Mobility charging robot, charging system, and control method thereof

Abstract

According to an embodiment of the present invention, the mobility charging robot comprises: a gripping manipulation unit for coupling a charging plug of a charger dispenser to a charging port of a mobility vehicle; a traveling unit including a main body to which the gripping manipulation unit is coupled, the traveling unit being configured to move the main body to a charging area; and a sensing unit for identifying the position of the mobility vehicle.

Description

Mobility charging robot, charging system and control method thereof

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

[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. However, high-capacity rapid charging devices have inherent safety risks, such as the heavy charging cables and plugs that make them difficult to handle. Furthermore, high voltages present inherent safety risks.

[0009] Additionally, the structural features of the vertiport allow urban air mobility vehicles to be parked on each floor of the hangar. However, installing separate charging stations on each floor would reduce space utilization and increase costs.

[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 robot capable of high-capacity rapid charging using a charging robot including a multi-joint body.

[0013] The present invention provides a charging system and control method that enables the movement and charging of a vertiport's hangar floor by floor through linkage control with an elevator.

[0014] The present invention is to control a charging system using the operation information of a vertiport and charging-related information of air mobility.

[0015] The present invention provides a mobility charging robot capable of safely and rapidly charging an electric vehicle parked in a parking tower.

[0016]

[0017] A mobility charging robot according to one embodiment of the present invention includes a gripping operation unit that couples a charging plug of a charger dispenser to a charging port of a mobility, a main body to which the gripping operation unit is coupled, a driving unit that moves the main body to a charging area, and a sensing unit that confirms the position of the mobility.

[0018] In addition, the mobility charging robot further includes a charging robot wireless communication module coupled to the main body, and the movement information of the driving unit, elevator boarding-related information, and destination floor information can be transmitted and received by the charging robot wireless communication module and the elevator wireless communication module of the elevator module.

[0019] Additionally, in the mobility charging robot, the gripping operation unit may further include a position confirmation unit for confirming the position of the charging plug of the charger dispenser and the charging port of the mobility.

[0020] A mobility charging system according to one embodiment of the present invention includes a charging robot wireless communication module, a mobility charging robot that charges an aircraft mobility parked in a vertiport, a charger dispenser that is supplied with power for charging the aircraft mobility and is located on each floor of a hangar of the vertiport, and an elevator module that includes an elevator wireless communication module and moves the mobility charging robot to each floor of the hangar of the vertiport, and information related to elevator boarding and elevator operation is transmitted and received by the charging robot wireless communication module and the elevator wireless communication module.

[0021] In addition, the mobility charging system may further include a charging management unit wireless communication module that transmits and receives location information and charging-related information with the charging robot wireless communication module and the elevator wireless communication module, and a mobility charging management unit that controls charging of the aviation mobility through control of the mobility charging robot and the elevator module.

[0022] In addition, in the mobility charging system, the mobility charging management unit may include a vertiport operation management unit that checks and manages information on aircraft mobility landing on or taking off from a vertiport according to an operation schedule for charging management of the aircraft mobility, a vertiport charging management unit that checks the remaining charge amount for aircraft mobility parked in a 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 aircraft mobility.

[0023] In addition, the mobility charging system may further include a wireless communication module for the charging robot and a wireless communication module for transmitting and receiving location information and movement information, and an aviation mobility transport unit for transporting the mobility to a charging area of ​​a takeoff area and hangar.

[0024] In addition, in the mobility charging system, the aircraft mobility transport unit may further include a loading unit that supports and holds the aircraft mobility, and a driving unit that transports the aircraft mobility to a hangar and a takeoff field.

[0025] A control method of a charging system according to one embodiment of the present invention includes a mobility charging robot moving step of moving a mobility charging robot to a charging area of ​​a hangar to charge mobility, an elevator car linkage and boarding step of boarding the mobility charging robot on the elevator car to move the mobility charging robot to another floor of the hangar, and a mobility charging port charging plug coupling step of coupling the charging plug of a charger dispenser to the charging port of the aviation mobility.

