including a wireless communication module for charging an air mobility parked in a vertiport; A charger dispenser, which is supplied with power for charging the above air mobility and is located in the hangar of the above-mentioned vertiport; An air mobility transport unit including a transport unit wireless communication module and transporting the air mobility within the vertiport; and A charging management unit including a wireless communication module and a vertiport charging management unit that controls charging of the air mobility through control of the mobile charging unit and the air mobility transport unit. Vertiport charging system.

24. In paragraph 23, The above Vertiport charging management unit A vertiport operation management department that checks and manages information on air mobility landing at or taking off from a vertiport according to the operation schedule for the charging management of the above air mobility; A vertiport charging management unit that checks the remaining charge amount for an air mobility parked in the hangar of the above vertiport or calculates the expected charging time; Including a vertiport hangar management unit that assigns a parking area of ​​the hangar of the above-mentioned air mobility. Vertiport charging system.

25. In paragraph 23, The above air mobility transport unit It further includes a loading unit that supports and carries the above-mentioned air mobility, and a driving unit that transports the above-mentioned air mobility to a hangar and a takeoff field. Vertiport charging system.

26. In paragraph 23, The above charging management unit wireless communication module In order to transmit and receive parking and charging-related information of the above air mobility, it is connected to the charging unit wireless communication module and the transport unit wireless communication module, At least one of the movement information, charging-related information and operation information of the above air mobility is used in the vertiport charging management unit. Vertiport charging system.

27. In paragraph 23, The above-mentioned movable charging unit includes a movable main body, a multi-joint body coupled to the movable main body and equipped with a gripper, and a transport device for moving the movable main body. The above transport device includes a vertical transport unit that moves the movable main body in a vertical direction. Vertiport charging system.

28. In paragraph 27, The above gripper is equipped with a positioning unit for checking the position of the charging plug of the above charger dispenser and the charging port of the above air mobility. Vertiport charging system.

29. In paragraph 27, The above transport device further includes a horizontal transport unit that moves the movable main body horizontally. Vertiport charging system.

30. In paragraph 29, The above horizontal transport unit includes a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear. Vertiport charging system.

31. In paragraph 30, The vertical transfer unit is coupled to the pinion gear, The above vertical transport unit includes a ball screw, a ball nut engaged with the ball screw, and a vertical transport motor that rotates the ball screw. Vertiport charging system.

32. In paragraph 31, The above vertical transport unit further includes a transport body coupled to a ball nut, The above-mentioned transport body is combined with the above-mentioned movable main body. Vertiport charging system.

33. Vertiport charging target air mobility confirmation step in which the vertiport charging management unit confirms the air mobility to be charged; The above-mentioned vertiport charging management unit is a charging target aircraft mobility hangar transfer step that transfers the aircraft mobility to be charged to the charging area of ​​the hangar through the aircraft mobility transfer unit; The above-mentioned vertiport charging management unit comprises a mobile charging unit storage transfer step for transferring a mobile charging unit to the charging area; and The above-mentioned mobile charging unit includes a hangar aviation mobility charging step of connecting a charging plug of a charger dispenser to a charging port of the aviation mobility parked in the charging area of ​​the hangar of the above-mentioned vertiport. Control method of a vertiport charging system.

34. In paragraph 33, The above charging target aircraft mobility hangar transfer stage is The above-mentioned air mobility transfer unit transmits information on the transfer time and distance to the vertiport charging management unit, and the vertiport charging management unit transmits charging-related information using the above-mentioned information to the mobile charging unit in real time. Control method of a vertiport charging system.

35. In paragraph 33, The above mobile charging unit storage transfer step is The above-mentioned vertiport charging management unit moves the mobile charging unit to the charging area of ​​the air mobility that needs to be charged first, taking into consideration at least one of the location information, expected arrival information, and flight schedule of the air mobility transfer unit. Control method of a vertiport charging system.

36. A mobile charging unit including a wireless communication module for charging an air mobility vehicle parked in a vertiport; A charger dispenser, which is supplied with power for charging the above-mentioned air mobility and is located in the hangar of the above-mentioned vertiport; and A charging management unit including a wireless communication module and a vertiport charging management unit that controls charging of the air mobility through control of the mobile charging unit. Vertiport charging system.

37. In paragraph 36, The above Vertiport charging management unit A vertiport operation management department that checks and manages information on air mobility landing at or taking off from a vertiport according to the operation schedule for the charging management of the above air mobility; A vertiport charging management unit that checks the remaining charge amount for an air mobility parked in the hangar of the above vertiport or calculates the expected charging time; Including a vertiport hangar management unit that assigns a parking area of ​​the hangar of the above-mentioned air mobility. Vertiport charging system.

38. In paragraph 36, The above movable charging unit It includes a movable main body, a multi-joint body coupled to the movable main body and equipped with a gripper, and a transport device for moving the movable main body. The above transport device includes a vertical transport unit that moves the movable main body in a vertical direction, The above gripper is equipped with a positioning unit for checking the position of the charging plug of the above charger dispenser and the charging port of the above air mobility. Vertiport charging system.

39. In paragraph 38, The above transport device further includes a horizontal transport unit that moves the movable main body horizontally, The above horizontal transport unit includes a rack gear, a pinion gear meshed with the rack gear, and a horizontal transport motor that rotates the pinion gear. Vertiport charging system.

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