[0026] In addition, in the control method of the charging system, the mobility charging robot movement step can be performed by the vertiport charging management unit checking at least one piece of information from among the location information, expected arrival information, and flight schedule of the air mobility transfer unit, and moving the mobility charging robot to the charging area of ​​the air mobility that needs to be charged first.

[0027] In addition, in the control method of the charging system, the elevator car linkage and boarding step can use elevator car boarding information and charging information among a plurality of mobility charging robots to preferentially board the mobility charging robot that is the priority charging target in the elevator car.

[0028] In addition, the control method of the charging system may further include, prior to the mobility charging robot movement step, a hangar charging location confirmation step of confirming the location of a hangar where a mobility requiring charging is parked among multi-story hangars, and prior to the elevator car linkage and boarding step, an elevator module confirmation step of confirming whether boarding of the elevator car is necessary and the current location of the elevator car.

[0029] In addition, the control method of the charging system may further include a hangar charging area moving step of moving the mobility charging robot to a charging area for charging the mobility after the mobility charging robot gets off the elevator car on the corresponding floor of the hangar after the elevator car linkage and boarding step.

[0030]

[0031] According to the present invention, a charging robot including a multi-joint body can perform the charging procedure of air mobility more quickly and accurately through a high-capacity rapid charging device.

[0032] According to the present invention, charging, charging control, and charging management of an air mobility vehicle parked at a vertiport can be efficiently implemented.

[0033] According to the present invention, the number of takeoffs and landings per minute of air mobility for a vertiport can be increased through rapid movement of a charging robot.

[0034] The present invention provides a vertiport air mobility charging system with improved stability, accuracy, and reliability. The present invention enables high-capacity, rapid, automatic charging of electric vehicles parked in parking towers.

[0035]

[0036] FIG. 1 is a schematic diagram illustrating the technical concept of a mobile aviation mobility charging robot and a charging system using the same according to one embodiment of the present invention.

[0037] FIG. 2 is a schematic diagram illustrating the technical concept of a mobile aerial mobility charging robot according to one embodiment of the present invention.

[0038] FIG. 3 is a schematic diagram illustrating an embodiment of the mobile aerial mobility charging robot illustrated in FIG. 2.

[0039] Figure 4 is a schematic diagram of a mobile aviation mobility charging robot and a charging system using the same according to one embodiment of the present invention.

[0040] Figure 5 is a flowchart schematically illustrating a control method of a charging system according to one embodiment of the present invention.

[0041]

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048]

[0049] A vertiport, a vertical takeoff and landing airfield for urban air mobility, includes a takeoff field, landing field, and hangar.

[0050] More specifically, vertiports can be constructed on the roof of a building.

[0051] Additionally, the hangar of the vertiport is composed of multiple floors, and the takeoff and landing pads can be optionally located on the roof of the building or the roof of the hangar.

[0052] Meanwhile, urban air mobility can move between landing pads, hangars, and takeoff fields.

[0053] To achieve this, urban air mobility enables vertical movement to different levels through vertical takeoff and landing airfield transport systems.

[0054] The vertical takeoff and landing airfield transport system may include multiple lifts corresponding to the hangar. Additionally, the vertical takeoff and landing airfield transport system may be equipped with two lifts to accommodate the size of the urban air mobility system.

[0055] FIG. 1 is a schematic diagram illustrating the technical concept of a mobile aviation mobility charging robot and a charging system using the same according to one embodiment of the present invention.

[0056] As shown, the urban air mobility charging system (1000) includes a mobile air mobility charging robot (1100), a charger dispenser (1200), an elevator module (1300), and an urban air mobility charging management unit (1400).

[0057] The urban air mobility charging system (1000) may further include an air mobility transport unit (1500).

[0058] More specifically, the mobile air mobility charging robot (1100) is intended to perform charging work for urban air mobility.

[0059] That is, the mobile air mobility charging robot (1100) is for charging air mobility parked at a vertiport.

[0060] A mobile aviation mobility charging robot (1100) can move the vertiport and connect the charging plug (1210) of the charger dispenser (1200) to the charging port of an urban aviation mobility parked on each floor of the hangar to charge the aviation mobility parked on the vertiport.

[0061] To this end, the mobile aerial mobility charging robot (1100) may include a gripping operation unit (1110), a driving unit (1120), a sensing unit (1130), and a charging robot wireless communication module (1140).

[0062] The gripping operation unit (1110) is for withdrawing a charging plug (1210) from a charger dispenser (1200) and connecting the charging plug (1210) to a charging port of urban air mobility.

[0063] The driving unit (1120) is for moving the mobile air mobility charging robot (1100) to the charging area of ​​the vertiport where the urban air mobility is parked.

[0064] The sensing unit (1130) is intended to more effectively implement the movement of the driving unit (1120).

[0065] The sensing unit (1130) is intended to confirm the location of urban air mobility and may be composed of a camera module or a proximity sensor.

[0066] The sensing unit (1130) may further include a laser scanner sensor. The laser scanner sensor can detect obstacles and map the driving path of the mobile aerial mobility charging robot (1100).

[0067] Additionally, the sensing unit (1130) may further include a LIDAR sensor for autonomous driving.

[0068] The charging robot wireless communication module (1140) is for transmitting and receiving movement information and charging-related information in real time with the elevator module (1300), urban air mobility charging management unit (1400), and air mobility transport unit (1500).

[0069] Through this, the mobile air mobility charging robot (1100) can check the location or movement information of the air mobility within the vertiport and charge the air mobility through the control of the urban air mobility charging management unit (1400).

[0070] The charger dispenser (1200) is intended to supply power to urban air mobility.

[0071] The charger dispenser (1200) may include a charging plug (1210) and a charging cable (1220).

[0072] The charging plug (1210) is coupled to the charging cable (1220), and the charging plug (1210) can be coupled to the charging port of the urban air mobility by the gripping operation unit (1110).

[0073] A charger dispenser (1200) can be installed in each floor hangar of the vertiport.

[0074] Next, the elevator module (1300) is for moving the mobile aviation mobility charging robot (1100) to each floor of the hangar formed by the double-layer of the vertiport.

[0075] That is, the elevator module (1300) can be operated to correspond to the hangar of the vertiport formed in two layers.

[0076] The elevator module (1300) may include an operation control unit (1310) and an elevator wireless communication module (1320). The operation control unit (1310) is for controlling elevator operation in consideration of boarding of a mobile aerial mobility charging robot (1100).

[0077] The elevator wireless communication module (1320) of the elevator module (1300) can transmit and receive elevator boarding information and elevator operation-related information in real time with the charging robot wireless communication module (1140) and the charging management unit wireless communication module (1440).

[0078] For example, a mobile air mobility charging robot (1100) can board an elevator to charge a mobile air mobility parked on another floor of a vertiport.

[0079] At this time, the mobile aviation mobility charging robot (1100) can provide a call signal and arrival floor information to the elevator module (1300).

[0080] Additionally, the mobile aviation mobility charging robot (1100) can provide platform arrival time information to the elevator module (1300).

[0081] The urban air mobility charging management unit (1400) is intended to control the operation of a mobile air mobility charging robot (1100), an elevator module (1300), and an air mobility transport unit (1500).

[0082] To this end, the urban air mobility charging management unit (1400) includes a vertiport operation management unit (1410), an air mobility charging management unit (1420), a vertiport hangar management unit (1430), and a charging management unit wireless communication module (1440).

[0083] The Vertiport Operation Management Department (1410) is intended to check and manage information on air mobility that lands at or takes off from a Vertiport according to the operation schedule.

[0084] The aviation mobility charging management unit (142) is intended to check the remaining charge amount of an aviation mobility parked in a hangar of a vertiport for charging management, calculate an expected charging time, and control charging using the information based on this.

[0085] That is, the purpose is to use flight information to charge differentially according to air mobility, taking into account the limited charging devices and time within the vertiport.

[0086] In order to more efficiently implement charging of air mobility, the Vertiport Hangar Management Department (1430) can assign the hangar parking area of ​​the air mobility to an area for efficiently implementing charging using flight information and charging information.

[0087] For example, when there is not much time left for takeoff and charging work must be carried out with the minimum charging time, the vertiport hangar management unit (1430) moves the mobile charging unit and the air mobility transfer unit to a charging area adjacent to the takeoff field where the mobile charging unit can be quickly positioned.

[0088] The charging management unit wireless communication module (1440) is for transmitting and receiving location information, transfer information, and charging-related information to and from the mobile aerial mobility charging robot (1100), elevator module (1300), and aerial mobility transfer unit (1500).

[0089] The aviation mobility charging management unit (1420) can also control the power of the charging device.

[0090] That is, the aviation mobility charging management unit (1420) can selectively provide the dispenser output power of the charging device for ultra-fast charging.

[0091] 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 (131) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0092] Accordingly, the aviation mobility charging management unit (1420) can implement more efficient battery charging.

[0093] The air mobility transport unit (1500) is for transporting air mobility to a hangar or charging area.

[0094] For this purpose, the air mobility transport unit (1500) can be implemented as an air mobility parking robot.

[0095] The air mobility transport unit (1500) may include a loading unit (1510), a driving unit (1520), and a transport unit wireless communication module (1530).

[0096] The payload (1510) is for mounting and supporting the air mobility.

[0097] The driving unit (1520) is for moving the air mobility transfer unit (1500) to the hangar, takeoff field, landing field, etc. of the vertiport.

[0098] The transport unit wireless communication module (1530) is for transmitting and receiving location information, movement information, and charging-related information with the mobile air mobility charging robot (1100) and the urban air mobility charging management unit (1400).

[0099] Additionally, the air mobility transport unit (1500) can be implemented as a parking robot that moves air mobility to the landing pad, takeoff pad, and hangar of the vertiport.

[0100] According to an embodiment of the present invention, the urban air mobility charging system (1000) is configured as described above, so that the mobile air mobility charging robot (1100) can transmit and receive charging-related information with the air mobility transport unit (1500). The mobile air mobility charging robot (1100) can perform charging of the air mobility through the control of the urban air mobility charging management unit (1400) while confirming the location of the air mobility.

[0101] An urban air mobility charging system (1000) according to one embodiment of the present invention may further include an elevator module (1300) for moving a mobile air mobility charging robot (1100) to each floor of a hangar. The mobile air mobility charging robot (1100) may transmit and receive movement information, elevator boarding information, and arrival floor information with the elevator module (1300). Accordingly, the mobile air mobility charging robot (1100) may reduce the time it takes to move to each floor of the hangar for charging, and as the elevator boarding and disembarkation process is efficiently implemented, the charging time may be reduced.

[0102]

[0103] FIG. 2 is a schematic diagram illustrating the technical concept of a mobile aerial mobility charging robot according to one embodiment of the present invention.

[0104] As shown, the mobile aerial mobility charging robot (1100) includes a graphing operation unit (1110), a driving unit (1120), a sensing unit (1130), and a charging robot wireless communication module (1140).

[0105] More specifically, the graphing operation unit (1110) is for withdrawing a charging plug (1210, see FIG. 1) from a charger dispenser (1200, see FIG. 1) and connecting the charging plug (1210) to a charging port of urban air mobility.

[0106] The graphing operation unit (1110) includes a multi-joint body (1111), a body driving unit (1112), and a gripper (1113).

[0107] The multi-joint body (1111) includes a plurality of joint bodies, and the plurality of joint bodies can be connected to each other so as to be movable.

[0108] The body drive unit (1112) is for moving the multi-joint body (1111) to implement gripping operation.

[0109] The gripper (1113) can be coupled to an end of the multi-joint body (1111).

[0110] The gripper (1113) is for connecting the charging plug (1210) of the charger dispenser (1200, see Fig. 1) to the charging port of the urban air mobility.

[0111] The gripper (1113) may include a positioning unit (1113a).

[0112] The location confirmation unit (1113a) is for confirming the location of the charging plug (1210) of the charger dispenser (1200) and the charging port of the air mobility.

[0113] The location confirmation unit (1131a) may be composed of a camera module or a proximity sensor.

[0114] The gripping operation unit (1110) can be mounted on the driving unit (1120).

[0115] The driving unit (1120) is for moving the mobile aerial mobility charging robot (1100).

[0116] The driving part (1120) may include a wheel (1121), a driving motor (1122), and a main body (1123).

[0117] The main body (1123) is equipped with wheels (1121) and a driving motor (1122).

[0118] A gripping operation unit (1110) can be mounted on the main body (1123).

[0119] A detailed description of the detailed technical configuration of the sensing unit (1130) and the charging robot wireless communication module (1140) is omitted as described above.

[0120]

[0121] FIG. 3 is a schematic diagram illustrating an embodiment of the mobile aerial mobility charging robot illustrated in FIG. 2.

[0122] As shown, the mobile aerial mobility charging robot (1100) includes a multi-joint body (1111), a gripper (1113), a main body (1123), wheels (1121), and a sensing unit (1130).

[0123] The multi-joint body (1111) may include multiple joint bodies.

[0124] FIG. 3 illustrates an embodiment in which a multi-joint body (1111) includes a first body (1111a), a second body (1111b), and a third body (1111c).

[0125] The third body (1111c) is coupled to the main body (1123), and a gripper (1113) can be coupled to the first body (1111a).

[0126] The main body (1123) can be equipped with wheels (1121) and a sensing unit (1130).

[0127] The sensing unit (1130) can be mounted on each of the four sides of the main body (1123).

[0128] The gripper (1113) may be equipped with a camera or vision sensor.

[0129] A mobile aerial mobility charging robot (1100) according to one embodiment of the present invention can be implemented as an autonomous mobile robot (AMR).

[0130]

[0131] FIG. 4 is a schematic diagram illustrating a charging system using a mobile aviation mobility charging robot according to an embodiment of the present invention.

[0132] A vertiport (100) to which an urban air mobility charging system (1000) using a mobile air mobility charging robot is applied may include a takeoff area (T), a landing area (L), and a double-story hangar (P).

[0133] Vertiport (100) can be constructed on the roof of a building.

[0134] Additionally, a charger dispenser (1200) is installed in the charging area of ​​each floor hangar (P).

[0135] A lift (L1) for moving urban air mobility to each floor of the hangar (P) can be installed in the vertiport (100).

[0136] The mobile air mobility charging robot (1100) charges the urban air mobility (10) parked in the hangar (P) of the vertiport.

[0137] To this end, the aviation mobility charging management unit (1420) of the urban air mobility charging management unit (1400, see Fig. 1) provides the location information of the hangar where the urban air mobility (10) to be charged is parked to the mobile aviation mobility charging robot (1100).

[0138] The mobile aviation mobility charging robot (1100) can board the elevator module (1300) and move to the corresponding hangar (P).

[0139] At this time, the mobile aviation mobility charging robot (1100) transmits a call signal and arrival floor information to the elevator module (1300) through the Open API, and the mobile aviation mobility charging robot (1100) can move to the corresponding hangar - the hangar corresponding to the arrival floor - after boarding the elevator module (1300).

[0140] The mobile aviation mobility charging robot (1100) can identify the location of the urban aviation mobility (10) and the charger dispenser (1200) on the corresponding floor of the hangar through a sensing unit (1130, see FIG. 1), and can connect the charging plug (1210) of the charger dispenser (1200) to the charging port of the urban aviation mobility through a location identification unit (1113a) of the gripper (1113, see FIG. 1).

[0141]

[0142] Figure 5 is a flowchart schematically illustrating a control method of a charging system according to one embodiment of the present invention.

[0143] As illustrated, the control method (S1000) of the charging system includes a hangar charging location confirmation step (S1100), a mobile air mobility charging robot movement step (S1200), an elevator module confirmation step (S1300), an elevator car linkage and boarding step (S1400), a hangar charging area movement step (S1500), and a charging plug connection step (S1600) to an urban air mobility charging port.

[0144] More specifically, the hangar charging location confirmation step (S1100) is a step of confirming the location of a hangar where an urban air mobility vehicle requiring charging is parked among a multi-story hangar.

[0145] At this time, the Vertiport hangar management department (1430) can park the urban air mobility in a hangar of a specific area by considering the operation schedule of the Vertiport and the charging capacity of the urban air mobility.

[0146] And, information about the charging area where the urban air mobility vehicle to be charged is located can be provided to the mobile air mobility charging robot.

[0147] The mobile aviation mobility charging robot movement step (S1200) is a step of moving the mobile aviation mobility charging robot (1100) to the charging area of ​​the hangar to charge urban aviation mobility.

[0148] At this time, the mobile aviation mobility charging robot movement step (S1200) can move the mobile charging unit to the charging area of ​​the aviation mobility that needs to be charged first by considering at least one of the location information, expected arrival information, and flight schedule of the aviation mobility transfer unit by the vertiport charging management unit.

[0149] The elevator module verification step (S1300) is a step for checking the status of the elevator module, such as the location of the elevator car, in order to move to the corresponding floor of the hangar when the mobile aviation mobility charging robot (1100) is not located on the hangar floor where the charging area is located.

[0150] That is, the elevator module verification step (S1300) is a step for checking whether the mobile aerial mobility charging robot (1100) needs to board the elevator car and the current location of the elevator car.

[0151] The elevator car linkage and boarding step (S1400) is a step of moving the elevator car to the floor where the mobile aerial mobility charging robot (1100) is located and boarding the mobile aerial mobility charging robot (1100) into the elevator car.

[0152] In addition, the elevator car linkage and boarding step (S1400) can move the elevator car to the corresponding floor by considering the transport time of the mobile aerial mobility charging robot (1100) to the elevator platform and the transport time of the elevator car.

[0153] The mobile aviation mobility charging robot (1100) boards the elevator car and moves to the corresponding hangar floor.

[0154] The elevator car linkage and boarding step (S1400) uses elevator car boarding information and charging information for multiple mobile aerial mobility charging robots (1100) to preferentially board the mobile aerial mobility charging robot (1100) that is the priority charging target in the elevator car.

[0155] The hangar charging area movement step (S1500) is a step in which a mobile aviation mobility charging robot (1100) gets off the elevator car on the corresponding floor of the hangar and moves to the charging area for charging urban air mobility.

[0156] The step of connecting a charging plug to an urban air mobility charging port (S1600) is a step in which a mobile air mobility charging robot (1100) connects a charging plug of a charger dispenser (1200) to the charging port of an air mobility.

[0157] At this time, the step of connecting the charging plug to the urban air mobility charging port (S1600) may further include a step of confirming the location of the charging plug and a step of confirming the location of the charging port.

[0158] To this end, a position confirmation unit (1113a, see Fig. 2) mounted on a gripper (1113, see Fig. 3) confirms the location of the charging plug (1210) of the charger dispenser (1200) and the charging port of the air mobility (10).

[0159] And the gripper (1113) withdraws the charging plug (1210) from the charger dispenser (1200) and connects the charging plug (1210) to the charging port of the air mobility (10).

[0160] Additionally, in the step of connecting a charging plug to an urban air mobility charging port (S1600), the air mobility charging management unit (1420) can control the power of the charging device.

[0161] That is, the air mobility charging management unit (1420) can selectively provide output power to multiple charger dispensers (1200) for ultra-fast charging.

[0162] 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 air mobility charging management unit (1420) can set the first dispenser to 2MW, the second dispenser to 1MW, and the third dispenser to idle.

[0163] Accordingly, charging stages for multiple air mobility systems can be implemented more efficiently.

[0164] The mobility charging robot, charging system and control method thereof according to the present invention can be implemented identically for an electric vehicle parked in a vehicle parking tower corresponding to a vertiport.

[0165] That is, the charging robot can implement the charging operation for electric vehicles parked on each floor of the parking tower in the above-mentioned manner.

[0166]

[0167] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the above. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0168] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. A gripping operation part that connects the charging plug of the charger dispenser to the charging port of the mobility; A driving unit including a main body to which the gripping operation unit is coupled and moving the main body to a charging area; and Including a sensing unit that checks the location of the above mobility Mobility charging robot.

2. In paragraph 1, It further includes a charging robot wireless communication module coupled to the main body, The movement information of the above driving unit, elevator boarding information and destination floor information are transmitted and received by the charging robot wireless communication module and the elevator wireless communication module of the elevator module. Mobility charging robot.

3. In paragraph 1, The above gripping operation unit further includes a position confirmation unit for confirming the position of the charging plug of the charger dispenser and the charging port of the mobility. Mobility charging robot.

4. A mobility charging robot including a charging robot wireless communication module and charging an air mobility 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 It includes an elevator wireless communication module and an elevator module that moves the mobility charging robot to each floor of the hangar of the vertiport. Information related to elevator boarding and elevator operation is transmitted and received by the charging robot wireless communication module and the elevator wireless communication module. Mobility charging system.

5. In paragraph 4, The charging robot wireless communication module and the elevator wireless communication module include a charging management unit wireless communication module that transmits and receives location information and charging-related information, and further includes a mobility charging management unit that controls charging of the aviation mobility through control of the mobility charging robot and the elevator module. Mobility charging system.

6. In paragraph 5, The above mobility charging management department 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. Mobility charging system.

7. In paragraph 4, It includes a wireless communication module for the charging robot and a wireless communication module for transmitting and receiving location information and movement information, and further includes an aviation mobility transfer unit for transferring the mobility to the charging area of ​​the takeoff area and hangar. Mobility charging system.

8. In paragraph 7, 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. Mobility charging system.

9. Mobility charging robot movement step of moving the mobility charging robot to the charging area of ​​the corresponding hangar to charge the mobility; An elevator car linkage and boarding step for boarding the mobility charging robot into the elevator car to move the mobility charging robot to another floor of the hangar; and The above mobility charging robot includes a charging plug coupling step to the mobility charging port, which couples the charging plug of the charger dispenser to the charging port of the aviation mobility. Control method of charging system.

10. In paragraph 9, The above mobility charging robot movement stage is The location information, expected arrival information, and flight schedule of the air mobility transfer unit are checked through the Vertiport charging management unit, and the mobility charging robot is moved to the charging area of ​​the air mobility that needs to be charged first. Control method of charging system.

11. In paragraph 9, The above elevator car linkage and boarding step uses elevator car boarding information and charging information among multiple mobility charging robots to give priority to the mobility charging robot that is the priority for charging and boards it in the elevator car. Control method of charging system.

12. In paragraph 9, Before the above mobility charging robot movement step, a hangar charging location confirmation step is included to confirm the location of a hangar where a mobility requiring charging is parked among multi-story hangars, and before the elevator car linkage and boarding step, an elevator module confirmation step is included to confirm whether boarding of an elevator car is required and the current location of the elevator car. Control method of charging system.

13. In paragraph 12, After the elevator car linkage and boarding step, the mobility charging robot gets off from the elevator car on the corresponding floor of the hangar, and then further includes a hangar charging area moving step of moving the mobility charging robot to a charging area for charging the mobility. Control method of charging system.

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